JP2018167381A - robot - Google Patents

Abstract

To provide a robot that can detect external force to a sensor by a simple structure.SOLUTION: A robot 1 comprises an upper base body 10, a lower base body 11, an arm link 30 and a leg link 50. The leg link 50 is constituted of a first leg link part 50a, a second leg link part 50b, a knee joint mechanism 50c. A sensor unit 70 provided in the knee joint mechanism 50c comprises a first axial-force sensor 71, a contact pad 72, an inner guide 73, outer guides 75 and a plate spring 76. When the robot 1 is brought into a kneeling-down posture so that the contact pad 72 contacts a ground surface A and the inner guide 73 moves from a retreat position to a press position against energization of the plate spring 76, a pressing part 73a presses an input detecting part 71a of the first axial-force sensor 71. The first axial-force sensor 71 detects pressing force to the input detecting part 71a, and outputs the detected pressing force to a control part 13. The control part 13 controls a posture of the robot on the basis of the detected pressing force from the first axial-force sensor 71.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a robot that can be moved by a plurality of manipulators.

  2. Description of the Related Art Conventionally, there has been known a robot that includes a base and a plurality of manipulators connected to the base and moves by controlling the driving of the plurality of manipulators. For example, in the robot described in Patent Document 1, a base frame is provided at the lower end of a leg portion as a manipulator, and a uniaxial force sensor (hereinafter referred to as a uniaxial force sensor) is provided on the base frame.

  In the robot described in Patent Document 1, the ground repulsive force and the zero moment point acting on the leg of the robot are calculated based on the measurement value of the single-axis force sensor, and the calculated ground repulsive force and the zero moment point are used. The robot is controlled so as to be able to walk stably.

Japanese Patent No. 5959283

  In the robot described in Patent Document 1, the force applied to the robot is detected using a uniaxial force sensor. However, since the uniaxial force sensor can detect only the force applied from one direction, the plane of the base frame is detected. A force perpendicular to the plane is detected by a uniaxial force sensor provided on the surface, and a force perpendicular to the inclined surface is detected by a uniaxial force sensor provided on the inclined surface of the base frame. And the robot is controlled based on the calculated resultant force. For this reason, there are problems that the number of parts increases and the structure and sensor signal processing become complicated.

  Therefore, it is conceivable to use a multi-axis force sensor instead of the single-axis force sensor. However, when the multi-axis force sensor is used, there is a problem that the structure becomes larger and the sensor signal processing becomes complicated. is there. Further, in order to control the robot in accordance with the detection force of the sensor, it is necessary to provide a sensor at a location where the robot touches the ground or the like. For example, when the sensor is provided on the knee, it is necessary to ground the lower end of the leg, and there is a limit to the posture that the robot can take.

  The present invention has been made in view of such circumstances, and provides a robot that can detect an external force applied to a sensor with a simple configuration and can expand the function by increasing the degree of freedom of posture. For the purpose.

  The robot of the present invention includes a base body and a plurality of manipulators coupled to the base body, and is a robot that moves by driving the plurality of manipulators, and is provided in at least one of the plurality of manipulators. A sensor unit for detecting contact with the outside, wherein the sensor unit has a sensor for detecting a pressing force when pressed in the first direction, and a contact surface in contact with the outside is formed in a convex curve shape. A contact portion, a pressing portion attached to the contact portion and pressing the sensor, a support portion supporting the pressing portion so as to be slidable in the first direction, and urging the pressing portion in a direction away from the sensor And an urging portion that performs.

  According to the robot of the present invention, since the contact surface of the contact portion is formed in a convex curved surface shape, when an external force in an arbitrary direction is applied to the contact portion, a component of the external force in the first direction is generated. Thereby, the external force applied to the contact portion can be easily detected. Therefore, one sensor can extract not only the first direction but also an external force in a direction different from the first direction as a component in the first direction.

  In addition, since a uniaxial force sensor that is smaller than the six-axis force sensor can be used, the sensor does not get in the way even when the robot performs operations such as raising and lowering the ladder and passing through a narrow path.

  The plurality of manipulators constitute an arm part and a leg part, the sensor unit is provided in the manipulator constituting the knee part of the leg part, and the sensor unit grounds the knee part. In this case, it is preferable that the leg portion is provided on the inner side of an axis extending from the base end portion connected to the base body to the knee portion and so that the first direction is inclined with respect to the axis. . The first direction is preferably a direction perpendicular to a ground contact surface that contacts the knee, and in this case, the direction of the axis is a direction inclined outward from the base end toward the knee. Become.

  According to this configuration, it is possible to accurately detect the external force in the kneeling posture of the robot while using a simple uniaxial force sensor. Furthermore, the degree of freedom of the posture of the robot can be increased as compared with the case where sensors are provided only at the ends of the arms and legs. For example, it is possible to take postures such as low-level work in a kneeling posture, kneeling walking, and a sleeping posture with a knee.

  Further, one of the plurality of manipulators provided with the sensor unit is rotatably provided, and the contact surface has one rotation center provided with the sensor unit of the plurality of manipulators. It is preferably formed in a curved shape with a center of curvature.

  According to this configuration, when an external force in a direction inclined from the first direction is applied, the external force is applied to the contact surface as compared with the case where the contact surface is formed in a curved shape with the center of the sensor unit as the center of curvature. On the other hand, since it becomes easy to obtain perpendicularly, the pressing portion can be easily slid in the first direction regardless of the frictional force component of the contact surface.

  Moreover, it is preferable to provide the control part which controls the drive of these manipulators based on the detection result by the said sensor.

  According to this configuration, it is possible to control the driving of the robot with a simple configuration in accordance with the contact state with the outside detected by the sensor.

The front view which shows typically the structure of the robot which concerns on embodiment of this invention. The perspective view which shows typically the freedom degree of the joint mechanism of a robot. A is a cross-sectional view showing the frame of the sensor unit and the knee joint mechanism in a state where the inner guide is in the retracted position, and B is a sensor unit in a state where the inner guide is slid to the pressed position by being pressed in the first direction D1. Sectional drawing which shows the flame | frame of a knee joint mechanism. Sectional drawing which shows the frame of the sensor unit and knee joint mechanism of the state which was pressed by the 2nd direction D2 and the inner guide was slid to the press position. The side view which shows the sensor unit and knee joint mechanism of the state which the inner guide slid to the press position. The side view which shows the state which is moving in the bipedal walking mode of a robot. The side view which shows the state which is moving in the quadruped walking mode of the robot. The side view which shows the robot of a kneeling posture. The perspective view which shows the hip joint mechanism of the robot of a kneeling posture, a leg link, an ankle joint mechanism, and a foot part. The front view which shows the robot of a kneeling posture.

  Hereinafter, an embodiment of a robot according to the present invention will be described with reference to the drawings. The robot of this embodiment is a humanoid robot, and is configured to be movable by switching between a biped walking mode and a quadruped walking mode.

  First, the configuration of the robot 1 will be described with reference to FIG.

  The body of the robot 1 includes an upper base body 10, a lower base body 11 disposed below the upper base body 10, and a hip joint mechanism 12 provided between the upper base body 10 and the lower base body 11. The upper base body 10 and the lower base body 11 are coupled to each other so as to be relatively rotatable via a hip joint mechanism 12 corresponding to a human hip joint. A control unit 13 that controls the robot 1 in an integrated manner is provided inside the upper base body 10.

  The head of the robot 1 is an environment recognition unit 20a of the environment recognition device 20 for recognizing the surrounding (mainly forward) environment. A camera for imaging the external environment mounted on the environment recognition unit 20a and a sensor for recognizing the distance to the external environment are controlled by the environment recognition unit control circuit 20b disposed inside the upper base 10. ing. The environment recognition unit control circuit 20 b is controlled by the control unit 13.

  The detailed structure of the environment recognition unit 20a is described in detail in, for example, Japanese Patent Application Laid-Open No. 2006-150413. Moreover, an infrared sensor etc. may be used for the sensor mounted in the environment recognition unit 20a, for example.

  Since the external environment in front of the robot 1 can be imaged by the camera of the environment recognition unit 20a and the distance to the object can be recognized by the LRF of the environment recognition unit 20a, the control unit 13 can determine the distance based on the result. By controlling the operation of the robot 1, the robot 1 does not come into contact with anything in front (such as a wall or an obstacle).

  The environment recognition unit 20a is rotatably connected to the upper base 10 via a neck joint mechanism 21 corresponding to a human neck joint. The environment recognition unit 20a may be fixed to the upper base 10 so as not to rotate.

  Since the robot 1 is a humanoid robot, an environment recognition unit 20a corresponding to a human head is provided above the upper base 10. However, the base body side recognition apparatus for a robot according to the present invention is not limited to such a configuration, and a position other than the upper part of the upper base body (for example, the front and lower sides of the upper base body) according to the use environment of the robot and the like. It may be provided on a substrate or the like.

  The left and right arm bodies of the robot 1 are a pair of arm links 30 extending from the upper left and right sides of the upper base 10. Each arm link 30 is rotatably connected to the upper base body 10 via a shoulder joint mechanism 31 corresponding to a human shoulder joint.

  The arm link 30 includes a first arm link portion 30a corresponding to a human upper arm, a second arm link portion 30b corresponding to a human forearm, and an elbow joint mechanism 30c corresponding to a human elbow joint. .

  The first arm link portion 30 a is connected to the upper base body 10 via the shoulder joint mechanism 31 so as to be rotatable. The second arm link portion 30b is rotatably connected to the first arm link portion 30a via the elbow joint mechanism 30c. A hand part 40 corresponding to a human hand is connected to the tip of the second arm link part 30b.

  In the robot 1, an arm link 30 that is an arm body is constituted by a first arm link portion 30a, a second arm link portion 30b, and an elbow joint mechanism 30c. However, the arm body of the robot of the present invention is not limited to such a configuration, and may have a single link part, or may connect three or more link parts and each link part. It may have a plurality of joint parts.

  The hand unit 40 is an example of an end effector. The hand portion 40 is rotatably connected to the second arm link portion 30b of the arm link 30 via a wrist joint mechanism 41 corresponding to a human wrist joint. In the robot 1, the hand unit 40 and the arm link 30 constitute a robot arm as a manipulator.

  The hand 40 includes a hand base 40a corresponding to the palm and back of the human hand, a first finger 40b that is a single member corresponding to the human index finger, middle finger, ring finger, and little finger, and a first finger corresponding to the human thumb. Two finger portions 40c and a buffer member 40d attached to the first finger portion 40b are provided (see FIG. 7).

  The first finger 40b is configured integrally with the hand base 40a, and is fixed to the hand base 40a. The second finger portion 40c is attached to the hand base portion 40a so as to face the surface of the tip portion of the first finger portion 40b on the hand base portion 40a side. The second finger 40c is rotated by a driving mechanism provided inside the hand base 40a so that the tip of the second finger 40c approaches or separates from the first finger 40b.

  Thus, since the 2nd finger part 40c is comprised, even if the 1st finger part 40b is fixed, the hand part 40 picks up a target object with the 1st finger part 40b and the 2nd finger part 40c. Operation etc. can be performed easily.

  The left and right legs of the robot 1 are a pair of left and right leg links 50 extending downward from the lower portion of the lower base 11.

  Each leg link 50 is rotatably connected to the lower base body 11 via a hip joint mechanism 51 corresponding to a human hip joint.

  The leg link 50 includes a first leg link portion 50a corresponding to the human thigh, a second leg link portion 50b corresponding to the human lower leg, and a knee joint mechanism 50c corresponding to the human knee joint. .

  The first leg link portion 50 a is rotatably connected to the lower base body 11 via the hip joint mechanism 51. The 2nd leg link part 50b is connected with the 1st leg link part 50a via the knee joint mechanism 50c so that rotation is possible. A foot portion 60 corresponding to a human foot is connected to the tip of the second leg link portion 50b.

  In the robot 1, the leg link 50, which is a leg, is composed of a first leg link portion 50a, a second leg link portion 50b, and a knee joint mechanism 50c. However, the leg of the robot of the present invention is not limited to such a configuration, and may have a single link part, or may connect three or more link parts and each link part. It may have a plurality of joint parts.

  The foot portion 60 is rotatably connected to the second leg link portion 50b of the leg link 50 via an ankle joint mechanism 61 corresponding to a human ankle joint. In the robot 1, the leg link 50 and the foot part 60 constitute a manipulator.

  The knee joint mechanism 50c is provided with a sensor unit 70 which will be described later in detail for detecting an external force (translational force and moment) received by the knee joint mechanism 50c from an external object to be contacted.

  Next, the degree of freedom of the joint mechanism of the robot 1 will be described with reference to FIG.

  In this embodiment, the direction in which each joint mechanism rotates each member is a posture in which any joint mechanism does not rotate the connected member (hereinafter referred to as “reference posture”) unless otherwise specified. )) As a standard. In the case of the robot 1, the reference posture is a state in which the robot 1 stands (a state in which the upper base body 10, the lower base body 11, the arm links 30, and the leg links 50 are extended in a substantially vertical direction).

  In the present embodiment, as shown in FIG. 2, the yaw axis, pitch axis, and roll axis are respectively the vertical axis (Z axis) and the horizontal axis (when the robot 1 is in the reference posture). Y axis) and the axis in the front-rear direction (X axis). In this case, the yaw axis is the trunk axis of the upper base body 10 and the lower base body 11.

  The lumbar joint mechanism 12 includes a first lumbar joint mechanism 12 a disposed below the upper base body 10 and a second lumbar joint mechanism 12 b disposed between the first waist joint mechanism 12 a and the lower base body 11. ing.

  The first waist joint mechanism 12a connects the upper base body 10 to the lower base body 11 and the second waist joint mechanism 12b so as to be rotatable around the pitch axis. The second waist joint mechanism 12b connects the upper base body 10 and the first waist joint mechanism 12a to the lower base body 11 so as to be rotatable around the yaw axis.

  The neck joint mechanism 21 connects the environment recognition unit 20a to the upper base 10 so as to be rotatable around the pitch axis.

  The elbow joint mechanism 30c of the arm link 30 connects the second arm link part 30b corresponding to the human forearm to the first arm link part 30a corresponding to the human upper arm so as to be rotatable around the pitch axis. Yes.

  The shoulder joint mechanism 31 is located on the side of the first shoulder joint mechanism 31a and the first shoulder joint mechanism 31a disposed so as to be positioned within the range of the vertical width and the horizontal width of the upper base body 10. The second shoulder joint mechanism 31b disposed outside the upper base 10 and the third shoulder joint mechanism 31c disposed between the second shoulder joint mechanism 31b and the first arm link portion 30a of the arm link 30 are configured. ing.

  The first shoulder joint mechanism 31a connects the second shoulder joint mechanism 31b to the upper base 10 so as to be rotatable around the yaw axis. The second shoulder joint mechanism 31b connects the third shoulder joint mechanism 31c to the first shoulder joint mechanism 31a so as to be rotatable about the pitch axis and the roll axis. The third shoulder joint mechanism 31c connects the arm link 30 to the second shoulder joint mechanism 31b so as to be rotatable about the yaw axis.

  The wrist joint mechanism 41 includes a first wrist joint mechanism 41a disposed on the hand part 40 side of the second arm link part 30b of the arm link 30 and a first joint part disposed between the hand part 40 of the first wrist joint mechanism 41a. It consists of a two wrist joint mechanism 41b.

  The first wrist joint mechanism 41a connects the second wrist joint mechanism 41b to the second arm link portion 30b so as to be rotatable around the yaw axis. The second wrist joint mechanism 41b connects the hand portion 40 to the first wrist joint mechanism 41a so as to be rotatable about the roll axis and the pitch axis.

  The knee joint mechanism 50c of the leg link 50 is configured such that the second leg link portion 50b corresponding to the human lower limb is connected to the first leg link portion 50a corresponding to the human thigh so as to be rotatable around the pitch axis. Yes.

  The hip joint mechanism 51 includes a first hip joint mechanism 51a disposed below the lower base 11, and a second hip joint mechanism 51b disposed on the leg link 50 side of the first hip joint mechanism 51a.

  The first hip joint mechanism 51a connects the second hip joint mechanism 51b to the lower base 11 so as to be rotatable around the yaw axis. The second hip joint mechanism 51b connects the leg link 50 to the first hip joint mechanism 51a so as to be rotatable about the pitch axis and the roll axis.

  The ankle joint mechanism 61 connects the foot portion 60 to the second leg link portion 50b so as to be rotatable about the pitch axis and the roll axis.

  The first waist joint mechanism 12a, the second waist joint mechanism 12b, the neck joint mechanism 21, the elbow joint mechanism 30c, the first shoulder joint mechanism 31a, the second shoulder joint mechanism 31b, and the third shoulder joint mechanism 31c described above. The first wrist joint mechanism 41a, the second wrist joint mechanism 41b, the knee joint mechanism 50c, the first hip joint mechanism 51a, the second hip joint mechanism 51b, and the ankle joint mechanism 61 are driven by the control unit 13 (see FIG. 1). Is controlled.

  Note that the configurations of the hip joint mechanism, neck joint mechanism, shoulder joint mechanism, elbow joint mechanism, knee joint mechanism, hip joint mechanism, and ankle joint mechanism in the robot of the present invention are not limited to the above-described configurations. You may change suitably according to a use, the arrangement space of the joint in a robot, etc. For example, one of the joint mechanisms may be omitted, or a joint mechanism other than the above may be added.

  As shown in FIG. 3, the sensor unit 70 provided in the knee joint mechanism 50 c includes a well-known uniaxial force sensor 71 for detecting an external force received from an external object such as the ground A and a contact that contacts the external object. A pad 72 (contact part) and a disk-shaped inner guide 73 (pressing part) to which the contact pad 72 is attached are provided. The uniaxial force sensor 71 is connected to the control unit 13. The uniaxial force sensor is lighter than the six-axis force sensor.

  The uniaxial force sensor 71 is configured with a capacity that does not break even when the entire weight of the robot 1 is added in a concentrated manner. The uniaxial force sensor 71 includes a base 71b provided with a convex input detection unit 71a. The base 71b is attached to a frame 50d constituting the outer shape of the knee joint mechanism 50c by screws (not shown).

  The base 71b includes a mounting protrusion 71c that is inserted into the mounting hole 50e of the frame 50d.

  The sensor unit 70 includes a cylindrical outer guide 75 (supporting portion) that slidably supports the inner guide 73 and a disk-shaped leaf spring 76 (attached to the outer guide 75 that biases the inner guide 73. ). The outer guide 75 is attached to the frame 50d by screws (not shown). The outer peripheral surface of the leaf spring 76 is attached to the inner peripheral surface of the outer guide 75.

  The inner guide 73 is formed with a pressing portion 73 a that presses the input detection portion 71 a of the uniaxial force sensor 71. The inner guide 73 is connected to the uniaxial force sensor 71 between a pressing position where the pressing portion 73a presses the input detection portion 71a by the outer guide 75 (see FIG. 3B) and a retracted position (see FIG. 3A). It is supported so as to be slidable in a first direction D1 perpendicular thereto. The inner guide 73 may be slidably supported by the outer guide 75, and the shapes of the inner guide 73 and the outer guide 75 can be changed as appropriate.

  The leaf spring 76 biases the inner guide 73 toward the retracted position. The inner guide 73 is urged by the leaf spring 76 and is located at the retracted position during normal time when no force is applied. In place of the leaf spring 76, a coil spring, rubber, or the like may be used.

  As shown in FIGS. 3 to 5, the outer peripheral surface (contact surface) that contacts the outside of the contact pad 72 is centered on the rotation center of the second hip joint mechanism 51 b when the knee joint mechanism 50 c is rotated around the roll axis. When an external force in an arbitrary direction (for example, a second direction D2 different from the first direction D1) is applied, the curved shape is formed so that a component of the external force in the first direction D1 is generated. Yes. Accordingly, the force acting in the first direction D <b> 1 is reduced because the force acting to slide in the lateral direction is reduced in terms of the external force acting on the outer circumferential surface as compared with a person whose outer circumferential surface of the contact pad 72 is linear. Can be increased. 3 to 5, the curved shape of the contact pad 72 is exaggerated. In FIGS. 1 and 6 to 10, the shape of the knee joint mechanism 50 c is simplified.

  Next, two walking modes of the robot 1 will be described with reference to FIGS. 6 and 7. In FIG. 6, illustration of the arm link 30 is omitted for easy understanding.

  In the present embodiment, “grounding” the hand part 40 or the foot part 60 means that the hand part 40 or the foot part 60 receives a contact reaction force that resists the force acting on the robot 1. It means that the part 40 or the foot part 60 is brought into contact with the external environment.

  As shown in FIG. 6, in the biped walking mode, the foot 60 at one end of the pair of leg links 50 is in contact with the ground A (the one leg link 50 is used as a supporting leg). The foot portion 60 at the tip of the other leg link 50 is moved in the air and further grounded (the other leg link 50 is operated as a free leg) is repeated. In this case, the operation of each leg link 50 as a free leg is performed alternately. The arm link 30 (not shown) is not grounded.

  As shown in FIG. 7, in the quadruped walking mode, two or three of the hand part 40 at the tip of the arm link 30 and the foot part 60 at the tip of the leg link 50 are grounded to the ground A ( With the two or three arm links 30 and leg links 50 as supporting legs), the remaining two or one hand part 40 or foot part 60 is moved in the air and further grounded (the remaining parts) The operation of operating two or one arm link 30 or leg link 50 as a free leg) is repeated. In this case, the arm link 30 or the leg link 50 operated as a free leg is periodically switched according to a predetermined rule. In FIG. 7, illustration of the sensor unit 70 is omitted.

  However, the operation in the quadruped walking mode is not limited to the above operation. For example, one of the hand part 40 at the tip of the arm link 30 and the foot part 60 at the tip of the leg link 50 is grounded to the ground A (the one hand part 40 or the foot part 60 is supported by the leg). The remaining three hand portions 40 and the foot portions 60 are moved in the air and further grounded (the remaining three hand portions 40 or the foot portions 60 are operated as swing legs). It is also possible to repeat.

  Further, the hand portion 40 at the tip of the arm link 30 and the foot portion 60 at the tip of the leg link 50 are simultaneously moved into the air (that is, the robot 1 is jumped) and further grounded. It is also possible.

  As shown in FIGS. 8 to 10, when working in a low place, the control unit 13 determines the posture of the robot 1 from the two knee joint mechanisms 50 c that are the knees of the robot 1 and the toes of the robot 1. A kneeling posture is maintained in which the posture is maintained at four points with the front tip portion of the two foot portions 60.

  The control unit 13 first grounds the two knee joint mechanisms 50c to the ground A when placing the robot 1 in the kneeling posture. In this case, the control unit 13 drives the two hip joint mechanisms 51 so that the two leg links 50 face outward. Thereby, compared with the case where the two leg links 50 do not face outward, the distance between the two knee joint mechanisms 50c becomes longer, and the posture of the robot 1 is stabilized.

  As shown in FIG. 3B, when the robot 1 is in the kneeling posture, the contact pad 72 of the sensor unit 70 first contacts the ground. When the contact pad 72 contacts the ground A, an external force is applied to the contact pad 72. When an external force is applied to the contact pad 72, the inner guide 73 slides from the retracted position toward the pressed position against the bias of the leaf spring 76.

  The inner guide 73 to which the contact pad 72 is attached is supported by the outer guide 75 so as to be slidable only in the first direction D1 perpendicular to the uniaxial force sensor 71. Furthermore, the outer peripheral surface which contacts the exterior of the contact pad 72 is formed in the curved surface shape which makes the rotation center around the roll axis of the 2nd hip joint mechanism 51b the center of curvature. As a result, as shown in FIG. 4, even when an external force in the second direction D2 different from the first direction D1 is applied to the contact pad 72, the inner guide 73 moves from the retracted position toward the pressed position. Move in direction D1. Therefore, it is possible to correctly detect the external force applied to the contact pad 72 as compared to detecting only the external force applied in the first direction D1.

  As shown in FIG. 3B, when the inner guide 73 moves to the pressing position, the pressing portion 73 a presses the input detection portion 71 a of the uniaxial force sensor 71. The uniaxial force sensor 71 detects the pressing force applied to the input detection unit 71 a by the pressing unit 73 a and outputs the detected pressing force to the control unit 13.

  The control unit 13 controls the posture of the robot 1 based on the detected pressing force from the uniaxial force sensor 71. In this case, the control unit 13 is such that the center of gravity of the robot 1 is in a quadrilateral (see FIG. 9) that connects the four points of the two knee joint mechanisms 50c and the front tip portions of the two foot portions 60. To control the posture. Thereby, work can be performed stably.

  When the work in the low place is completed, the control unit 13 changes the robot 1 from the kneeling posture to the biped standing posture shown in FIG. As a result, the contact pad 72 is separated from the ground A, and the inner guide 73 is moved to the retracted position by the urging of the leaf spring 76.

  As described above, since the contact with the outside is detected using the uniaxial force sensor 71 which is smaller than the 6-axis force sensor, the sensor is also used when the robot 1 performs operations such as raising and lowering the ladder and passing through the narrow space. It will not get in the way.

  As shown in FIG. 10, when the robot 1 is in the kneeling posture, the sensor unit 70 is located on the inner side of the knee center line L1 connecting the center of the second hip joint mechanism 51b and the center of the knee joint mechanism 50c. To position. In the sensor unit 70, when the robot 1 is in the kneeling posture, the sensor axis L2 that is the first direction D1 is parallel to the vertical direction (the reaction force direction from the ground A). Accordingly, it is possible to accurately detect the external force in the kneeling posture of the robot 1 while using the single-axis force sensor 71 having a simple configuration.

  The angle θ formed by the knee center line L1 and the sensor axis L2 can be changed in the range of 0 ° to 90 °. Even when θ changes, the sensor axis L2 moves in the vertical direction (reverse from the ground A). The sensor unit 70 is provided so as to be parallel to the force direction.

  In the above embodiment, the sensor unit 70 is provided in the knee joint mechanism 50c corresponding to the knee, but may be provided in the arm link 30, the shoulder joint mechanism 31, the hand unit 40, and the like.

DESCRIPTION OF SYMBOLS 1 ... Robot, 10 ... Upper base | substrate, 11 ... Lower base | substrate, 12 ... Waist joint mechanism, 12a ... 1st waist joint mechanism, 12b ... 2nd waist joint mechanism, 13 ... Control part, 20 ... Environment recognition apparatus, 20a ... Environment Recognition unit, 20b ... control circuit for environment recognition unit, 21 ... neck joint mechanism, 30 ... arm link, 30a ... first arm link portion, 30b ... second arm link portion, 30c ... elbow joint mechanism, 31 ... shoulder joint mechanism 31a ... first shoulder joint mechanism, 31b ... second shoulder joint mechanism, 31c ... third shoulder joint mechanism, 40 ... hand part, 40a ... hand base part, 40b ... first finger part, 40c ... second finger part, 40d Reference member 41 ... Wrist joint mechanism 41a First wrist joint mechanism 41b Second wrist joint mechanism 41c Drive unit 50 ... Leg link 50a First leg link 50b Second leg link Part, 50c ... knee joint mechanism, 51 Hip joint mechanism, 51a ... first hip joint mechanism, 51b ... second hip joint mechanism, 60 ... foot part, 61 ... ankle joint mechanism, 70 ... sensor unit, 71 ... single-axis force sensor, 72 ... contact pad (contact part), 73 ... Inner guide (pressing part), 75 ... Outer guide (supporting part), 76 ... Leaf spring (biasing part), A ... Ground

Claims (4)

A robot comprising a base body and a plurality of manipulators coupled to the base body, wherein the robot moves by driving the plurality of manipulators;
A sensor unit that is provided in at least one of the plurality of manipulators and detects contact with the outside;
The sensor unit is
A sensor for detecting a pressing force when pressed in the first direction;
A contact portion in which a contact surface that contacts the outside is formed in a convex curved surface shape;
A pressing portion attached to the contact portion and pressing the sensor;
A support portion that supports the pressing portion so as to be slidable in the first direction;
And a biasing portion that biases the pressing portion in a direction away from the sensor. The robot according to claim 1, wherein
The plurality of manipulators constitute an arm part and a leg part,
The sensor unit is provided in the manipulator constituting the knee of the leg,
When the knee unit is grounded, the sensor unit is located on the inner side of an axis extending from the base end part connected to the base body of the leg part to the knee part, and the first direction is relative to the axis line. A robot characterized in that it is provided so as to be inclined. The robot according to claim 1 or 2,
One of the plurality of manipulators provided with the sensor unit is rotatably provided,
The robot is characterized in that the contact surface is formed in a curved surface shape having a center of curvature at one rotation center provided with the sensor unit among the plurality of manipulators. The robot according to any one of claims 1 to 3,
A robot comprising: a control unit that controls driving of the plurality of manipulators based on a detection result by the sensor.