JP2019209429A - Autonomous swing device - Google Patents

Abstract

To provide an autonomous swing device in which safety is taken into consideration.SOLUTION: An autonomous swing device S is provided with a belly member RB12 (inside member) having a spherical outer surface; a chest member RB13 (outside member) in which an opening edge 132 (sliding contact section) of the chest member RB13 has a slidable shape on outer surface F12 of the belly member RB12 (inner member) without any gap and it is supported in a swingable manner on the belly member RB12 (inner member) in a manner where the opening edge 132 (sliding contact section) of the chest member RB13 approaches the outer peripheral surface F12 of the belly member RB12 (inner member) without any gap; bow drive means 51 (outside drive means) for swinging the chest member RB13 (outside member), and bow control means 52 (outside control means) for controlling the bow drive means 51.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an autonomous swinging device that raises and lowers an arm of a humanoid robot.

Some robots are made to resemble the shape of a person and move autonomously to resemble a person's movement.
For example, Patent Document 1 proposes a robot that can perform various expressions while the number of joints is smaller than that of an actual person and the degree of freedom of joints is low.

International Publication No. 2017-187620

  By the way, in Patent Document 1, safety considerations are insufficient, such as a countermeasure against pinching when an article is pinched between the body part and the arm part when the swinging arm part is lowered.

  The present invention has been made in view of the above-described problems, and an object thereof is to provide an autonomous swinging device in which safety is taken into consideration.

  In order to achieve the above object, an autonomous rocking device according to the present invention includes an inner member having a spherical outer peripheral surface, and a sliding contact having a shape capable of sliding on the outer peripheral surface of the inner member without a gap. An outer member that is pivotally supported by the inner member so that the sliding contact portion approaches the outer peripheral surface of the inner member without a gap, and an outer driving means that swings the outer member. And an outer control means for controlling the outer drive means.

  ADVANTAGE OF THE INVENTION According to this invention, the autonomous type rocking device in which consideration was given to safety can be provided.

It is a block diagram which shows the structure of the desktop robot of this embodiment. It is a front view which shows the example which applied the autonomous type rocking | swiveling device of this invention to the desktop robot. It is a left view which shows the example which applied the autonomous rocking device of this invention to the desktop robot. FIG. 4 is a sectional view taken along line IV-IV in FIG. 3. It is a perspective view of the robot main body which shows the state which raised the arm part. It is a block diagram which shows the structure of the twist rocking | fluctuation apparatus of this embodiment. It is a block diagram which shows the structure of the bow swing apparatus of this embodiment. It is a block diagram which shows the structure of the arm swinging apparatus of this embodiment. It is a block diagram for demonstrating the function of a one-way clutch. It is a perspective view of a robot body and an installation base for explaining a swing region. It is a top view of the robot main body and installation base for demonstrating a rocking | fluctuation area | region. It is a perspective view which shows the installation base of another aspect.

Embodiments of the present invention will be described in detail with reference to the drawings as appropriate. The same components are denoted by the same reference numerals, and redundant description is omitted.
The autonomous swinging device S of this embodiment is applied to a desktop robot RBT (see FIG. 1).
The desktop robot RBT provides a service to the user while communicating with the user.

The desktop robot RBT of the present embodiment includes a robot body RBT1, an installation base RBT2, and an external control means RBT3.
The robot body RBT1 has a configuration for directly communicating with the user, and is disposed on the installation base RBT2.
The installation base RBT2 is a configuration for notifying the user of the movable range of the robot body RBT1, and is disposed on a desk or the like. Details will be described later.

  The external control means RBT3 has a configuration for monitoring the failure, theft, destruction of the robot main body RBT1, and a configuration for storing information to be provided to the user. For this reason, in the present embodiment, the external control means RBT3 is disposed at a location away from the installation position of the robot body RBT1, and is connected to the robot body RBT1 wirelessly or by wire.

  In the desktop robot RBT of the present embodiment, an operation such as gesture by the robot body RBT1 is used as one means for communicating with the user. And the autonomous rocking | swiveling device S of this invention is employ | adopted as a structure for performing gesture gesture.

The robot main body RBT1 of the present embodiment is configured to operate autonomously, imitating the movement of the upper body from the waist of a person (see FIG. 2).
For this reason, the robot body RBT1 of this embodiment includes a total of four autonomous swinging devices S (twisting swinging device S4, bow swinging device S5, and arm swinging swinging device S6 one on each side). (See FIGS. 1 and 2).

The twist swing device S4 is an autonomous swing device S for the purpose of performing a waist twist operation.
The bow swing device S5 is an autonomous swing device S for the purpose of performing a bow operation.
The arm swinging device S6 is an autonomous swinging device S for the purpose of performing an arm swinging operation, and is arranged on each of the right arm and the left arm so that the right arm and the left arm can perform the arm swinging operation independently. Has been.

Therefore, in order to describe each autonomous rocking device S, the configuration of each part of the robot body RBT1 will be described first (see FIGS. 2 and 3).
In the following description, the front-rear direction of the robot body RBT1 is defined as the X axis, the left-right direction is defined as the Y-axis, and the vertical direction is defined as the Z-axis.
The rotation direction around the X axis is defined as a roll, the rotation direction around the Y axis is defined as pitch, and the rotation direction around the Z axis is defined as yaw.

The robot main body RBT1 includes a lumbar region RB11, an abdominal region RB12, a chest region RB13, a head portion RB14, and an arm portion RB15 (right arm portion RB15R, left arm portion RB15L) (see FIGS. 2 to 4).
The waist part RB11 is a part that becomes a base of the robot body RBT1, and is a part that is superimposed on the installation base RBT2.

The waist portion RB11 has a disk-like thick plate shape, and the material, the layout of components such as a battery, and the like are set so as to be heavier than other components.
Accordingly, the position of the center of gravity of the robot main body RBT1 is lowered, so that each autonomous swinging device S is operated, and the robot main body RBT1 is prevented from falling when each part swings.

Next, the abdominal part RB12 will be described (see FIGS. 2 to 4).
The abdomen RB12 (inner member) is disposed above the waist RB11.
The abdomen RB12 has a hemispherical outer shape, and has a shell shape in which an abdomen accommodating chamber 121 is formed inside while opening upward. In the abdominal chamber 121, a voice recognition sensor (microphone) for recognizing the voice of the user is installed.
The abdomen RB12 is pivotally supported via the twist shaft AX12 so as to be swingable in the yaw direction with respect to the waist RB11.

The twist axis AX12 is an axis that passes through the disc-shaped center (waist center C11) of the waist RB11 and the spherical center (abdominal center C12) of the abdomen RB12 along the vertical direction (Z-axis direction).
Hereinafter, the swing in the yaw direction by the abdomen RB12 about the twist axis AX12 is referred to as a waist twisting operation.
The waist twisting operation is performed by the twist swinging device S4 (autonomous swinging device S).

Next, the chest RB13 will be described (see FIGS. 2 to 4).
The chest RB13 (outer member, main body) is disposed above the abdomen RB12 so as to cover the abdomen RB12.
The chest RB13 has a hemispherical outer shape, and has a shell shape in which a chest housing chamber 131 is formed inside while opening a lower portion. The shell-shaped inner peripheral surface is formed into a spherical surface following the outer shape.

The opening edge 132 (sliding contact portion) of the chest portion RB13 is formed to be slidable with no gap with respect to the outer peripheral surface F12 of the abdominal portion RB12.
The chest part RB13 is pivotally supported with respect to the abdominal part RB12 via the bow axis AX13 so as to be swingable in the pitch direction.
The bow axis AX13 is an axis that passes through the spherical center of the abdomen RB12 (abdominal center C12) and the swing center of the chest RB13 (chest center C13) along the left-right direction (Y-axis direction).

Hereinafter, the swing in the pitch direction around the bow axis AX13 by the chest RB13 is referred to as a bowing operation.
That is, during the bowing operation, the opening edge 132 (sliding contact portion) moves while approaching the outer peripheral surface F12 of the abdomen RB12 (inner member) without a gap.
Thereby, even when the user touches the robot body RBT1 during the bowing operation, it is possible to prevent the finger or the like from being caught in the boundary portion between the abdomen RB12 and the chest RB13.
The bowing motion is performed by the bow swinging device S5 (autonomous swinging device S).

Next, the head RB14 will be described (see FIGS. 2 to 4).
The head RB14 is fixed to the upper part of the chest RB13. That is, the head RB14 (projection) is a projection protruding upward (outside) from the surface of the chest RB13.
The head RB 14 is provided with notifying means such as an RGB camera for detecting a user, sensors such as a distance image sensor, and a speaker for outputting audio information.

Next, the arm portion RB15 will be described (see FIGS. 2 to 4).
One arm part RB15 (swing member) is arranged on each of the left and right sides of the chest part RB13 with the head part RB14 (projection) interposed therebetween.
From now on, when viewing the robot body RBT1 from the front, the arm RB15 disposed on the left side of the head RB14 is the right arm RB15R, and when viewed from the front, the arm RB15 disposed on the right of the head RB14 is the left arm. Part RB15L.

Each arm RB15 (swing member) can swing in a direction in which its distal end approaches / separates with respect to the outer peripheral surface F13 of the chest RB13 (main body), and its proximal end has an arm swing axis AX15 (swing). The shaft is supported via a moving shaft.
The arm swing axis AX15 (swing axis) of each arm RB15 has a head RB14 (projection) on a surface along the Y axis and Z axis passing through the spherical center (chest center C13) of the chest RB13. It is arranged so as to be sandwiched between them.

The arm swing axis AX15 (swing axis) of each arm RB15 has an interval between its upper end side and the twist axis AX12 (Z axis), and an interval between its lower end side and the twist axis AX12 (Z axis). It is set to be narrower than.
That is, the position and angle of each arm swing axis AX15 (swing axis) are set so that the head RB14 (projection) is positioned on its own extension line.

Hereinafter, the swinging about the arm swing axis AX15 by the arm portion RB15 is referred to as an arm swing operation.
Since the arm swing axis AX15 is set to such a position and angle, the arm portion RB15 swings away from the head RB14 when performing the arm swing operation.

Each arm portion RB15 (swing member) includes a shaft support portion 151, a driven portion 152, a pseudo support portion 153, and an outer shape portion 154.
The shaft support 151 is located inside the chest RB13 and is supported by the arm swing axis AX15.

The driven portion 152 is located inside the chest RB 13 and is continuous with the shaft support portion 151.
The driven portion 152 is made of a plate material having a substantially V shape.
In the driven portion 152, a V-shaped folded portion 152a is set to a force point at which an output from an arm swing driving means 61 (oscillation driving means) described later acts. Further, the driven portion 152 has a V-shaped one side end 152 b continuous with the shaft support portion 151 and a V-shaped other side end 152 c continuous with the pseudo support portion 153.

The pseudo support portion 153 is continuous to the driven portion 152, is set at the intersection of the arm swing axis AX15 and the outer peripheral surface F13 of the chest RB13, and has a spherical shape.
That is, the pseudo support part 153 is formed so that its own spherical center coincides with the intersection of the extension line of the arm swing axis AX15 and the outer peripheral surface F13 of the chest part RB13.

A through-hole 133 is opened on the outer peripheral surface F13 of the chest RB13 so that the pseudo support portion 153 fits in the intersection with the arm swing axis AX15 without a gap.
That is, during the arm swinging operation, the pseudo support portion 153 rolls through the through hole 133 without a gap.

For this reason, from the exterior, the pseudo support portion 153 appears to be pivotally supported by the chest RB13.
The arm swing motion is performed by the arm swing swing device S6 (autonomous swing device S).

  The pseudo support part 153 is configured by a member different from the driven part 152. The pseudo support portion 153 has a support hole 153a into which the other end 152c of the driven portion 152 can be inserted without a gap. Further, in the pseudo support portion 153, a fixing screw hole 153b penetrating the support hole 153a is opened at a portion exposed in a rear view with the arm portion RB15 positioned at the initial position.

With the other end 152c of the driven part 152 inserted in the support hole 153a, the pseudo support part 153 is fixed to the driven part 152 by screwing the fixing screw 153c into the fixing screw hole 153b.
The initial position refers to a state (attitude) of the robot body RBT1 in which the head portion RB14 faces the front, the arm portion RB15 is swung down, and the tip portion of the arm portion RB15 is in contact with the outer peripheral surface F13 of the chest portion RB13. ).

The outer portion 154 is continuous with the pseudo support portion 153 and swings outside the chest RB13.
The outer shape portion 154 has an oval outer shape and is formed in a thick plate shape, and the plate surface is curved in a spherical shape following the outer peripheral surface shape of the chest portion RB13 so as to overlap the outer peripheral surface F13 of the chest portion RB13. However, it is curved in an arc shape in the longitudinal direction.
The outer surface of the outer portion 154 is formed of a material having flexibility and translucency, such as silicone rubber.

The outer portion 154 is provided with a light emitting diode 154a (light emitting means) that can be turned on / off inside the tip (see FIG. 5).
Thereby, when the light emitting diode 154a is turned on, the tip portion of the arm portion RB15 appears to shine, so that the arm swinging operation becomes more impressive, and communication with the user is facilitated.

Next, each autonomous swing device S will be described (see FIGS. 6 to 9).
The robot main body RBT1 includes a twist swinging device S4 as an autonomous swinging device S for performing a waist twisting operation (see FIG. 6).
The twist swinging device S4 (autonomous swinging device S) includes a waist part RB11, an abdominal part RB12, a twist driving means 41, and a twist control means 42.

The twist driving means 41 includes an electric motor M and a reduction gear RG.
The twist driving means 41 decelerates the output of the electric motor M, which is a drive source, to a predetermined rotational speed by the speed reducer RG and outputs it as the rotation of the twist axis AX12.

The twist control means 42 includes a twist CPU 42a and a twist position detection means 42b.
The twist CPU 42a drives / stops the electric motor M.
The twist position detecting means 42b uses a potentiometer and detects the rotation angle of the twist axis AX12.

That is, the twist CPU 42a rotates the electric motor M in the rotation direction set for each target operation.
Then, the twist CPU 42a stops the electric motor M when it is determined from the output of the twist position detection means 42b (potentiometer) that the predetermined angle has been reached.

Further, the twist CPU 42a rotates the twist axis AX12 in the reverse procedure to return it to the initial position.
The twist CPU 42a stores a rotation direction and a rotation angle in accordance with a target operation.

Next, the bow swinging device S5 will be described (see FIG. 7).
The robot body RBT1 includes a bow swinging device S5 as an autonomous swinging device S for performing a bowing motion.
The bow swing device S5 (autonomous swing device S) includes an abdomen RB12 (inner member), a chest RB13 (outer member), a bow drive means 51 (outer drive means), and a bow control means 52 (outer control means). ing.

The bow drive means 51 (outer drive means) includes an electric motor M and a speed reducer RG.
The bow drive means 51 decelerates the output of the electric motor M, which is a drive source, to a predetermined rotational speed by the speed reducer RG and outputs it as the rotation of the bow axis AX13.

The bow control means 52 (outside control means) includes a bow CPU 52a and a bow position detection means 52b.
The bow CPU 52a drives / stops the electric motor M.
The bow position detecting means 52b uses a potentiometer and detects the rotation angle of the bow axis AX13.

That is, the bow CPU 52a rotates the electric motor M in the rotation direction set for each target operation.
The bow CPU 52a stops the electric motor M when it is determined from the output of the bow position detection means 52b (potentiometer) that the rotation angle of the bow axis AX13 has reached the angle set for each desired operation from the initial position. To do.

Further, the bow CPU 52a rotates the bow axis AX13 in the reverse procedure and returns it to the initial position.
The bow CPU 52a stores a rotation direction and a rotation angle in accordance with a desired operation.

Next, the arm swinging device S6 will be described (see FIGS. 8 and 9).
The robot body RBT1 includes an arm swinging device S6 as an autonomous swinging device S for performing an arm swinging operation.
The arm swinging device S6 (autonomous swinging device S) includes a chest RB13 (main body), an arm RB15 (swinging member), an arm swinging drive unit 61 (swinging driving unit), and an arm swinging control unit 62 (swinging). Dynamic control means).

The arm swing drive means 61 (swing drive means) includes an electric motor M, a reduction gear RG, and a one-way clutch mechanism CL.
The arm swing driving means 61 decelerates the output of the electric motor M, which is a drive source, to a predetermined rotational speed by the speed reducer RG and outputs it as the rotation of the arm drive shaft AX61.
The arm swing drive means 61 is arranged so that the arm drive axis AX61 is parallel to the arm swing axis AX15.

The one-way clutch mechanism CL is installed between the arm drive shaft AX61 and the arm portion RB15 (see FIG. 9).
The one-way clutch mechanism CL is configured to transmit / block the rotation (output) of the arm drive shaft AX61 to the arm portion RB15 in accordance with forward / reverse rotation of the electric motor M.
The one-way clutch mechanism CL includes an arm driving piece CL1 (driving piece) and an arm spring CL2 (biasing means).

The arm driving piece CL1 (driving piece) is composed of a plate-like member arranged integrally with the arm driving shaft AX61. The arm driving piece CL1 rotates around the arm driving axis AX61 together with the rotating arm driving axis AX61.
The arm driving piece CL1 is formed and arranged so as to come into contact with the driven portion 152 of the arm portion RB15 when the electric motor M rotates forward and away from the driven portion 152 when the electric motor M rotates reversely. ing.

The arm spring CL2 (biasing means) is constituted by a torsion spring.
The arm spring CL2 has its both arm portions linked to each portion so as to urge the arm portion RB15 from the swing-up position side to the swing-down position side.
That is, one arm portion of the torsion spring is locked to the member that supports the arm swing axis AX15, the other arm portion of the torsion spring is locked to the driven portion 152, and the coil portion of the torsion spring includes The arm swing axis AX15 penetrates.

Next, the operation and operation of the arm swing driving means 61 will be described (see FIGS. 2 to 5 and FIG. 9).
When the electric motor M rotates forward, the arm driving piece CL1 rotates while coming into contact with the driven part 152 of the arm part RB15. Then, the driven portion 152 is pushed by the arm driving piece CL1 and swings about the arm swing axis AX15.
Thereby, the rotation of the electric motor M is transmitted to the arm portion RB15, and the arm portion RB15 is swung up.

When the electric motor M reverses, the arm driving piece CL1 rotates in a direction away from the driven portion 152 of the arm portion RB15. Then, the driven portion 152 swings toward the arm driving piece CL1 by the own weight of the outer shape portion 154 and the urging force of the arm spring CL2.
Thereby, the rotation (output) of the electric motor M to the arm portion RB15 is blocked, and the arm portion RB15 is swung down.

That is, since the arm swinging operation is interlocked with the movement of the electric motor M, it seems that both the swinging up and swinging down operations of the arm portion RB15 are performed by the electric motor M.
However, actually, the swing-down operation is performed by the weight of the arm portion RB15 and the urging force of the arm spring CL2.

  As a result, even if a hand is caught between the arm RB15 and the chest RB13 during the swing-down operation of the arm RB15, it is the weight of the arm RB15, the arm spring that acts on the hand. Only the urging force of CL2.

The arm swing control means 62 (swing control means) includes an arm swing CPU 62a and an arm swing position detection means 62b (see FIG. 8).
The arm swing position detecting means 62b uses a potentiometer and detects the rotation angle of the arm swing axis AX15 (swing axis).
The arm swing control means 62 drives / stops the electric motor M.

That is, the arm swing CPU 62a rotates the electric motor M in the rotation direction set for each target operation.
When the arm swing CPU 62a detects from the output of the arm swing position detecting means 62b (potentiometer) that the rotation angle of the arm swing axis AX15 has reached the angle set for each desired operation from the initial position, the electric motor Stop M.

Further, the arm swing CPU 62a rotates the arm swing axis AX15 in the reverse procedure and returns it to the initial position.
The arm swing CPU 62a stores a rotation direction and a rotation angle in accordance with a target operation.

Further, in the twist driving means 41, the bow driving means 51, and the arm swing driving means 61 of the present embodiment, a general DC motor and an AC motor are employed as the electric motor M, but the present invention is not limited to this. Absent.
For example, instead of these, a stepping motor (not shown) may be employed. When a stepping motor is employed, the position detecting means (potentiometer) can be omitted, so that space saving and weight reduction can be achieved.

Next, the installation base RBT2 will be described (see FIGS. 10 and 11).
The installation base RBT2 is composed of a plate-like member having a disk shape.
The installation base RBT2 has a desk on which the machine is installed and a robot main body RBT1 mounted on the installation base RBT2 made of a material that does not slip on the surface, or is subjected to surface processing that prevents the machine from slipping.

The installation base RBT2 represents the contact area AR of the robot main body RBT1 with the size of a circle constituting the outer shape thereof.
Then, the robot base RBT1 is placed on the installation base RBT2 so that the center of the disk shape and the twist axis AX12 coincide with the robot body RBT1.

The contact area AR is a simple visualization of an area where the operating robot body RBT1 and the user may come into contact.
The contact area AR is represented by projecting a three-dimensional area (swing area) where the robot body RBT1 operates onto the installation base RBT2 in plan view.

That is, the contact area AR is an area projected in a plan view while rotating around the twist axis AX12 in a posture (projection posture) in which a part of the robot body RBT1 can be moved farthest from the twist axis AX12.
In the present embodiment, the posture in which the robot body RBT1 bows deepest and the arm RB15 extends forward so as to be parallel to the installation surface is the projection posture (see FIG. 10).

If the state of rotating around the twist axis AX12 in this posture is projected onto the installation base RBT2 in plan view, the circle is centered on the twist axis AX12 and the radius r is the distance from the twist axis AX12 to the tip of the arm portion RB15. Is drawn (see FIG. 11).
That is, the drawn circle is the contact area AR of the robot main body RBT1.
In the present embodiment, this contact area AR is the outer shape of the installation base RBT2.

Note that the outer shape of the installation base RBT2 is not limited to a disk shape.
For example, a rectangular thin plate (not shown) on which the contact area AR is drawn, a columnar table (not shown) whose cross section becomes the contact area AR, and an annular fence standing up along the outer periphery of the contact area AR ( It can take various forms depending on the application, installation location, etc.

Next, the effect of the autonomous rocking device S of this embodiment will be described.
In the present embodiment, during the bowing operation, the opening edge 132 (sliding contact portion) of the chest RB13 (outer member) moves while approaching the outer peripheral surface F12 of the abdominal portion RB12 (inner member) without any gap. ing.
Accordingly, even if the user touches the robot body RBT1 during the bowing operation, the finger or the like is prevented from being caught in the boundary portion between the abdomen RB12 and the chest RB13.
Thus, the bow swing device S5 (autonomous swing device S) of the present embodiment has a structure in which safety for the user is taken into consideration.

In the present embodiment, the arm driving piece CL1 (driving piece) is in contact with the driven portion 152 of the arm portion RB15 (swinging member) when the electric motor M is rotated forward, and when the electric motor M is reversed. , Formed and arranged away from the driven portion 152.
As a result, during the swing-down operation of the arm portion RB15, when the user is sandwiched between the arm portion RB15 and the chest portion RB13, the driving force of the electric motor M does not act on the sandwiched hand. The weight of the arm portion RB15 and the biasing force of the arm spring CL2 act.
Here, in order to suppress the power consumption of the electric motor M, the weight of the arm portion RB15 and the urging force of the arm spring CL2 are set to be smaller. For this reason, the force which acts on the pinched hand is reduced.
As described above, the arm swinging device S6 (autonomous swinging device S) of the present embodiment has a structure in which safety for the user is considered.

In the present embodiment, the outer portion 154 of the arm portion RB15 is provided with a light emitting diode 154a (light emitting means) that can be turned on / off inside the tip portion thereof.
Therefore, the arm swinging operation can be performed while the tip portion of the arm portion RB15 is shining.
As a result, the arm swinging motion becomes more impressive and the communication with the user is facilitated, so that the time during which the user stays in front of the robot body RBT1 is shortened.
And since the time for which a user stays is shortened, the chance that a user carelessly contacts the operating robot body RBT1 is reduced.
As described above, the arm swinging device S6 (autonomous swinging device S) of the present embodiment has a structure in which safety for the user is considered.

In the present embodiment, the position and angle of each arm swing axis AX15 (swing axis) are set so that the head RB14 (projection) is positioned on its own extension line.
Since the arm swing axis AX15 is set to such a position and angle, the arm portion RB15 can swing while avoiding the head portion RB14 when performing the arm swing operation.
As a result, the structure of the arm portion RB15 is simplified and reduced in weight, and the one-way clutch mechanism CL can be operated more reliably.
As described above, the arm swinging device S6 (autonomous swinging device S) of the present embodiment has a structure in which safety for the user is considered.

On the installation base RBT2 of the present embodiment, a three-dimensional region (swing region) where the robot body RBT1 operates is projected in plan view.
As a result, an area (contact area AR) where the operating robot body RBT1 and the user may come into contact is visualized, and the chance that the user carelessly contacts the operating robot body RBT1 is reduced.
As described above, the arm swinging device S6 (autonomous swinging device S) of the present embodiment has a structure in which safety for the user is considered.

In the present embodiment, the object to which the autonomous swinging device S of the present invention is applied is the desktop robot RBT, but the present invention is not limited to such an article.
For example, a mobile robot (not shown) provided with a moving means that enables autonomous movement to various places, an amusement facility display (not shown), an air conditioner indoor unit wind direction board (not shown), etc. It is possible to swing autonomously with various forms of articles.
Even when applied to various forms of articles, the same effects as the present embodiment can be obtained.

Next, another aspect of the installation base RBT2 will be described (see FIG. 12).
In the installation base RBT2 of this aspect, the contact area AR is drawn on the surface, and the touch panel TP is disposed outside the contact area AR. Further, the contact area AR and the touch panel TP are arranged with a predetermined interval.
The touch panel TP has both functions of an input unit for a user to perform an input operation such as a purpose of use and an informing unit for displaying character information, video information, and the like to the user.

The installation base RBT2 of this aspect includes a touch panel TP outside the contact area AR.
As a result, since the user's consciousness is directed to the touch panel TP, the consciousness of touching the robot main body RBT1 is cut off, and an event occurs in which the user is caught by trying to touch the robot main body RBT1. Decrease.
As described above, the arm swinging device S6 (autonomous swinging device S) of the present embodiment has a structure in which safety for the user is considered.

S, S5 Bow swing device (autonomous swing device)
S, S6 Arm swing swing device (autonomous swing device)
RB12 abdomen (inner member)
RB13 Chest (outer member, body)
132 Opening edge (sliding contact part)
51 Bowing drive means (outside drive means)
52 Bow control means (outside control means)
RB15 Arm (swing member)
CL1 Arm drive piece (drive piece)
61 Arm swing drive means (swing drive means)
62 Arm swing control means (swing control means)
154a Light emitting diode (light emitting means)
RB14 head (projection)
AX15 Arm swing axis (oscillation axis)
RBT2 installation base TP touch panel (input means, notification means)

Claims (6)

An inner member having a spherical outer peripheral surface;
A sliding contact portion having a shape capable of sliding on the outer peripheral surface of the inner member without a gap is provided, and the sliding contact portion can swing on the inner member so as to be able to swing while approaching the outer peripheral surface of the inner member without a gap. A pivoted outer member;
Outer driving means for swinging the outer member;
Outer control means for controlling the outer drive means;
An autonomous swinging device comprising: An oscillating member whose base end is pivotally supported by the main body via an oscillating shaft so that the distal end side can oscillate in a direction approaching / separating from the main body;
When the base end side is pivotally supported by the main body and swings in a direction approaching the swinging member so that the distal end side can swing in a direction approaching / separating from the swinging member, the swinging member When the tip side is pressed against the swinging member so as to swing away from the main body and swings away from the swinging member, the tip side is arranged so as to be separated from the swinging member. Driving piece,
Swing drive means for swinging the drive piece;
Swing control means for controlling the swing drive means;
An autonomous swinging device comprising: The autonomous swing device according to claim 2,
The swing member is
Its own outer shape is formed of a material having translucency,
An autonomous swinging device comprising a light emitting means capable of turning on / off inside. In the autonomous swing device according to claim 2 or claim 3,
The body is
Protruding projecting outward from its surface,
The swing shaft is
An autonomous swinging device, wherein the protrusion is set so as to be positioned on its own extension line. In the autonomous swing device according to any one of claims 2 to 4,
An installation base on which a swing region when the swing member swings is projected;
The body is
An autonomous swinging device installed on an installation base in accordance with the projected swinging region. The autonomous swing device according to claim 5,
The installation base is
An informing means for presenting visual information;
Input means operated by the user;
An autonomous swinging device comprising at least one of the above on the outside of the swinging region.

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