JP2016168664A - Action support robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an action support robot for supporting action of a doll type robot from the outside.SOLUTION: In an action support robot D for supporting from the outside, action of an action part of a doll type robot R having the action part such as an arm, a drive mechanism M of the action support robot D is engaged with the action part such as a hand of an arm, and thereby the action part such as an arm of the doll type robot R is operated.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an operation support robot. More particularly, the present invention relates to a motion support robot that supports the motion of a motion body having a motion part including a joint, such as a doll-shaped robot that can enrich emotional expression by various motions and realize affinity with humans.

  Conventionally, in Bunraku, dolls (hereinafter referred to as Bunraku dolls) have been manipulated by three puppeteers as shown in FIG. 9 to perform a rich performance that impresses the audience. In this performance, exaggerated movements that cannot be instantaneously performed by normal human movements are performed in order to impress the audience. In order to impress the audience by performing such an exaggerated operation, it is necessary to operate the Bunraku doll as a trinity of three puppeteers. Therefore, strict training over many years is required to become a full-fledged puppeteer.

  In other words, in order to become a puppeteer, after 3 years of props storage, 3 years of footwork, and 3 years of leftward spending, he will finally become the lead keeper. As described above, since the training period of puppeteers is long and strict, there is a problem that puppeteers have few hands and the skills of puppeteers are not passed down.

  On the other hand, various doll-type robots are also advancing in general life. If one of these doll-shaped robots can provide a robot that can behave like a Bunraku doll, it can be presumed that life will be enriched. At that time, if the doll-shaped robot and the drive device that drives the robot are separated, the productivity will be improved and it will be possible to pass on the craftsmanship of puppeteers. In other words, it is possible to pass on craftsmanship by configuring the driving device with a robot and storing the skill of the master.

  By the way, when driving a doll-shaped robot, it may be possible to incorporate a driving device in the doll-shaped robot, but in such a case, it is necessary to adjust the driving device according to the structure and operation of each doll-shaped robot. There is a problem that the cost of the type robot is increased and the production period is prolonged.

  The arm structure of the humanoid robot has been proposed in Patent Document 1, but it is not configured to be able to express emotions and realize human affinity.

JP 2003-175484 A

  The present invention has been made in view of the problems of the prior art, and has as its main purpose to provide an operation support robot that supports the operation of a doll-shaped robot from the outside. Another object of the present invention is to provide an operation support robot that supports the operation of the care recipient.

  The present invention provides an operation support robot that externally supports the operation of an operation unit having an operation unit such as an arm, wherein a drive mechanism of the operation support robot is engaged with the operation unit. The present invention relates to a characteristic motion support robot.

  In the present invention, it is preferable that the motion support robot has a control unit, and the control unit has a variable force control unit that variably controls the driving force of the driving mechanism. In that case, it is more preferable that the control unit has a teaching / playback control unit.

  In the present invention, it is preferable that the motion support robot has an imaging device and the control unit has an image processing unit.

  Thus, in the present invention, the moving body is a doll-type robot or a care recipient.

  Since the motion support robot of the present invention is configured as described above, it has an excellent effect that the configuration of the motion support robot can be standardized and the cost of the motion support robot can be reduced regardless of the configuration of the motion body. Play.

It is the schematic of the state which mounted | wore the doll type robot with the operation | movement assistance robot which concerns on one Embodiment of this invention. It is the same image figure. It is a structural diagram of a Bunraku doll. It is a block diagram of an example of an operation support robot. It is a figure which shows a mode that teaching a support robot using a doll-type robot. It is a block diagram of the drive mechanism of the robot. It is the schematic of the front-end | tip part of the drive mechanism. It is a block diagram of a control part. It is a figure which shows the operation of the doll by the puppeteer of a Bunraku doll.

  Hereinafter, although the present invention is explained based on an embodiment, referring to an accompanying drawing, the present invention is not limited only to this embodiment. In the example shown below, the moving body is a doll-type robot.

  FIG. 1 is a schematic view showing a state where a motion support robot (hereinafter simply referred to as a support robot) D according to an embodiment of the present invention is attached to a doll-type robot R having an arm, and FIG. 2 is an image diagram.

  The doll-type robot R is a robot that can simulate an operation of a bunraku doll (see FIG. 3), for example, and has a traveling unit on the robot to be able to travel. More specifically, the head can be tilted and rotated, and can move up and down. The torso is tiltable and telescopic so that exaggerated expressions can be made. The shoulder and the upper arm of the arm are engaged with, for example, a rope, the upper arm and the forearm are engaged with, for example, a rope, and the forearm and the hand are engaged with, for example, a rope.

  In addition, an engagement member for engaging with a drive member (end effector) of a head and neck drive mechanism of a support robot D, which will be described later, is disposed after the neck, and a support robot, which will be described later, is disposed at an appropriate position on the back of the trunk. An engagement member for engaging with a drive member (end effector) of the body drive mechanism of D is disposed, and a hand is connected to a drive member (end effector) of a hand drive mechanism of the support robot D to be described later. An engaging member for engaging is disposed at a place other than the joint.

  The support robot D supports the operation of the doll-shaped robot R from the outside. As shown in FIG. 4, the head and neck drive mechanism 10 that drives the head and neck, and the torso, more specifically, The main part includes a torso drive mechanism 20 that drives the chest, a right arm drive mechanism 30 that drives the right arm, a left arm drive mechanism 40 that drives the left arm, and a control unit 50 that performs overall control thereof. It is said.

The head and neck drive mechanism 10, the torso drive mechanism 20, the right arm drive mechanism 30 and the left arm drive mechanism 40 are the drive mechanism M having the same configuration, and teaching / playback can be performed in the same manner as a normal robot. Has been. FIG. 5 shows the teaching of the support robot D by the doll robot R.

Further, the head and neck drive mechanism 10, the trunk drive mechanism 20, the right arm drive mechanism 30, and the left arm drive mechanism 40 are configured to vary the operating force.

More specifically, the drive mechanism M is an articulated link as shown in FIG.

  That is, as shown in FIG. 6, the drive mechanism M includes a first rotation link RL1, a first tilt link BL1, a second tilt link BL2, and a third tilt link BL3 that are connected in series in this order from the base B side. The first swing link SL1 and the end effector (driving member) E that can be rotated are included. The drive mechanism M constituting the head and neck drive mechanism 10 and the torso drive mechanism 20 is disposed perpendicular to the base B, and the drive mechanism M constituting the right arm drive mechanism 30 is disposed horizontally on the right side of the base B. The drive mechanism M constituting the left arm drive mechanism 40 is horizontally disposed on the left side of the base B, and the end effector E is engaged with an engagement member provided in the doll-shaped robot R through appropriate means.

  The first rotation link RL1 is driven by a servo motor (first rotation link drive motor) disposed below (backward) the first rotation link RL1. The drive shaft of the first rotation link drive motor may be directly connected to the first rotation link, or may be engaged via a power transmission mechanism such as a gear mechanism.

The first tilt link BL1 is driven by a servo motor (first tilt link drive motor) disposed on the side surface of the first tilt link BL1. The drive shaft of the first tilt link drive motor may be directly connected to the first tilt link BL1 or may be engaged via a power transmission mechanism such as a gear mechanism.

The second tilt link BL2 is driven by a servo motor (second tilt link drive motor) provided in a servo motor storage unit MB (see FIG. 1) provided in the base B. The second tilt link BL2 is tilted by the second tilt link drive motor via, for example, a control cable provided in the link. In the drive by the control cable, since a known structure can be suitably used, a detailed description of the configuration is omitted.

The third tilt link BL3 is driven by a servo motor (third tilt link drive motor) disposed in a servo motor storage unit MB provided in the base B. The third tilt link BL3 is tilted by the third tilt link drive motor, for example, via a control cable disposed in the link. In the drive by the control cable, since a known structure can be suitably used, a detailed description of the configuration is omitted.

The first swing link SL1 is driven by a servo motor (first swing link drive motor) provided in a servo motor storage unit MB provided in the base B. The swing of the first swing link SL1 by the first swing link drive mode is made, for example, via a control cable disposed in the link. In the drive by the control cable, since a known structure can be suitably used, a detailed description of the configuration is omitted.

The end effector E is driven by a servo motor (end effector drive motor) disposed in a servo motor storage unit MB provided in the base B. For example, as shown in FIG. 7, the end effector E is rotated by the end effector drive motor by engaging the shaft end of the small gear SG by rotating the bevel gear G with a control cable disposed in the link. This is done by rotating the end effector.

  As shown in FIG. 8, the control unit 50 includes a teaching / playback control unit 51, a force variable control unit 52 that changes the force during playback, and a current command value generation unit 53. In response to the operation command input from the head, the head drive mechanism 10, the torso drive mechanism 20, the right arm drive mechanism 30, the left arm drive mechanism 40, and the current command values of the motors of the traveling device are generated and output. The

  Since the support robot D according to the present embodiment is configured as described above, the doll-shaped robot R can be operated in various ways to express emotions, although the configuration of the doll-shaped robot R can be simplified. It can be enriched and realize affinity with people.

Further, by operating the arm of the puppet robot R by a master of bunraku puppeteers, that is, by teaching the support robot D, it becomes possible to store the mastery art of the puppeteer in the support robot D and pass it on. .

  As mentioned above, although this invention has been demonstrated based on embodiment, this invention is not limited only to this embodiment, A various change is possible.

  For example, in this embodiment, the operation support target of the support robot D is the doll-type robot R, but the operation support target is not limited to the doll-type robot R, and for example, the motor function is reduced and the caregiver's It can also be a care recipient who needs care.

  Further, in the present embodiment, the doll-shaped robot R is operated by the articulated link mechanism, but the drive mechanism for operating the doll-shaped robot R is not limited to the articulated link mechanism, and various modifications can be made. Is possible. For example, a mechanism such as a snake robot can be used.

  Further, for example, an imaging device is provided in the support robot D, and an image processing unit and an image processing unit are provided in the control unit 50, so that it is not necessary to provide a sensor for an operation support target such as the doll-shaped robot R.

  The present invention can be applied to the robot industry and the care industry.

D motion support robot B base M drive mechanism RL rotation link BL tilt link SL swing link E end effector, drive member
MB servo motor storage G bevel gear SG small gear R doll-shaped robot I input device 10 head and neck drive mechanism 20 torso drive mechanism 30 right arm drive mechanism 40 left arm drive mechanism 50 control unit 51 teaching / playback control unit 52 force variable control 53 Current command value generator

Claims (6)

  An operation support robot that externally supports an operation of an operation unit having an operation unit such as an arm, wherein a drive mechanism of the operation support robot is engaged with the operation unit. Support robot.   The motion support robot according to claim 1, wherein the motion support robot includes a control unit, and the control unit includes a force variable control unit that variably controls the drive force of the drive mechanism.   The motion support robot according to claim 2, wherein the control unit includes a teaching / playback control unit.   The motion support robot according to claim 2, wherein the motion support robot includes an imaging device, and the control unit includes an image processing unit.   The motion support robot according to claim 1, wherein the motion body is a doll-shaped robot.   The motion support robot according to claim 1, wherein the motion body is a care recipient.