JP2014188607A - Multiple metamere type robot and metamere of the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot capable of moving regardless of the shape of a moving surface, and to provide a metamere used in the robot.SOLUTION: A metamere of a multiple metamere type robot includes: a telescopic arm which expands and contracts along a body axial direction of the robot; and a rotation arm which is connected with the telescopic arm and rotates around a rotation shaft extending in a direction perpendicular to the body axial direction.

Description

  The present invention relates to a robot, and more particularly, to a multi-segment robot and a body segment used in the robot.

  Conventionally, various techniques relating to robots that move in piping, rubble, or on rubble have been proposed. For example, Non-Patent Document 1 describes a robot that moves in a pipe by a peristaltic motion. This robot is provided with a plurality of expansion / contraction modules, and each expansion / contraction module is composed of three actuators that can bend and extend along the traveling direction of the robot. In this robot, a plurality of expansion and contraction modules extend and bend the actuators in a predetermined order and repeat expansion and contraction in the length direction and thickness direction, thereby moving in the pipe. However, in such an expansion / contraction module, since each actuator performs both extension in the length direction and extension in the thickness direction, the extension amount in the length direction and the extension amount in the thickness direction are mutually limited. There was a problem.

  On the other hand, Patent Document 1 describes a robot including an elastic telescopic body that expands and contracts in the length direction, and a locking means that is arranged with the elastic telescopic body interposed therebetween and expands and contracts in the thickness direction. . This robot fixes the rear end portion or the front end portion of the robot to the inner wall surface of the pipe by inflating one of the locking means in the radial direction and bringing it into contact with the inner wall surface of the pipe. And this robot moves the inside of piping by extending and contracting an elastic expansion-contraction body in the state which fixed the rear-end part or the front-end part to the inner wall face of piping. As described above, the robot described in Patent Document 1 is described in Non-Patent Document 1 because the elastic elastic body extends in the length direction and another locking means extends in the thickness direction. As in the case of the robot, the extension amount in the length direction and the extension amount in the thickness direction are not limited to each other.

JP-A-3-45464 Japanese Patent Laid-Open No. 3-86679 JP-T 2009-511388 JP 2012-157918 A US Pat. No. 4,522,129

Shunsuke Kato and three others, “Module development for articulated robots based on earthworms”, Proceedings of the Annual Conference of the Robotics Society of Japan, Robotics Society of Japan, September 13, 2007, Volume 25, p.1F32 Toshiro Noriji and one other, “Development of In-pipe Mobile Robot Using Pneumatic Soft Actuator”, Journal of the Robotics Society of Japan, Robotics Society of Japan, September 15, 2000, Vol. 18, No. 6, p. 831 -838 Nobuhiko Tsuji and two others, “Development of Peristaltic Robot Using Artificial Muscle Actuator”, Transactions of the Society of Instrument and Control Engineers, Society of Instrument and Control Engineers, Vol. 41, No. 12, December 2005, p. -1018 Eiji Shinohara and 2 others, "Peristaltic motion system like earthworm", Journal of the Institute of Electrical Engineers of Japan. E, Journal of Sensors and Micromachines, The Institute of Electrical Engineers of Japan, June 13, 1999, Vol. 119, No. 6, p. .334-339 Ryuta Harasaka and three others, “Development of Earthworm Rescue Robot with Inflatable Actuator”, Proc. Of Robotics and Mechatronics Lecture Meeting, Japan Society of Mechanical Engineers, 2005, June 9, 2005, p.92 A. Menciassi, et al., "A SMA Actuated Artificial Earthworm", Proc. IEEE Int. Conf., Robotics and Automation (ICRA'04), New Orleans, USA, 2004, p. N. Saga, 3 others, "Design of a Three Dimensional Running Persistent Crawling Robot, Proc. Of 19th International Conference on Vec. 473-476 N. Saga, and one other, “Elucidation of Propulsive Force of Micro-Roboting Magnetic Fluid”, J. Appl. Phys., Vol. 91, 2002, p. 7003 H. Omori, 2 other names, “Location and turning patterns of a practical crafting earth robot complex and flexible Rs., 2008 IEEE / RSJ International.” 1630-1635 T. T. et al. Nakamura, 1 other name, “Locomotion Strategies for a Peripheral Crawling Robot in a 2-Dimensional Space”, 2008 IEEE International Conference on Robotics, Robotics, 2008. 238-243 NS 4.1-5

  By the way, in a robot like the said patent document 1, in order to fix the rear-end part or front-end part to moving surfaces, such as an inner wall face of piping, sufficient frictional force is produced between a latching means and a moving surface. There is a need. However, when the moving surface is a flat surface with no walls on the side and upper side of the robot, there is a problem that it is difficult to move the robot because sufficient frictional force is not generated between the locking means and the moving surface. There is.

  Accordingly, an object of the present invention is to provide a robot that can move regardless of the shape of the moving surface, and a body segment used in the robot.

  The present invention is to solve the above-described problems, and is a body segment of a multi-particulate robot, which is connected to the telescopic arm extending and contracting along the body axis direction of the robot, and is connected to the body axis direction. A rotating arm that rotates around a rotation axis that extends in a direction that intersects with the rotation axis.

  In the body segment, the rotation arm rotates around a rotation axis extending in a direction intersecting the body axis direction, and comes into contact with the moving surface of the robot at an angle. For this reason, regardless of the shape of the moving surface, a sufficient frictional force can be generated between the rotating arm and the moving surface, and the body segment can be prevented from moving with respect to the moving surface.

  Further, the rotating arm of the body segment may extend in the same direction as the direction in which the telescopic arm extends in the initial state. According to this configuration, the dimension of the body segment in the body axis direction of the robot can be reduced.

  Further, the present invention is a multi-segment robot, comprising a plurality of the above-mentioned body segments, and the telescopic arm of one body segment among the plurality of body segments is another one body adjacent to one body segment. It is connected to the clause.

  In the above robot, the telescopic arm of one body segment is connected to another body segment adjacent to this one body segment, so that the rotating arm abuts against the moving surface of the robot in one body segment. By extending and retracting the telescopic arm in the state of being made, it is possible to push out or draw another body segment. As a result of such an operation, the robot moves on the moving surface. As described above, each body segment can generate a sufficient frictional force between the rotating arm and the moving surface regardless of the shape of the moving surface, and does not move easily with respect to the moving surface. A plane or the like having no walls on its side and upper side can also move.

  The robot has a body segment telescopic arm located at one end of a plurality of body segments extending to the body segment side located at the other end, and a body segment telescopic arm located at the other end at one end. You may be comprised so that it may extend to the positioned segment side.

  The robot may further include a control unit that extends and retracts the extendable arm in each body segment and rotates the rotary arm so that the rotary arm comes into contact with and separates from the moving surface of the robot.

  In this case, the plurality of body segments include a first body segment and a second body segment in which the telescopic arm extends in the direction of the first body segment, and the control unit includes the second body segment. The telescopic arm of the second body segment is extended to the first body segment side with the rotation arm of the second body segment being in contact with the movement surface and the rotation arm of the body segment other than the second body segment being separated from the movement surface Then, the telescopic arm of the second body segment is brought into contact with the rotating arm of the first body segment in contact with the moving surface and the rotating arm of the body segment other than the first body segment is separated from the moving surface. May be contracted.

  Alternatively, the control unit makes the second body segment in a state where the rotation arm of the first body segment is in contact with the moving surface and the rotation arm of the body segment other than the first body segment is separated from the moving surface. The telescopic arm of the second body segment is brought into contact with the moving surface, and the rotating arms of body segments other than the second body segment are separated from the moving surface. In this state, the telescopic arm of the second body segment may be contracted.

  With such a configuration, the first or second body segment can be pushed out or drawn while only one of the first and second body segments is in contact with the moving surface, and the robot is moved to the moving surface. Can be moved up.

  In addition, the control unit may extend or contract at least one telescopic arm of the body segment in a state in which the rotating arms of two or more body segments are in contact with the moving surface. According to this configuration, when the robot moves, the rotating arm of at least two body segments abuts the moving surface, and the robot is supported on the moving surface by at least two body segments, so that the robot moves stably. Can do.

  The robot further collides the rotating arm of at least one of the body segments with the moving surface of the robot in order to move at least one of the plurality of body segments forward with respect to the traveling direction of the robot. It is also possible to provide a control unit that rotates in this manner. According to this configuration, the rotation arm of at least one body segment rotates and collides with the moving surface, whereby the at least one body segment moves forward in the traveling direction. Thereby, the robot can move the moving surface.

It is a perspective view of the robot which concerns on one Embodiment of this invention. It is a perspective view which shows the state which has each arm in an initial state in the body segment of the robot which concerns on the said embodiment. It is a perspective view which shows the state after each arm operate | moves in the body segment of the robot which concerns on the said embodiment. It is a physical block diagram of the robot which concerns on the said embodiment. It is a flowchart which shows a process in case the robot which concerns on the said embodiment operate | moves in the fastest mode. It is a side schematic diagram showing operation in the fastest mode of the robot according to the embodiment. It is a flowchart which shows a process in case the robot which concerns on the said embodiment operate | moves in a stable mode. It is a flowchart which shows a process in case the robot which concerns on the said embodiment operate | moves in a stable mode. It is a side schematic diagram showing operation in the stable mode of the robot according to the embodiment. It is a flowchart which shows a process in case the robot which concerns on the said embodiment operate | moves in energy saving mode. It is a side schematic diagram showing operation in the energy saving mode of the robot according to the embodiment. It is a flowchart which shows a process in case the robot which concerns on the said embodiment operate | moves in scraping mode. It is a schematic plan view showing the operation in the scraping mode of the robot according to the embodiment. It is a flowchart which shows a process in case the robot which concerns on the said embodiment operate | moves in the left-right scraping mode. FIG. 6 is a schematic plan view showing an operation in the left and right scraping mode of the robot according to the embodiment. It is a side schematic diagram showing operation of a robot concerning a modification of the above-mentioned embodiment. It is a side schematic diagram showing operation of a robot concerning another modification of the above-mentioned embodiment.

  Embodiments of the present invention will be described below with reference to the drawings. In the following description, the configurations already described and the configurations corresponding thereto will be denoted by the same reference numerals and the same description will not be repeated.

  As shown in FIG. 1, the robot 10 according to the present embodiment includes four body segments 1A, 1B, 1C, and 1D, two head units 2A and 2B, and a control unit 3. In FIG. 1, body segments 1 </ b> A and 1 </ b> B have a telescopic arm 11, which will be described later, extend to the left with respect to the body axis direction. In the following description, the four body sections 1A, 1B, 1C, and 1D may be collectively referred to as the body section 1 and the two head sections 2A and 2B as the head section 2.

  As shown in FIGS. 1 to 3, each body segment 1 includes a telescopic arm 11, three rotating arms 12, and two plates 13 and 14. For convenience of explanation, in each body segment 1, the plate 13 side is referred to as the front or the front or the front, and the plate 14 side is referred to as the back or the rear. 2 and 3, the plate 13 is omitted, and only a part of the plate 14 is shown.

  As shown in FIGS. 2 and 3, the extendable arm 11 is extendable along the body axis direction of the robot 10, and is preferably composed of a linear actuator. The telescopic arm 11 has a front end portion 111 connected to the plate 13 and a rear end portion 112 connected to the plate 14.

  As shown in FIG. 2, the three rotary arms 12 are arranged at equal intervals around the telescopic arm 11. In the initial state, each rotary arm 12 extends in the same direction as the direction in which the telescopic arm 11 extends. Each rotary arm 12 includes a servo motor 121, a hand unit 122, and a rotary shaft 123 that extends in a direction that intersects the body axis direction of the robot 10 at about 90 degrees. Each servo motor 121 rotates in both directions around the rotation shaft 123. The hand part 122 is formed in a columnar shape with a swelled central part, and is attached to the servo motor 121 via an attachment part 124 provided at the tip of the servo motor 121.

  As shown in FIG. 1, the plate 13 is provided at the front end of the body segment 1 and has a plate body 131. The distal end portion 111 of the telescopic arm 11 is connected to the rear surface of the plate body 131.

  As shown in FIG. 1, the plate 14 is provided at the rear end of the body segment 1. As shown in FIGS. 1 to 3, the plate 14 includes a plate main body 141, a connection member 142 that connects the telescopic arm 11 and the plate main body 141, and three connections that connect the rotary arms 12 and the plate main body 141. Member 143.

  As shown in FIG. 3, the connection member 142 is formed in a substantially U shape in the front center of the plate main body 141 in a front view, and holds the rear end portion 112 of the telescopic arm 11. As shown in FIGS. 2 and 3, the three connection members 143 are arranged at equal intervals around the connection member 142 on the front surface of the plate main body 141. Each connection member 143 has a bottom portion 143a fixed to the front surface of the plate body 141, and a wall portion 143b protruding from the front surface of the bottom portion 143a. The wall portion 143b is formed in an L shape that forms an angle of about 120 degrees along the side surface of each servomotor 121 of the two adjacent rotating arms 12. A substantially U-shaped groove 143c is formed at both ends of the wall 143b, and each groove 143c supports each rotating shaft 123 of two adjacent rotating arms 12.

  Between each body segment 1, a joint mechanism 4 that connects the body segments 1 is provided so that the adjacent body segments 1 can be bent and rotated relatively. As shown in FIG. 1, each joint mechanism 4 is attached to the front surface of the plate body 131 and the rear surface of the plate body 141. In the present embodiment, a so-called spherical bearing is employed as the joint mechanism 4, but the present invention is not limited to this. Each joint mechanism 4 includes a housing 41, a retainer 42 accommodated in the housing 41, and a connecting portion 43 connected to the connecting portion 43 of the adjacent joint mechanism 4. The retainer 42 accommodates a sun sphere (not shown) inside and holds a bearing (not shown) on the inner wall surface, and the sun sphere tilts or rotates in the retainer 42 so as to adjoin adjacent body segments. The ones are relatively bent and rotated. In the control unit 3, the joint mechanism 4 is also provided on the surface facing the body segments 1B and 1C, and the control unit 3 bends and rotates relative to the body segments 1B and 1C. In FIG. 1, the body segments 1 </ b> A and 1 </ b> D are not provided with the joint mechanism 4 on the rear surface of the plate body 141, but, like the other body segments 1 </ b> B and 1 </ b> C, 4 may be provided.

  The head portions 2A and 2B are provided at both ends of the robot 10 as shown in FIG. The head portions 2A and 2B have joints (not shown) on the body segments 1A and 1D, respectively, and can be bent relative to the adjacent body segments 1A and 1D. The joint of the head unit 2 may be the same as the joint mechanism 4 or may be different from the joint mechanism 4. The head unit 2 includes two motors 21 and an ultrasonic distance meter 22 as shown in FIG. One of the two motors 21 moves the head unit 2 up and down with respect to the moving direction of the robot, and the other moves the head unit 2 left and right with respect to the moving direction. The ultrasonic distance meter 22 calculates the distance between the head unit 2 and an object positioned in front of the head unit 2 based on the time until the emitted ultrasonic wave is reflected and returned.

  The control unit 3 incorporates a microcomputer and controls the body segments 1A to 1D and the head units 2A and 2B. As shown in FIG. 4, the control unit 3 includes a CPU board (user board) 31 and a CPU board (I / F board) 32. The control unit 3 can communicate with the computer 6 via the wireless modules 51 and 52, and can also communicate with the body segments 1A to 1D and the head units 2A and 2B.

  The user board 31 receives a command signal related to the operation mode of the robot 10 described later from the computer 6, and sends a distance signal between the head unit 2 and an object located in front of the head unit 2 via the I / F board 32. Received from the ultrasonic distance meter 22. The user board 31 determines a direction in which there is a space in which the robot 10 can travel based on the distance signal, and delivers a command signal related to the traveling direction and operation of the robot 10 to the I / F board 32. Further, the user board 31 stores a count T and an instruction angle θ described later.

  The I / F board 32 converts the command signal received from the user board 31 into a drive signal, and sends it to the servo motor 121 of the telescopic arm 11 and the rotary arm 12 in each body segment 1 and each motor 21 of each head unit 2. Send. Each rotary arm 12 may be provided with a serial signal conversion board 125 such as an RS232-RS432 conversion board as necessary.

  Next, the operation of the robot 10 configured as described above will be described.

  The robot 10 operates in a predetermined operation mode based on a command signal from the computer 6. Examples of the operation mode include a fastest mode, a stable mode, an energy saving mode, a scraping mode, and a left and right scraping mode. Hereinafter, the operation of the robot 10 in each operation mode will be described in detail. In any operation mode, at the initial position, in the body segments 1A to 1D, each telescopic arm 11 is in a contracted state, and the rotating arm 12 extends in the same direction as the direction in which the telescopic arm 11 extends. That is, it is in a closed state (not shown).

(Fastest mode)
Hereinafter, an operation when the robot 10 moves in the pipe P in the fastest mode will be described with reference to FIGS. 5 and 6.

  In the control unit 3, when the user board 31 receives a command signal for operating in the fastest mode from the computer 6, the user board 31 generates a command signal for rotating each servo motor 121 of the body segment 1D. The user board 31 passes this command signal to the I / F board 32, and the I / F board 32 converts the received command signal into a drive signal and transmits it to each servo motor 121 of the body segment 1D. By this drive signal, each servo motor 121 of the body segment 1D rotates around the rotation shaft 123 so as to be separated from the telescopic arm 11. Thereby, as shown in FIG. 5 and FIG. 6 (1), each hand part 122 of the body segment 1D comes into contact with the inner wall surface of the tube P, and the robot 10 moves the body segment 1D on the inner wall surface of the tube P. It is supported by each rotary arm 12 (step S101).

  Next, the user board 31 generates a command signal for extending the telescopic arms 11 of the body segments 1A to 1D, initializes the count T to 0, and delivers the command signal to the I / F board 32. The I / F board 32 converts the received command signal into a drive signal and transmits it to each of the telescopic arms 11 of the body segments 1A to 1D. By this drive signal, as shown in FIG. 6 (2), each telescopic arm 11 of the body segments 1A to 1D extends (step S102). At this time, each rotary arm 12 of the body segment 1D remains supporting the robot 10 on the inner wall surface of the tube P. As a result, the body segments 1A to 1C, the control unit 3, and the head unit 2A move forward in the traveling direction.

  The user board 31 determines whether or not the count T exceeds 250 (step S103). When the count T is 250 or less, the user board 31 increments the count T (step S104), and each of the telescopic arms 11 of the body segments 1A to 1D continues the expansion operation when the expansion operation is not completed. (Step S102). Here, although it depends on the performance of the user board 31 or the like, it usually takes about 5 seconds for the count T to become 0 to 250. That is, the process of the next step S105 is not started for about 5 seconds after each of the telescopic arms 11 of the body segments 1A to 1D starts to extend. As described above, in this embodiment, by securing a waiting time of about 5 seconds from the start of operation of each telescopic arm 11 to the start of the next operation, the next operation starts before the operation of each telescopic arm 11 is completed. Is prevented.

  When the count T exceeds 250, the user board 31 generates a command signal for rotating the servo motors 121 of the body segments 1A and 1D, and delivers this command signal to the I / F board 32. The I / F board 32 converts this command signal into a drive signal and transmits it to each servo motor 121 of the body segments 1A, 1D. By this drive signal, as shown in FIG. 6 (3), in the body segment 1A, each servo motor 121 rotates around the rotation shaft 123 so as to be separated from the telescopic arm 11, and thereby each hand portion 122 is connected to the pipe P. It contacts the inner wall surface. On the other hand, in the body segment 1D, each servo motor 121 rotates around the rotation shaft 123 so as to approach the telescopic arm 11, whereby each hand portion 122 is separated from the inner wall surface of the pipe P. As a result, the robot 10 is supported by the rotary arms 12 of the body segment 1A on the inner wall surface of the tube P (step S105).

  Next, the user board 31 generates a command signal for contracting the extendable arms 11 of the body segments 1A to 1D, initializes the count T to 0, and delivers this command signal to the I / F board 32. The I / F board 32 converts this command signal into a drive signal and transmits it to each of the telescopic arms 11 of the body segments 1A to 1D. Each telescopic arm 11 of the body segments 1A to 1D contracts by this drive signal as shown in FIG. 6 (4) (step S106). At this time, each rotary arm 12 of the body segment 1A remains supporting the robot 10 on the inner wall surface of the tube P. Accordingly, the body segments 1B to 1D, the control unit 3, and the head unit 2B move forward in the traveling direction, and the robot 10 moves forward in the pipe P.

  The user board 31 determines whether or not the count T exceeds 250 (step S107). When the count T is 250 or less, the user board 31 increments the count T (step S108), and each of the telescopic arms 11 of the body segments 1A to 1D continues the contracting operation when the contracting operation is not completed. (Step S106).

  When the count T exceeds 250, the user board 31 determines whether or not an operation end command signal has been received from the computer 6 (step S109). When the user board 31 receives the operation end command signal, the operation in the fastest mode ends.

  When the user board 31 has not received the operation end command signal, the user board 31 generates a command signal for rotating each servo motor 121 of the body segment 1A, and sends this command signal to the I / F board 32. hand over. The I / F board 32 converts this command signal into a drive signal and transmits it to each servo motor 121 of the body segment 1A. By this drive signal, in the body segment 1A, each servo motor 121 rotates around the rotation shaft 123 so as to approach the telescopic arm 11, and each hand portion 122 is separated from the inner wall surface of the pipe P. Thereby, the support of the robot 1 by the body segment 1A is released, and the initial state (not shown) is restored (step S110). Thereafter, the processing from step S101 to step S109 is performed again.

  Thus, in the fastest mode, since the telescopic arms 11 of the body segments 1A to 1D are simultaneously expanded and contracted, the robot 10 can be advanced at a high speed.

(Stable mode)
Hereinafter, an operation when the robot 10 moves in the pipe P in the stable mode will be described with reference to FIGS. 7A, 7B, and 8. FIG.

  When the user board 31 receives a command signal for operating in the stable mode from the computer 6, the command signal for rotating the servo motors 121 of the body segments 1B to 1D and extending the telescopic arm 11 of the body segment 1A. And the count T is initialized to 0, and the command signal is delivered to the I / F board 32. The I / F board 32 converts this command signal into a drive signal and transmits it to each servo motor 121 of the body segments 1B to 1D and the telescopic arm 11 of the body segment 1A. With this drive signal, as shown in FIG. 8 (1), in the body segments 1 B to 1 D, each servo motor 121 rotates around the rotation axis 123 so as to be separated from the telescopic arm 11, and each hand part 122 is connected to the pipe P. Contact the inner wall surface. Further, as shown in FIG. 8 (2), the extendable arm 11 of the body segment 1A extends. Thereby, the robot 10 is supported on the inner wall surface of the pipe P by the rotating arms 12 of the body segments 1B to 1D, and the body segment 1A and the head portion 2A move forward in the traveling direction (step S201).

  The user board 31 determines whether the count T exceeds 250 (step S202). When the count T is 250 or less, the user board 31 increments the count T (step S203), and when the extension arm 11 of the body segment 1A has not completed the extension operation, the extension operation is continued (step S201). ).

  When the count T exceeds 250, the user board 31 generates a command signal for rotating the servo motors 121 of the body segments 1A and 1B, and delivers this command signal to the I / F board 32. The I / F board 32 converts this command signal into a drive signal and transmits it to each servo motor 121 of the body segments 1A, 1B. By this drive signal, as shown in FIG. 8 (3), in the body segment 1A, each servo motor 121 rotates around the rotation shaft 123 so as to be separated from the telescopic arm 11, and thereby each hand portion 122 is connected to the pipe P. It contacts the inner wall surface. On the other hand, in the body segment 1 </ b> B, each servo motor 121 rotates around the rotation shaft 123 so as to approach the telescopic arm 11, whereby each hand portion 122 is separated from the inner wall surface of the pipe P. As a result, the support of the robot 10 by the rotating arms 12 of the body segment 1B is released, and the robot 10 is supported by the rotating arms 12 of the body segments 1A, 1C, and 1D on the inner wall surface of the tube P ( Step S204).

  Next, the user board 31 generates a command signal for expanding and contracting each of the telescopic arms 11 of the body segments 1A and 1B, initializes the count T to 0, and delivers this command signal to the I / F board 32. The I / F board 32 converts this command signal into a drive signal and transmits it to each telescopic arm 11 of the body segments 1A, 1B. By this drive signal, as shown in FIG. 8 (4), the telescopic arm 11 of the body segment 1A contracts and the telescopic arm 11 of the body segment 1B extends (step S205). Thereby, the body segment 1B moves forward in the traveling direction.

  The user board 31 determines whether or not the count T exceeds 250 (step S206). When the count T is 250 or less, the user board 31 increments the count T (step S207), and the telescopic arms 11 of the body segments 1A and 1B continue the telescopic operation when the telescopic operation is not completed ( Step S205).

  When the count T exceeds 250, the user board 31 generates a command signal for rotating each servo motor 121 of the body segment 1B, and passes this command signal to the I / F board 32. The I / F board 32 converts this command signal into a drive signal, and transmits this drive signal to each servo motor 121 of the body segment 1B. With this drive signal, as shown in FIG. 8 (5), in the body segment 1 </ b> B, each servo motor 121 rotates around the rotation shaft 123 so as to be separated from the telescopic arm 11, and each hand portion 122 is moved to the inner wall surface of the pipe P. Abut. Thereby, the robot 10 is supported on the inner wall surface of the pipe P by the rotating arms 12 of the body segments 1A to 1D (step S208).

  Next, the user board 31 generates a command signal for expanding and contracting each of the telescopic arms 11 of the body segments 1B and 1C, initializes the count T to 0, and delivers this command signal to the I / F board 32. The I / F board 32 converts this command signal into a drive signal and transmits it to each of the telescopic arms 11 of the body segments 1B and 1C. With this drive signal, as shown in FIG. 8 (5), the telescopic arm 11 of the body segment 1B contracts and the telescopic arm 11 of the body segment 1C expands (step S209). Thereby, the control part 3 arrange | positioned between the body segment 1B and the body segment 1C moves to the advancing direction front.

  The user board 31 determines whether or not the count T exceeds 250 (step S210). When the count T is 250 or less, the user board 31 increments the count T (step S211), and the telescopic arms 11 of the body segments 1B and 1C continue the telescopic operation when the telescopic operation has not been completed ( Step S209).

  When the count T exceeds 250, the user board 31 generates a command signal for rotating each servo motor 121 of the body segment 1C, and passes this command signal to the I / F board 32. The I / F board 32 converts this command signal into a drive signal and transmits it to each servo motor 121 of the body segment 1C. With this drive signal, as shown in FIG. 8 (6), as shown in FIG. 8 (6), in the body segment 1 C, each servo motor 121 rotates around the rotation axis 123 so as to approach the telescopic arm 11. Separate from the wall. Thereby, the support of the robot 10 by each rotary arm 12 of the body segment 1C is released (step S212), and the robot 10 is moved by the rotary arms 12 of the body segments 1A, 1B and 1D on the inner wall surface of the pipe P. Supported.

  Next, the user board 31 generates a command signal for expanding and contracting each of the extendable arms 11 of the body segments 1C and 1D, initializes the count T to 0, and delivers this command signal to the I / F board 32. The I / F board 32 converts this command signal into a drive signal and transmits it to each telescopic arm 11 of the body segments 1C, 1D. With this drive signal, as shown in FIG. 8 (6), the telescopic arm 11 of the body segment 1C contracts, and the telescopic arm 11 of the body segment 1D extends (step S213). Thereby, the body segment 1C moves forward in the traveling direction.

  The user board 31 determines whether or not the count T exceeds 250 (step S214). When the count T is 250 or less, the user board 31 increments the count T (step S215), and the telescopic arms 11 of the body segments 1C and 1D continue the telescopic operation when the telescopic operation has not been completed ( Step S213).

  When the count T exceeds 250, the user board 31 generates a command signal for rotating the servo motors 121 of the body segments 1C and 1D, and delivers this command signal to the I / F board 32. The I / F board 32 converts this command signal into a drive signal and transmits it to each servo motor 121 of the body segments 1C, 1D. By this drive signal, as shown in FIG. 8 (7), in the body segment 1C, each servo motor 121 rotates around the rotation shaft 123 so as to be separated from the telescopic arm 11, and thereby each hand portion 122 is connected to the pipe P. It contacts the inner wall surface. On the other hand, in the body segment 1D, each servo motor 121 rotates around the rotation shaft 123 so as to approach the telescopic arm 11, whereby each hand portion 122 is separated from the inner wall surface of the pipe P. As a result, the support of the robot 10 by the rotary arms 12 of the body segment 1B is released, and the robot 10 is supported by the rotary arms 12 of the body segments 1A to 1C on the inner wall surface of the tube P (step S216). .

  Next, the user board 31 generates a command signal for contracting the telescopic arm 11 of the body segment 1D, initializes the count T to 0, and delivers this command signal to the I / F board 32. The I / F board 32 converts this command signal into a drive signal and transmits it to the telescopic arm 11 of the body segment 1D. By this drive signal, as shown in FIG. 8 (7), the telescopic arm 11 of the body segment 1D contracts (step S217). Thereby, the body segment 1D and the head part 2B move forward in the traveling direction, and the robot 10 moves forward in the tube P.

  The user board 31 determines whether or not the count T exceeds 250 (step S218). When the count T is 250 or less, the user board 31 increments the count T (step S219), and when the contraction operation is not completed, the telescopic arm 11 of the body segment 1D continues the contraction operation (step S218). ).

  When the count T exceeds 250, the user board 31 determines whether or not an operation end command signal has been received from the computer 6 (step S220). When the user board 31 receives the operation end command signal, the stable mode operation ends.

  When the user board 31 has not received the operation end command signal, the user board 31 generates a command signal for rotating each servo motor 121 of the body segment 1A, and sends this command signal to the I / F board 32. hand over. The I / F board 32 converts this command signal into a drive signal and transmits it to each servo motor 121 of the body segment 1A. By this drive signal, in the body segment 1A, each servo motor 121 rotates around the rotation shaft 123 so as to approach the telescopic arm 11, and each hand portion 122 is separated from the inner wall surface of the pipe P. Thereby, the support of the robot 10 by the body segment 1A is released (step S221). Thereafter, the processing from step S201 to step S220 is performed again. Since each hand portion 122 of the body segments 1B and 1C is already in contact with the inner wall surface of the tube P, only the servo motor 121 of the body segment 1D moves around the rotation shaft 123 in step S201 again. Rotate.

  Thus, in the stable mode, when the telescopic arm 11 of each body segment 1 is expanded and contracted, the robot 10 is supported by the rotating arms 12 of the three body segments 1, so that the robot 10 can be moved forward stably. . However, when the telescopic arm 11 in each body segment 1 is expanded and contracted, it is only necessary that the robot 10 can be supported by at least two rotating arms 12 of the body segment 1.

(Energy saving mode)
Hereinafter, an operation when the robot 10 moves in the pipe P in the energy saving mode will be described with reference to FIGS. 9 and 10.

  When the user board 31 receives a command signal for operating in the energy saving mode from the computer 6, the user board 31 generates a command signal for rotating each servo motor 121 of the body segment 1 </ b> B, and sends this command signal to the I / F board 32. hand over. The I / F board 32 converts this command signal into a drive signal and transmits it to each servo motor 121 of the body segment 1B. With this drive signal, as shown in FIG. 10 (1), in the body segment 1 B, each servo motor 121 rotates around the rotation shaft 123 so as to be separated from the telescopic arm 11, and each hand portion 122 is connected to the inner wall surface of the pipe P. Abut. As a result, the robot 10 is supported on the inner wall surface of the tube P by the rotating arms 12 of the body segment 1B (step S301).

  Next, the user board 31 generates a command signal for extending the telescopic arm 11 of the body segment 1A, initializes the count T to 0, and delivers this command signal to the I / F board 32. The I / F board 32 converts this command signal into a drive signal and transmits it to the telescopic arm 11 of the body segment 1A. By this drive signal, as shown in FIG. 10 (2), the telescopic arm 11 of the body segment 1A extends (step S302). Thereby, the body segment 1A and the head portion 2A move forward in the traveling direction.

  The user board 31 determines whether the count T exceeds 250 (step S303). When the count T is 250 or less, the user board 31 increments the count T (step S304), and when the extension arm 11 of the body segment 1A has not completed the extension operation, the extension operation is continued (step S302). ).

  When the count T exceeds 250, the user board 31 generates a command signal for rotating the servo motors 121 of the body segments 1A and 1B, and delivers this command signal to the I / F board 32. The I / F board 32 converts this command signal into a drive signal and transmits it to each servo motor 121 of the body segments 1A, 1B. With this drive signal, as shown in FIG. 10 (3), in the body segment 1A, each servo motor 121 rotates around the rotation shaft 123 so as to be away from the telescopic arm 11, and thereby each hand portion 122 is connected to the pipe P. It contacts the inner wall surface. On the other hand, in the body segment 1 </ b> B, each servo motor 121 rotates around the rotation shaft 123 so as to approach the telescopic arm 11, whereby each hand portion 122 is separated from the inner wall surface of the pipe P. As a result, the support of the robot 10 by each rotation arm 12 of the body segment 1B is released, and the robot 10 is supported by each rotation arm 12 of the body segment 1A on the inner wall surface of the tube P (step S305).

  Next, the user board 31 generates a command signal for contracting the telescopic arm 11 of the body segment 1 </ b> A, initializes a count T to 0, and delivers this command signal to the I / F board 32. The I / F board 32 converts this command signal into a drive signal and transmits it to the telescopic arm 11 of the body segment 1A. By this drive signal, as shown in FIG. 10 (4), the telescopic arm 11 of the body segment 1A contracts (step S306). Thereby, body segment 1B-1D, the control part 3, and the head part 2B move to the advancing direction front.

  The user board 31 determines whether the count T exceeds 250 (step S307). When the count T is 250 or less, the user board 31 increments the count T (step S308), and the telescopic arm 11 of the body segment 1A continues the contracting operation when the contracting operation is not completed (step S306). ).

  When the count T exceeds 250, the user board 31 determines whether or not the operation end command signal is received from the computer 6 (step S309). When the user board 31 receives the operation end command signal, the operation in the energy saving mode ends.

  When the user board 31 has not received the operation end command signal, the user board 31 generates a command signal for rotating each servo motor 121 of the body segment 1A, and sends this command signal to the I / F board 32. hand over. The I / F board 32 converts this command signal into a drive signal and transmits it to each servo motor 121 of the body segment 1A. By this drive signal, in the body segment 1A, each servo motor 121 rotates around the rotation shaft 123 so as to approach the telescopic arm 11, and each hand portion 122 is separated from the inner wall surface of the pipe P. Thereby, the support of the robot 10 by each rotary arm 12 of the body segment 1A is released, and the state returns to the initial state (not shown) (step S310). Thereafter, the processing from step S301 to step S309 is performed again.

  Thus, in the energy saving mode, the robot 10 is moved forward by the movements of the body segments 1A and 1B, and the body segments 1C and 1D are not operated, so that energy such as electric power necessary for moving the robot 10 is saved. Can do.

(Scraping mode)
Hereinafter, an operation when the robot 10 moves in a scraping mode on a plane having no wall surface on the left and right will be described with reference to FIGS. 11 and 12. In each of the operation modes already described, the body segments 1A, 1B and the body segments 1C, 1D face each other with the control unit 3 in between. The body segments 1A to 1D all face the same direction. Further, when the robot 10 operates in the scraping mode and the left and right scraping mode, in the body segments 1A to 1D, one rotating arm 12 is positioned almost directly above the telescopic arm 11, and the other two rotating arms 12 are telescopic arms. 11 is preferably located at substantially the same height below 11. In FIG. 12, in the body segments 1A to 1D, the illustration of the rotating arm 12 positioned almost directly above the telescopic arm 11 is omitted.

  When the user board 31 receives a command signal for operating in the scraping mode from the computer 6, the user board 31 generates a command signal for rotating the servo motors 121 of the body segments 1C and 1D and sets the command angle θ to a predetermined initial value. The command signal is transferred to the I / F board 32. The I / F board 32 converts this command signal into a drive signal and transmits it to each servo motor 121 of the body segments 1C, 1D. With this drive signal, as shown in FIG. 12 (2), in the body segments 1C and 1D, each servo motor 121 rotates around the rotation axis 123 by the indicated angle θ so as to be separated from the telescopic arm 11 (step S401). ).

  The user board 31 determines whether or not the instruction angle θ exceeds 60 degrees (step S402). Here, when the servo motors 121 of the body segments 1C and 1D are rotated by more than 60 degrees, the hand units 122 of the body segments 1C and 1D collide with the plane and scrape the plane from the front to the rear in the traveling direction. In this way, the body segments 1C and 1D can be pushed forward in the traveling direction. That is, when the command angle θ exceeds 60 degrees, the robot 10 moves forward by the rotation of the servo motors 121 of the body segments 1C and 1D. However, the instruction angle θ may be an angle that rotates so that the rotating arms 12 of the body segments 1C and 1D collide with the plane and the body segments 1C and 1D move forward. A smaller value may be set, or a value exceeding 60 degrees (for example, 90 degrees or more) may be set.

  When the instruction angle θ is 60 degrees or less, the user board 31 increments the instruction angle θ (step S403), and performs the process of step S401 again. However, in the process of step S401 again, the instruction angle θ is not initialized.

  When the command angle θ exceeds 60 degrees and the robot 10 moves forward, the user board 31 generates a command signal for rotating the servo motors 121 of the body segments 1A and 1B, and this command signal is output to the I / F board 32. To hand over. The I / F board 32 converts this command signal into a drive signal and transmits it to each servo motor 121 of the body segments 1A, 1B. With this drive signal, as shown in FIG. 12 (3), in the body segments 1 A and 1 B, each servo motor 121 rotates around the rotation axis 123 so as to be separated from the telescopic arm 11, and the two hand portions 122 are flat. Abut. Thereby, the robot 10 is supported on a plane by the rotating arms 12 of the body segments 1A and 1B at a position advanced from the initial position (step S404).

  Next, the user board 31 generates a command signal for returning the servo motors 121 of the body segments 1 </ b> C and 1 </ b> D to the initial position, and delivers this command signal to the I / F board 32. The I / F board 32 converts this command signal into a drive signal and transmits it to each servo motor 121 of the body segments 1C, 1D. The user board 31 moves the servo motors 121 of the body segments 1C and 1D to a position rotated by the designated angle θ from the initial position (step S405), and determines whether or not the designated angle θ is 0 degrees (step S406). ). If the command angle θ is not 0 degree, the user board 31 decrements the command angle θ (step S407), and moves the servo motors 121 of the body segments 1C and 1D to positions rotated by the command angle θ after decrement from the initial position. (Step S405). That is, as the command angle θ gradually decreases, the servo motors 121 of the body segments 1C and 1D rotate so as to approach the telescopic arms 11, and finally, as shown in FIG. The initial position is reached.

  When the instruction angle θ becomes 0 degree, the user board 31 determines whether or not an operation end command signal is received from the computer 6 (step S408). When the user board 31 receives the operation end command signal, the operation in the scraping mode ends.

  When the user board 31 has not received the operation end command signal, the user board 31 generates a command signal for rotating the servo motors 121 of the body segments 1A and 1B, and the command signal is transmitted to the I / F board. Hand over to 32. The I / F board 32 converts this command signal into a drive signal and transmits it to each servo motor 121 of the body segments 1A, 1B. By this drive signal, in each of the body segments 1A and 1B, each servo motor 121 rotates around the rotation shaft 123 so as to approach the telescopic arm 11, and each hand portion 122 that has been in contact with the plane is separated from the plane and is in an initial state. The process returns to (not shown) (step S409). Thereafter, the processes in steps S401 to S408 are performed again.

  Thus, in the scraping mode, the rotating arms 12 of the body segments 1C, 1D collide with the plane and operate to scrape the plane, so that the body segments 1C, 1D move forward. Since the robot 10 is supported on the plane by the rotating arms 12 of the body segments 1A and 1B in a state in which the body segments 1C and 1D have advanced, the state in which the body segments 1C and 1D have advanced can be maintained. Even so, the robot 10 can be easily advanced.

(Left and right scraping mode)
Hereinafter, the operation when the robot 10 moves on the plane in the left and right scraping mode will be described with reference to FIGS. 13 and 14. In the left and right scraping mode, for convenience of explanation, in the body segments 1A to 1D, of the two rotary arms 12 positioned below the telescopic arm 11, the one on the right side in the traveling direction is set as the rotating arm 12R, and the one on the left side in the moving direction is rotated. Let it be arm 12L. Similarly, the components included in the rotating arms 12R and 112L of each body segment are also distinguished by adding “R” and “L” at the end of the reference numerals. In FIG. 14, in the body segments 1A to 1D, the illustration of the rotary arm 12 positioned almost directly above the telescopic arm 11 is omitted.

  When the user board 31 receives a command signal for operating in the left and right scraping mode from the computer 6, the command for rotating the servo motors 121R of the body segments 1A and 1C and the servo motors 121L of the body segments 1B and 1D. A signal is generated and the indicated angle θ is initialized with a predetermined initial value, and this command signal is delivered to the I / F board 32. The I / F board 32 converts this command signal into a drive signal and transmits it to each servo motor 121R of the body segments 1A, 1C and each servo motor 121L of the body segments 1B, 1D. With this drive signal, each servo motor 121R rotates around the rotation axis 123R by the indicated angle θ in the body segments 1A and 1C so as to be away from the telescopic arm 11. Further, in the body segments 1B and 1D, each servo motor 121L rotates around the rotation axis 123L by an instruction angle θ so as to be away from the telescopic arm 11 (step S501).

  The user board 31 determines whether or not the instruction angle θ exceeds 60 degrees (step S502). When the instruction angle θ is 60 degrees or less, the user board 31 increments the instruction angle θ (step S503), and performs the process of step S501 again. However, in the process of step S501 again, the instruction angle θ is not initialized.

  When the command angle θ exceeds 60 degrees and each rotary arm 12R of the body segments 1A and 1C operates to scrape the plane from the front to the back in the traveling direction, the body segments 1A and 1C are as shown in FIG. In addition, the portion on the right side of the traveling direction is pushed forward. On the other hand, when the command angle θ exceeds 60 degrees and each rotating arm 12L of the body segments 1B, 1D operates to scrape the plane from the front to the back in the traveling direction, the body segments 1B, 1D are on the left side with respect to the traveling direction. Is pushed forward.

  When the command angle θ exceeds 60 degrees, the user board 31 generates a command signal for returning the servo motors 121R of the body segments 1A and 1C and the servo motors 121L of the body segments 1B and 1D to the initial positions. The command signal is delivered to the I / F board 32. The I / F board 32 converts this command signal into a drive signal and transmits it to each servo motor 121R of the body segments 1A, 1C and each servo motor 121L of the body segments 1B, 1D. The user board 31 moves the servo motors 121R of the body segments 1A and 1C and the servo motors 121L of the body segments 1B and 1D to positions rotated by the designated angle θ from the initial position (step S504). It is determined whether it is 0 degrees (step S505). When the command angle θ is not 0 degree, the user board 31 decrements the command angle θ (step S506), and moves the servo motors 121R of the body segments 1A and 1C and the servo motors 121L of the body segments 1B and 1D from the initial position. It is moved to a position rotated by the designated angle θ after decrement (step S504).

  When the command angle θ becomes 0 degree, the user board 31 generates command signals for rotating the servo motors 121L of the body segments 1A and 1C and the servo motors 121R of the body segments 1B and 1D, and the command angle θ Is initialized with a predetermined initial value, and this command signal is delivered to the I / F board 32. The I / F board 32 converts this command signal into a drive signal and transmits it to each servo motor 121L of the body segments 1A, 1C and each servo motor 121R of the body segments 1B, 1D. With this drive signal, each servo motor 121L rotates around the rotation axis 123L by the indicated angle θ in the body segments 1A and 1C so as to be separated from the telescopic arm 11. Further, in the body segments 1B and 1D, each servo motor 121R rotates around the rotation axis 123R by the indicated angle θ so as to be away from the telescopic arm 11 (step S507).

  The user board 31 determines whether or not the instruction angle θ exceeds 60 degrees (step S508). When the instruction angle θ is 60 degrees or less, the user board 31 increments the instruction angle θ (step S509) and performs the process of step S507 again. However, in the process of step S507 again, the instruction angle θ is not initialized.

  When the command angle θ exceeds 60 degrees and each rotary arm 12L of the body segments 1A, 1C operates to scrape the plane from the front to the back in the traveling direction, the body segments 1A, 1C are as shown in FIG. In addition, the left portion of the traveling direction is pushed forward. On the other hand, when the command angle θ exceeds 60 degrees and each rotating arm 12R of the body segments 1B and 1D operates to scrape the plane from the front to the back in the traveling direction, the body segments 1B and 1D are on the right side with respect to the traveling direction. Is pushed forward.

  When the command angle θ exceeds 60 degrees, the user board 31 generates a command signal for returning the servo motors 121L of the body segments 1A and 1C and the servo motors 121R of the body segments 1B and 1D to the initial positions. The command signal is delivered to the I / F board 32. The I / F board 32 converts this command signal into a drive signal and transmits it to each servo motor 121L of the body segments 1A, 1C and each servo motor 121R of the body segments 1B, 1D. The user board 31 moves the servo motors 121L of the body segments 1A and 1C and the servo motors 121R of the body segments 1B and 1D to the positions rotated by the designated angle θ from the initial position (step S510). It is determined whether it is 0 degrees (step S511). When the command angle θ is not 0 degree, the user board 31 decrements the command angle θ (step S512), and moves the servo motors 121L of the body segments 1A and 1C and the servo motors 121R of the body segments 1B and 1D from the initial position. It is moved to a position rotated by the designated angle θ after decrement (step S510).

  When the instruction angle θ becomes 0 degree, the user board 31 determines whether or not an operation end command signal is received from the computer 6 (step S513). When the user board 31 receives the operation end command signal, the operation in the scraping mode ends. When the user board 31 has not received the operation end command signal, the processes in steps S501 to S512 are performed again.

  As described above, in the left and right scraping mode, each body segment 1 operates so that the right half body and the left half body alternately come forward in the traveling direction. As a result, the robot 10 can easily advance even on a flat surface.

  As described above, in the robot 10 of the present embodiment, the rotary arm 12 of each body segment 1 rotates around the rotation axis 123 extending in a direction intersecting with the body axis direction of the robot 10 at about 90 degrees, and the robot moves. Abut against the surface at an angle. Therefore, a sufficient frictional force can be generated between the rotary arm 12 and the moving surface, not only the pipe P but also a moving surface such as a plane, and the body segment 1 moves relative to the moving surface. Can be prevented. Further, the rotating arm 12 of each body segment 1 operates so as to scrape the moving surface, and can push itself forward in the traveling direction of the robot 10. As a result, the robot 10 can move regardless of the shape of the moving surface. Further, in the robot 10, since the telescopic arm 11 and the rotating arm 12 of each body segment 1 operate independently, the extension amount of the telescopic arm 11 and the rotation amount of the rotating arm 12 are not limited to each other. .

  Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention.

  For example, in the above-described embodiment, the robot 10 includes the four body segments 1A to 1D. However, the robot 10 may include at least two body segments.

  Further, in the above embodiment, the body segments 1A, 1B and the body segments 1C, 1D face each other with the control unit 3 interposed therebetween, or are all arranged to face the same direction, but the body segments need to be oriented. It may be changed as appropriate according to the situation.

  Moreover, in the said embodiment, although the three rotation arms 12 of the body segment 1 were arrange | positioned at equal intervals around the expansion-contraction arm 11, the space | interval between the rotation arms 12 can be changed suitably.

  Moreover, in the said embodiment, the body segment 1 was provided with the three rotation arms 12, However, What is necessary is just to provide the at least 1 rotation arm 12. FIG.

  In the above embodiment, the rotation axis 123 of the rotary arm 12 extends in a direction that intersects the body axis direction of the robot 10 at about 90 degrees, but the intersection angle between the body axis direction and the direction in which the rotation axis extends is There is no particular limitation.

  Moreover, in the said embodiment, although each rotary arm 12 rotated from the position close | similar to the expansion-contraction arm 11 to the position which contact | abuts to the pipe P or collides with a plane, it is comprised so that it may rotate until the direction becomes reverse. can do. That is, as shown in FIG. 15, the rotating arm 12Ma located above the telescopic arm 11 and extending in the same direction as the direction in which the telescopic arm 11 extends is reversed by rotating about 180 degrees around the rotating shaft 123. Can be oriented. The rotation arm 12Ma positioned below the telescopic arm 11 is moved above the telescopic arm 11 by rotating the robot 10Ma or the body segment 1Ma around the body axis so that the rotation is not hindered by the plane F. Thereafter, it may be rotated about 180 degrees in the same manner.

  Moreover, in the said embodiment, each rotation arm may be foldable. That is, as shown in FIG. 16, at least one joint portion 126 may be provided on the rotary arm 12Mb, and the rotary arm 12Mb may be bent or extended by the joint portion 126. Such a body segment including the rotating arm 12Mb extends the rotating arm 12Mb to bring the hand portion 122 into contact with the inner wall surface of the pipe P1 even when the robot 10Mb moves in the pipe P1 having a large diameter. be able to. When the robot 10Mb moves in the pipe P2 having a small diameter, the rotary arm 12Mb may be rotated while being bent, and the joint portion 126 may be brought into contact with the inner wall surface of the pipe P2.

  Moreover, in the said embodiment, although the expansion-contraction arm 11 and the rotation arm 12 of the body segment 1 were connected via the plate 14, it may be connected via inclusions other than the plate 14, or it connects directly. May be.

10, 10Ma, 10Mb Robot 1A-1D Body segment 11 Telescopic arm 12, 12Ma, 12Mb Rotating arm 3 Control unit

Claims (8)

The body segment of a multi-particulate robot,
A telescopic arm extending and contracting along the body axis direction of the robot;
A rotating arm connected to the telescopic arm and rotating about a rotation axis extending in a direction intersecting the body axis direction;
The somite. The body segment of claim 1,
In the initial state, the rotating arm extends in the same direction as the direction in which the telescopic arm extends. A multi-node robot,
A plurality of body segments according to claim 1 or 2,
A telescopic arm of one body segment of the plurality of body segments is connected to another body segment adjacent to the one body segment. The robot according to claim 3,
Among the plurality of body segments, a body segment telescopic arm located at one end extends to the body segment side located at the other end,
The extendable arm of the body segment located at the other end extends to the body segment located at the one end. The robot according to claim 3 or 4, further comprising:
In each body segment, the controller includes a controller that expands and contracts the telescopic arm and rotates the rotating arm so that the rotating arm contacts and separates from the moving surface of the robot.
The plurality of body segments are:
A first somite;
A second body segment whose telescopic arm extends in the direction of the first body segment;
Including
The controller is
Expansion and contraction of the second body segment in a state where the rotation arm of the second body segment is in contact with the moving surface and the rotation arm of the body segment other than the second body segment is separated from the moving surface. After extending the arm toward the first segmental side,
Expansion and contraction of the second body segment with the rotation arm of the first body segment in contact with the moving surface and the rotation arm of the body segment other than the first body segment spaced apart from the moving surface A robot that contracts the arm. The robot according to claim 3 or 4, further comprising:
In each body segment, the controller includes a controller that expands and contracts the telescopic arm and rotates the rotating arm so that the rotating arm contacts and separates from the moving surface of the robot.
The plurality of body segments are:
A first somite;
A second body segment whose telescopic arm extends in the direction of the first body segment;
Including
The controller is
Expansion and contraction of the second body segment with the rotation arm of the first body segment in contact with the moving surface and the rotation arm of the body segment other than the first body segment spaced apart from the moving surface After extending the arm toward the first segmental side,
Expansion and contraction of the second body segment in a state where the rotation arm of the second body segment is in contact with the moving surface and the rotation arm of the body segment other than the second body segment is separated from the moving surface. A robot that contracts the arm. The robot according to claim 3 or 4, further comprising:
In each body segment, the controller includes a controller that expands and contracts the telescopic arm and rotates the rotating arm so that the rotating arm contacts and separates from the moving surface of the robot.
The robot, wherein the control unit extends or contracts at least one telescopic arm of the body segment in a state where the rotation arms of two or more body segments are in contact with the moving surface. The robot according to claim 3 or 4, further comprising:
In order to move at least one of the plurality of body segments forward with respect to the moving direction of the robot, the rotation arm of the at least one body segment is rotated so as to collide with the moving surface of the robot. A robot provided with a control unit.

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