JP2020089932A - Robot drive mechanism and robot - Google Patents

Abstract

To provide a robot drive mechanism allowing for reduction of weight of a head of a robot.SOLUTION: A robot drive mechanism for driving a head of a robot with respect to a body part of a robot comprises: a support mechanism which supports a head freely rotatably around an axial line of an X-axis, and an axial line of a Z-axis orthogonal to the axial line of the X-axis. The robot drive mechanism comprises: an X-axis motor 36 and a Z-axis motor 54 which can output power and are supported by the body part; an X-axis transmission mechanism which is supported by the body part, and transmits the power output from the X-axis motor 36 to the head to rotate the head around the axial line of the X-axis with respect to the body part; and a second transmission mechanism which is supported by the body part, and transmits the power output from the Z-axis motor 54 to the head to rotate the head around the axial line of the Z-axis with respect to the body part.SELECTED DRAWING: Figure 4

Description

The present invention relates to a robot drive mechanism and a robot.

BACKGROUND ART Conventionally, as a drive mechanism for a robot that drives the head of the robot with respect to the main body of the robot, for example, one disclosed in Patent Document 1 is known. The drive mechanism of the robot described in Patent Document 1 includes left and right electric motors housed in the head of the robot and left and right elastic frames. The left and right electric motors are provided coaxially with each other, and their respective output shafts extend outside the head of the robot. The left and right elastic frames are symmetrically arranged with respect to the head, and one ends of the left and right elastic frames are integrally connected to the output shafts of the left and right motors, respectively. The other ends of the left and right elastic frames are rotatably supported by the body frame, and the body frame is supported by the body of the robot.

In this drive mechanism, when the output shafts of the left and right electric motors housed in the head of the robot rotate in the same direction, the head rotates integrally with the left and right electric motors to perform the nod motion of the head. Also, when the output shafts of the left and right electric motors rotate in opposite directions, the left and right elastic frames rotate in opposite directions centering on the other ends of the left and right electric motors, respectively, so that the left and right head swinging nodding motions are performed. Be seen.

Republished Patent No. 2012/1660659

However, the drive mechanism of the robot described in Patent Document 1 requires the left and right electric motors to be provided on the head because of its structure, and the weight of the head of the robot accordingly increases.

Then, this invention is made|formed in order to solve the said problem, and an object of this invention is to provide the drive mechanism of a robot which can reduce the weight of the head of a robot.

In order to achieve the above object, the drive mechanism of the robot of the present invention,
A drive mechanism of a robot for driving the robot head with respect to the robot main body,
A support mechanism configured to support the head so as to be rotatable about a first predetermined axis and a second predetermined axis orthogonal to the first predetermined axis;
A first actuator and a second actuator that are configured to be capable of outputting power and that are supported by the main body;
A first part for rotating the head part with respect to the main body part about the first predetermined axis by being supported by the main body part and transmitting power output from the first actuator to the head part. 1 transmission mechanism,
A first unit for rotating the head with respect to the main unit about the second predetermined axis by being supported by the main unit and transmitting power output from the second actuator to the head. 2 transmission mechanism,
It is characterized by including.

According to the present invention, the weight of the robot head can be reduced.

It is a perspective view showing the appearance of the robot concerning the embodiment of the present invention. It is a perspective view which removed the front case and the front head of the main part of the robot concerning this embodiment. It is the perspective view which looked at the front left of a neck drive unit, when the head of a robot is in the state of FIG. It is the perspective view which looked at the back right of a neck drive unit when the head of a robot is in the state of Drawing 1. (A) is a cross-sectional perspective view of the neck drive unit according to the present embodiment taken along the YZ plane, omitting the part related to X/Z axis drive, and (b) is a cross-section taken along the XZ plane of (a). It is a perspective view. It is a perspective view of a Y-axis drive shaft, a Y-axis roller shaft, and a Y-axis roller according to the present embodiment. It is a perspective view of the Y-axis sleeve which concerns on this embodiment. 5A is a cross-sectional perspective view showing the movements of the Y-axis drive shaft and the Y-axis rotary stage when the Y-axis cam rotates counterclockwise in FIG. 5A, and FIG. It is a cross-sectional perspective view cut by a plane. 5A is a cross-sectional perspective view showing the movements of the Y-axis drive shaft and the Y-axis rotary stage when the Y-axis cam rotates clockwise in FIG. 5A, and FIG. It is a cross-sectional perspective view cut by. (A) is a cross-sectional perspective view of the neck drive unit according to the present embodiment, in which a portion related to Y/Z axis drive is omitted, and is cut along an XZ plane, and (b) is a cross section of (a) taken along a YZ plane. It is a perspective view. (A)-(c) is a perspective view which shows operation|movement of the X-axis drive shaft which concerns on this embodiment. It is a perspective view of the X-axis sleeve concerning this embodiment. 10A is a sectional perspective view showing the movement of the X-axis drive shaft and the X-axis rotary stage when the X-axis cam rotates clockwise in FIG. 10A, and FIG. 10B is a YZ plane view of FIG. 10A. It is a cross-sectional perspective view cut by. 10A is a cross-sectional perspective view showing the movements of the X-axis drive shaft and the X-axis rotary stage when the X-axis cam rotates counterclockwise in FIG. 10A, and FIG. It is a cross-sectional perspective view cut by a plane. (A) is a cross-sectional perspective view of the neck drive unit according to the present embodiment, in which a portion related to X/Y axis drive is omitted, and is cut in a direction along the Z axis, and (b) is a cut surface of (a). It is a sectional perspective view cut perpendicularly to the direction along the Z-axis. (A)-(c) is a perspective view which shows movement of the Z-axis drive shaft concerning this embodiment. 15A is a cross-sectional perspective view showing the movements of the Z-axis drive shaft and the Z-axis rotary stage when the Z-axis worm wheel rotates counterclockwise in FIG. 15A, and FIG. 6] is a sectional perspective view showing the movements of the Z-axis drive shaft and the Z-axis rotary stage when the Z-axis worm wheel rotates clockwise in FIG. FIG. 17B is a cross-sectional perspective view showing the movement of the Z-axis drive shaft and the Z-axis rotary stage when the Z-axis worm wheel rotates clockwise when the Z-axis worm wheel is tilted in the X-axis direction and the Y-axis direction in FIG. 17B. .. FIG. 19 is a perspective view showing the movement of the head of the robot in the case of FIG. 18.

Hereinafter, a robot according to an embodiment of the present invention will be described with reference to the drawings. The same or corresponding parts in the drawings are designated by the same reference numerals. In order to facilitate understanding, three axes (X-axis, Y-axis) that are orthogonal to each other, with the left and right as viewed from the robot being the left-right direction, the front-back as viewed from the robot being the front-back direction, and the up-down direction viewed from the robot being the up-down direction. (Axis and Z axis) are set and shown in each figure, and referred to as appropriate. In the description of the neck drive unit 10, the X axis, the Y axis, and the Z axis which are orthogonal to each other are also used. When the head of the robot is facing straight to the front as shown in FIG. 1, the X-axis is aligned with the left-right direction, the Y-axis is aligned with the front-rear direction, and the Z-axis is aligned with the up-down direction. When the head of the robot is not directly facing the front, the XYZ axes may not match the front-back, left-right, and up-down directions. In addition, in order to facilitate the description, in the following description, the head of the robot is in a state of facing straight to the front unless otherwise shown or described.

A robot according to an embodiment of the present invention is a humanoid communication robot that can rotate a head about a three-axis axis that is orthogonal to each other with respect to each axis by a predetermined angle. The robot according to the present embodiment can smoothly communicate with a user by uttering a voice or performing a motion of shaking the head in accordance with displaying characters on a display or the like.

As shown in FIG. 1, the robot 100 includes a main body 1, a right arm 2, a left arm 3, a right foot 4, a left foot 5, and a head 6. In addition, switches 200 including a power switch and a display (not shown) are provided on the front surface of the main body 1, and the head 6 includes a camera, a speaker, various sensors, and the like (not shown).

As shown in FIGS. 1 and 2, the main body 1 includes a front case 7, a rear case 8, a base 9, a neck drive unit 10, and a circuit unit 11. The front case 7 is a member that forms an outer shell of the front surface of the main body 1. A front neck hole 102, which is the front half of the neck hole 101 for allowing the neck drive unit 10 to be described later to protrude from the main body 1, is formed in the upper portion of the front case 7. A light arm hole 104 is formed near the right upper end of the front case 7. A left arm hole 105 is formed near the upper left side of the front case 7. At the lower end of the front case 7, a front base hole 107 that forms the front half of the base hole 106 for fitting the base 9 to the lower ends of the front case 7 and the rear case 8 is formed.

The rear case 8 is a member that forms an outer shell of the back surface of the main body 1. A rear neck hole 103, which is a rear half of the neck hole 101 for fitting a neck drive unit 10 described later to the lower ends of the front case 7 and the rear case 8, is formed on the upper portion of the rear case 8. At the lower end of the rear case 8, a rear base hole 108 that forms the rear half of the base hole 106 for fitting the base 9 to the lower end of the main body 1 is formed.

The base 9 is a plate-shaped member that forms the outer shell of the lower portion of the main body 1. A circuit unit 11 for controlling the robot 100 is arranged on the upper surface of the base 9. Right foot holes (not shown) are formed on the base 9 in the right direction, and left foot holes (not shown) are formed in the left direction.

The circuit unit 11 includes a neck drive unit 10 for rotating the head 6 of the robot 100 with respect to the main body 1 around the X-axis, Y-axis, and Z-axis by predetermined angles, and a light arm for driving the light arm 2. The drive unit 12, the left arm drive unit 13 for driving the left arm 3, and the control unit for controlling other operations of the robot 100, a storage unit, a circuit board forming a communication unit, a control board, a power supply, and the like are housed. .. The control unit includes a CPU (Central Processing Unit) and the like, and executes the program stored in the storage unit to control the operation of the robot 100. The storage unit is configured by a ROM (Read Only Memory), a RAM (Random Access Memory), and the like, and a part or all of the ROM is configured by an electrically rewritable memory (flash memory or the like).

In the present embodiment, the neck drive unit 10, which is a drive mechanism that drives the head 6 of the robot with respect to the main body 1 of the robot, uses the robot 100 in order to make the movement of the head 6 resemble the movement of the human head. The head 6 is rotated by 60 degrees in the +Y direction (forward direction) and 50 degrees in the −Y direction (rear direction) about the axis of the X axis extending in the left-right direction from the main body section 1. Further, the neck drive unit 10 has the head 6 and the main body 1 at 50 degrees each in the +X direction (left direction) and the −X direction (right direction) about the axis of the Y axis extending in the front-back direction from the main body 1. The head 6 is rotated 70 degrees in the +X direction and the −X direction about the axis of the Z axis extending in the arrangement direction (up and down direction from the main body 1). The neck drive unit 10 is configured so that the head 6 rotates in a state where the three rotation axes of the X axis, the Y axis, and the Z axis are always orthogonal to each other. The rotation angle of the head 6 can be arbitrarily set within a range in which the head 6 does not collide with the main body 1. The upper part of the neck drive unit 10 is arranged inside the head 6. Details of the neck drive unit 10 will be described later.

The head 6 is supported above the main body 1 via the neck drive unit 10 so as to be rotatable with respect to the main body 1 about axes of the X-axis, the Y-axis, and the Z-axis. The head 6 has a front head 14 and a rear head 15. Further, in the hollow inside of the head portion 6, the upper portion of the neck drive unit 10, a camera, a speaker, and various sensors (not shown) are housed.

The front head 14 has a decoration imitating human eyes and nose on the front surface. A front opening 110 that forms a front portion of an opening 109 for inserting the upper portion of the neck drive unit 10 into the head 6 is formed in the lower portion of the front head 14. A rear opening 111 that forms a rear portion of the opening 109 is formed in the lower portion of the rear head 15.

The right arm 2 and the left arm 3 can be moved in the arrow directions shown in the vicinity of the respective arms in FIG. 1 by the right arm driving unit 12 and the left arm driving unit 13, respectively. The right arm 2 and the left arm 3 can also be moved according to the movement of the head 6 and the sound from the speaker.

The right foot 4 and the left foot 5 are connected to the base 9 via a right foot hole and a left foot hole, respectively. Wheels (not shown) are connected to the built-in motors on the lower surfaces of the right foot 4 and the left foot 5, and the robot 100 can be moved according to an instruction from the control unit.

Details of the neck drive unit 10 will be described below. FIG. 3 is a view of the left front surface of the neck drive unit 10 when the robot 100 is in a state where the robot 100 is facing straight forward as shown in FIG. 1, and FIG. FIG. 6 is a view of the right rear surface of the neck drive unit 10 when it is in a state where the front surface is facing straight.

The neck drive unit 10 shown in FIGS. 3 and 4 includes a support mechanism that rotatably supports the head 6 of the robot 100 around the X-axis, Y-axis, and Z-axis axes. It has a neck base 16, an X-axis rotary stage 34, a Y-axis rotary stage 18, and a Z-axis rotary stage 52.

As shown in FIG. 5, FIG. 10 and FIG. 15, the neck base 16 which is one of the constituent elements of the base portion is made up of a substantially cylindrical member having an upper portion formed in a substantially bowl shape, and is fixed to the main body portion 1. , Is arranged between the main body 1 and the head 6. The field wall 16a between the substantially bowl-shaped portion and the substantially cylindrical portion of the neck base 16 is provided with three holes through which the X-axis drive shaft 42, the Y-axis drive shaft 26, and the Z-axis drive shaft 60, which will be described later, are inserted respectively. Has been. A step is provided on the field wall 16a in the direction in which the head 6 and the main body 1 are arranged (the direction in which the Y-axis drive shaft 26 operates, the Z-axis direction). The X-axis drive shaft 42, the Y-axis drive shaft 26, and the Z-axis drive shaft 60 are arranged inside the neck base 16. The drive base 17 is fixed to the lower portion of the neck base 16.

The drive base 17 is a substantially tubular member in which a part of the side wall and the bottom are cut off, and the central convex portion 17a fitted with the neck base 16 has an X-axis drive shaft 42, a Y-axis drive shaft 26, and Three holes through which the Z-axis drive shaft 60 is inserted are provided at positions (just below the holes of the field wall 16a) corresponding to the three holes of the field wall 16a described above. The protrusion 17a has a step in the direction in which the Y-axis drive shaft 26 operates (Z-axis direction). The protrusion 17a is provided with a step in the direction in which the head 6 and the main body 1 are arranged. The outer periphery of the drive base 17 is fitted into the neck hole 101 and fixed to the main body 1. The configuration of the neck drive unit 10 will be described below in the order of the Y-axis drive mechanism, the X-axis drive mechanism, and the Z-axis drive mechanism.

As shown in FIGS. 5A and 5B, the drive mechanism for rotating the head 6 about the Y-axis axis includes the Y-axis rotary stage 18, the Y-axis motor 20, and the Y-axis transmission unit 21. Have. The Y-axis rotary stage 18 constitutes, together with the neck base 16 described above, a support mechanism that rotatably supports the head 6 with respect to the main body 1 about the Y-axis.

The Y-axis rotation stage 18 is a member having a substantially square V shape in XY plan view, and rotates about the Y-axis rotation axis with respect to the neck base 16. The Y-axis rotary stage 18 is provided with a Y-axis potentiometer 19, and the Y-axis potentiometer 19 is a rotary potentiometer that detects the rotation angle of the Y-axis rotary stage 18. Since the tip of a Y-axis rotary bearing 32, which will be described later, is inserted into the Y-axis potentiometer 19, the rotation angle of the Y-axis rotary stage 18 can be detected. A Y-axis sleeve 33 is fixed inside the Y-axis rotary stage 18, and the Y-axis sleeve 33 extends in the direction in which the X-axis axis orthogonal to the Y-axis extends, as shown in FIGS. 5 and 7. It is a substantially cylindrical member that has a recess 33a that extends and has one end open. A hole 33b is provided on a part of the lower side of the cylindrical portion of the Y-axis sleeve 33 so as to extend from the recess 33a to the outside along the direction in which the cylinder extends (X-axis direction).

The Y-axis motor 20, which is the first actuator of the present invention, is composed of, for example, a brushless DC (Direct-Current) motor, has a rotating shaft, and is supplied with electric power from a power source via the circuit board or the like. To rotate the rotary shaft to output rotary power. The Y-axis motor 20 has a Y-axis motor terminal 20a at the end opposite to the rotary shaft, and the Y-axis motor terminal 20a is electrically connected to a power source via an electric wire, a circuit board, and the like. .. Electric power from the power supply is supplied to the Y-axis motor 20 via an electric wire or the Y-axis motor terminal 20a. As shown in FIGS. 4 and 5, the Y-axis motor terminal 20a is arranged on the −Y direction side of the drive base 17 below the neck base 16 with reference to a plane including the X-axis axis and the Z-axis axis. Has been done.

The Y-axis transmission unit 21, which is the first transmission mechanism of the present invention, transfers the rotational power output from the Y-axis motor 20 to the driving force in the Z-axis direction, and transfers it to the head 6 via the Y-axis rotary stage 18. The Y-axis motor frame 22, the Y-axis worm 23, the Y-axis worm wheel 24, the Y-axis cam 25, the Y-axis drive shaft (shaft) 26, the Y-axis roller shaft 27, and the Y-axis roller 28 are configured to be transmitted. , A first Y-axis bearing 29 and a second Y-axis bearing 30.

The Y-axis motor frame 22 is a plate-shaped member for mounting the Y-axis motor 20, and is fixed to the lower surface of the drive base 17. A rotation shaft of a Y-axis worm wheel 24 and a Y-axis cam 25 is rotatably attached to the Y-axis motor frame 22. The Y-axis motor 20 is fixed to the Y-axis motor frame 22 such that a part of the Y-axis motor frame 22 projects from the lower end of the Y-axis motor frame 22 and a rotation shaft (not shown) of the Y-axis motor 20 extends in a direction along the Y-axis rotation shaft. .. A Y-axis worm 23 is press-fitted into the rotary shaft of the Y-axis motor 20. The Y-axis worm 23 is meshed with a Y-axis worm wheel 24 attached to the Y-axis motor frame 22 so as to be rotatable about the X-axis. A Y-axis cam 25 having a substantially C-shaped Y-axis cam groove 25a penetrating in the X-axis direction is fixed to the Y-axis worm wheel 24. As described above, the rotational power of the Y-axis motor 20 is transmitted to the Y-axis cam 25, which causes the Y-axis cam 25 to rotate.

Further, the Y-axis drive shaft 26 extends in the direction in which the head portion 6 and the main body portion 1 are arranged, and as shown in FIG. 6, the Y-axis drive shaft 26 has a spherical end portion on the head portion 6 side. The sliding portion 26a is formed, and the Y-axis roller shaft 27 is fixed to the end portion of the sliding portion 26a on the main body 1 side. A Y-axis roller 28 is rotatably attached to the Y-axis roller shaft 27. As shown in FIGS. 5A and 5B, the Y-axis drive shaft 26 is inserted through a first Y-axis bearing 29 and a second Y-axis bearing 30, and the first Y-axis bearing 29 is a boundary wall of the neck base 16. The second Y-axis bearing 30 is fixed to the hole of the convex portion 17a of the drive base 17 in the hole of 16a. The Y-axis drive shaft 26 is guided by the Y-axis guide portion including the first and second Y-axis bearings 29 and 30 so as to be movable in the direction in which the head portion 6 and the main body portion 1 are arranged. A Y-axis roller (roller) 28 is rotatably fitted in the Y-axis cam groove 25 a of the Y-axis cam 25. Therefore, when the Y-axis cam 25 rotates, the Y-axis drive shaft 26 reciprocates (reciprocates) in the vertical direction (the direction in which the head 6 and the main body 1 are arranged, the Z-axis direction).

The Y-axis rotary stage 18 is rotatably attached to the neck base 16 by a Y-axis rotary bearing (Y-axis rotary bearing 31 and Y-axis rotary bearing 32) about the axis of the Y-axis rotary shaft.

Further, as shown in FIGS. 8A and 8B and FIGS. 9A and 9B, a Y-axis sleeve arranged so as to be orthogonal to the Y-axis rotation axis at a position apart from the Y-axis rotation axis. The sliding portion 26a of the Y-axis drive shaft 26 is inserted and fitted into the recess 33a of the hole 33 through the hole 33b. As a result, the sliding portion 26a can move in the direction in which the cylinder extends. With the above configuration, when the Y-axis drive shaft 26 moves in the vertical direction, the driving force of the Y-axis drive shaft 26 is transmitted to the Y-axis rotary stage 18 via the sliding portion 26a, whereby the Y-axis rotary stage 18 is provided. Rotate about the Y-axis rotation axis with respect to the neck base 16. At that time, the sliding portion 26a rotates with respect to the Y-axis sleeve 33 while moving inside the Y-axis sleeve 33 attached to the Y-axis rotary stage 18 in the extending direction (X-axis direction). Therefore, the Y-axis rotary stage 18 rotates smoothly without any trouble.

As shown in FIG. 8, when the Y-axis cam 25 is rotated in the CCW (Counter ClockWise) direction when viewed from the -X side (right side), the Y-axis drive shaft 26 operates in the +Z direction (upward direction), and The axis rotation stage 18 rotates about the Y axis rotation axis in the −X direction (right direction). On the other hand, as shown in FIG. 9, when the Y-axis cam 25 is rotated in the CW (ClockWise) direction as viewed from the -X side (right side), the Y-axis drive shaft 26 moves in the -Z direction (downward). Direction), the Y-axis rotation stage 18 rotates in the +X direction (left direction) about the Y-axis rotation axis.

As shown in FIGS. 10( a) and 10 (b ), the drive mechanism for rotating the head 6 about the X-axis axis is the X-axis rotary stage 34, the X-axis motor 36, and the X-axis transmission unit 37. Have. The X-axis rotary stage 34, together with the neck base 16 described above, constitutes a support mechanism that rotatably supports the head 6 with respect to the main body 1 about the axis of the X-axis.

The X-axis rotary stage 34 is a substantially inverted hat-shaped member having a bag-shaped portion penetrating therethrough, and rotates about the axis of the X-axis rotary shaft with respect to the Y-axis rotary stage 18. The X-axis rotary stage 34 has a substantially circular Z-axis drive shaft insertion hole 34a at the center when viewed from the direction in which the head 6 and the main body 1 are arranged (Z direction), and the Z-axis drive shaft insertion hole 34a. Inserts the tip of the Z-axis drive shaft 60, which will be described later, on the head 6 side. The X-axis rotary stage 34 has a second Z-axis bearing fixing portion 34b at its upper end, and the second Z-axis bearing fixing portion 34b fixes a second Z-axis bearing 68 described later. An X-axis potentiometer 35 is provided on the X-axis rotary stage 34, and the X-axis potentiometer 35 is a rotary potentiometer that detects the rotation angle of the X-axis rotary stage 34. Since the tip of an X-axis rotary bearing 50 described later is inserted in the X-axis potentiometer 35, the rotation angle of the X-axis rotary stage 34 can be detected. An X-axis sleeve 51 is fixed to the X-axis rotary stage 34. The X-axis sleeve 51 extends in a direction orthogonal to the X-axis and has one end opened as shown in FIGS. It is a substantially cylindrical member having a concave portion 51a. A hole 51b, which is larger than the hole 33b, is formed in a part of the lower side of the cylindrical portion of the X-axis sleeve 51 along the direction in which the cylinder extends (the direction in which the axis of the Y-axis orthogonal to the X-axis extends) to the outside from the recess 51a. Has been extended.

The X-axis motor 36, which is the second actuator of the present invention, has the same configuration and power supply as the Y-axis motor 20 to rotate its rotary shaft and output rotary power. The X-axis motor 36 has an X-axis motor terminal 36a at the end opposite to the rotary shaft, and the X-axis motor terminal 36a is connected to a power source via an electric wire, a circuit board, and the like. The electric power from the power supply is supplied to the X-axis motor 36 via an electric wire or the X-axis motor terminal 36a. As shown in FIGS. 4 and 10, the X-axis motor terminal 36a, like the Y-axis motor terminal 20a, has a drive base below the neck base 16 with reference to a plane including the X-axis axis and the Z-axis axis. In FIG. 17, it is arranged on the −Y direction side.

The X-axis transmission unit 37, which is the second transmission mechanism of the present invention, transfers the rotational power output from the X-axis motor 36 to the driving force in the Z-axis direction, and transfers it to the head 6 via the X-axis rotary stage 34. The X-axis motor frame 38, the X-axis worm 39, the X-axis worm wheel 40, the X-axis cam 41, the X-axis drive shaft (shaft) 42, the X-axis roller shaft 46, and the X-axis roller 47. , A first X-axis bearing 48 and a second X-axis bearing 49.

The X-axis motor frame 38 is a plate-shaped member for mounting the X-axis motor 36, and is fixed to the lower end of the drive base 17. The X-axis worm wheel 40 and the rotation shaft of the X-axis cam 41 are rotatably attached to the X-axis motor frame 38. The X-axis motor 36 projects from the lower end of the X-axis motor frame 38, and is fixed to the X-axis motor frame 38 so that the rotation shaft (not shown) of the X-axis motor 36 extends in the direction along the Y-axis rotation shaft. An X-axis worm 39 is press-fitted into the rotary shaft of the X-axis motor 36. As shown in FIGS. 10A and 10B, the X-axis worm 39 is meshed with an X-axis worm wheel 40 rotatably attached to the X-axis motor frame 38 about the Y-axis. An X-axis cam 41 having a substantially C-shaped X-axis cam groove 41a penetrating in the Y-axis direction is fixed to the X-axis worm wheel 40. As described above, the rotational power of the X-axis motor 36 is transmitted to the X-axis cam 41, which causes the X-axis cam 41 to rotate.

Further, the X-axis drive shaft 42 extends in the direction in which the head 6 and the main body 1 are arranged. As shown in FIGS. 11A to 11C, the X-axis drive shaft 42 is the head-side X-axis. It has a drive shaft portion 43, an X-axis drive shaft pin 44, and a main body portion side X-axis drive shaft portion 45. The head side X-axis drive shaft portion 43 is provided on the head 6 side of the X-axis drive shaft 42, and the end portion of the head side X-axis drive shaft portion 43 on the main body 1 side is connected to the X-axis drive shaft. It is assembled so as to rotate with respect to the X-axis drive shaft portion 45 on the main body side with the pin (pin portion) 44 as an axis.

The X-axis drive shaft pin 44 drives the end of the head-side X-axis drive shaft portion 43 on the main body 1 side so as to be rotatable about an axis extending in the same direction as the Y-axis. It is connected to the shaft portion 45. The head-side X-axis drive shaft portion 43 has a spherical sliding portion 43a formed at the end portion on the head 6 side. An X-axis roller shaft 46 is fixed to an end portion of the main body portion side X-axis drive shaft portion 45 on the main body portion 1 side. An X-axis roller 47 is rotatably attached to the X-axis roller shaft 46. As shown in FIGS. 10A and 10B, the X-axis drive shaft 42 is inserted through the first X-axis bearing 48 and the second X-axis bearing 49, and the first X-axis bearing 48 is the boundary wall of the neck base 16. The second X-axis bearing 49 is fixed to the hole of the drive base 17 in the hole of 16a.

The hole of the field wall 16a for fixing the first X-axis bearing 48 is formed in the step portion provided in the -Z direction of the field wall 16a. In this step, when the X-axis drive shaft 42 moves in the -Z direction, the X-axis drive shaft pin 44 and the end portion of the head side X-axis drive shaft portion 43 on the main body 1 side do not interfere with the boundary wall 16a. It is provided for that purpose. Along with this, the hole of the convex portion 17a for fixing the first X-axis bearing 48 is also formed in the step portion provided in the −Z direction of the convex portion 17a, and the first X-axis bearing 48 and the second X-axis bearing 49 are provided. The X-axis drive shaft 42 can be stably supported by ensuring a distance from the. The X-axis guide shaft composed of the first and second X-axis bearings 48, 49 guides the X-axis drive shaft 42 movably in the direction in which the head 6 and the main body 1 are arranged. An X-axis roller (roller) 47 is rotatably fitted in the X-axis cam groove 41 a of the X-axis cam 41. Therefore, when the X-axis cam 41 rotates, the X-axis drive shaft 42 reciprocates (reciprocates) in the vertical direction (the direction in which the head 6 and the main body 1 are arranged, the Z-axis direction).

The X-axis rotary stage 34 is rotatably attached to the Y-axis rotary stage 18 about the axis of the X-axis rotary shaft via the X-axis rotary bearing (X-axis rotary bearing 50 and Y-axis sleeve 33). There is. In addition, the X-axis rotary stage 34 has a Z-axis drive shaft insertion hole 34a that penetrates in the direction in which the head 6 and the main body 1 are arranged (Z-axis direction) at the center thereof. The Z-axis drive shaft insertion hole 34a is inserted with the tip end of the Z-axis drive shaft 60, which will be described later, on the head side.

Further, the sliding portion 43a of the head side X-axis drive shaft portion 43 is inserted and fitted into the recess 51a of the X-axis sleeve 51 via the hole 51b. As a result, the sliding portion 43a can move in the direction in which the cylinder extends. With the above configuration, when the X-axis drive shaft 42 moves in the vertical direction, the driving force of the X-axis drive shaft 42 is transmitted to the X-axis rotary stage 34 via the sliding portion 43a, thereby the X-axis rotary stage 34. Rotates about the X-axis rotation axis with respect to the neck base 16 via the Y-axis rotation stage 18. At that time, the sliding portion 43a rotates with respect to the X-axis sleeve 51 while moving inside the X-axis sleeve 51 attached to the X-axis rotation stage 34 in the extending direction (Y-axis direction). Therefore, the X-axis rotary stage 34 rotates smoothly without any trouble.

As shown in FIGS. 13A and 13B, when the X-axis cam 41 is rotated in the CW direction when viewed from the +X side (left side), the X-axis drive shaft 42 operates in the +Z direction (upward direction). The X-axis rotation stage 34 rotates about the X-axis rotation axis in the +Y direction (forward direction). On the other hand, as shown in FIGS. 14A and 14B, when the X-axis cam 41 is rotated in the CCW direction as viewed from the +X side (left side) in the opposite direction to the above, the X-axis drive shaft 42 becomes -Z. Direction (downward), the X-axis rotary stage 34 rotates in the −Y direction (rearward direction) about the X-axis rotary shaft.

As shown in FIGS. 15A and 15B, the drive mechanism for rotating the head 6 about the axis of the Z-axis includes the Z-axis rotary stage 52, the Z-axis motor 54, and the Z-axis transmission unit 55. Have. The Z-axis rotary stage 52, together with the neck base 16, constitutes a support mechanism that rotatably supports the head 6 with respect to the main body 1 about the axis of the Z-axis.

The Z-axis rotary stage 52 is a substantially disk-shaped member having an insertion hole at the center in an XY plan view, and has a fitting portion 66 in the downward direction. The fitting portion 66 is a substantially circular convex wall in XY plan view, and the Z-axis drive shaft 60 is fitted into the fitting portion 66. The fitting portion 66 is supported by a second Z-axis bearing 68 described later so as to be rotatable around the axis of the Z-axis. The Z-axis rotary stage 52 rotates with respect to the neck base 16 and the X-axis rotary stage 34 about a Z-axis rotary axis that coincides with the center thereof in the XY plan view. The Z-axis rotary stage 52 is provided with a Z-axis potentiometer 53, and the Z-axis potentiometer 53 is a rotary potentiometer that detects the rotation angle of the Z-axis rotary stage 52. Since the tip end of the head side Z-axis drive shaft portion 65 described later is inserted in the Z-axis potentiometer 53, the rotation angle of the Z-axis rotary stage 52 can be detected.

The Z-axis motor 54, which is the third actuator of the present invention, rotates its rotary shaft and outputs rotary power by the same configuration and power supply as the Y-axis motor 20. As shown in FIG. 4, the Z-axis motor 54 has a Z-axis motor terminal 54a at the end opposite to the rotating shaft, and the Z-axis motor terminal 54a is connected to a power source via an electric wire and a circuit board. It is electrically connected. Electric power from the power supply is supplied to the Z-axis motor 54 via an electric wire or the Z-axis motor terminal 54a. Like the Y-axis motor terminal 20a and the X-axis motor terminal 36a, the Z-axis motor terminal 54a is -Y in the drive base 17 below the neck base 16 with reference to the plane including the X-axis axis and the Z-axis axis. It is located on the direction side.

As shown in FIGS. 15A and 15B, the Z-axis transmission unit 55 that is the third transmission mechanism of the present invention rotates the rotational power output from the Z-axis motor 54 about the Z-axis axis. It is configured to be transmitted to the head 6 via the Z-axis rotary stage 52 in a state of being converted into power, and includes a Z-axis motor frame 56, a Z-axis worm 57, a Z-axis worm wheel 58, a Z-axis gear 59, Z. It has an axial drive shaft (shaft) 60, a first Z-axis bearing 67, and a second Z-axis bearing 68.

The Z-axis motor frame 56 is a plate-shaped member for mounting the Z-axis motor 54, and is fixed to the lower end of the drive base 17. A rotation shaft of a Z-axis worm wheel 58 is rotatably attached to the Z-axis motor frame 56. The lower end of the Z-axis motor 54 substantially coincides with the lower end of the Z-axis motor frame 56, and as shown in FIG. 4, the Z-axis motor 54 extends in the direction along the Y-axis rotation axis and in the direction of about 30 degrees in XY plan view. 15 is fixed to the Z-axis motor frame 56 shown in FIGS. As shown in FIGS. 15A and 15B, the Z-axis worm 57 is press-fitted into the rotary shaft of the Z-axis motor 54. The Z-axis worm wheel 57 is meshed with a Z-axis worm wheel 58, and the Z-axis worm wheel 58 is attached to the Z-axis motor frame 56 so as to be rotatable about the Z-axis. The Z-axis worm wheel 58 has two gears having different diameters that share a shaft, a gear having a large diameter meshes with the Z-axis worm 57, and a gear having a small diameter meshes with the Z-axis gear 59 to have a predetermined size. The rotational power is transmitted at a reduction ratio of. The center of rotation of the Z-axis gear coincides with the axis of the Z-axis. As described above, the rotational power of the Z-axis motor 54 is transmitted to the Z-axis gear 59, which causes the Z-axis gear 59 to rotate.

The Z-axis drive shaft 60 extends in the direction in which the head portion 6 and the main body 1 are arranged. As shown in FIGS. 16A to 16C, the Z-axis drive shaft 60 is the main body side Z-axis drive shaft. It has a portion 61, a Z-axis drive shaft pin 62, an intermediate Z-axis drive shaft portion 63, a Z-axis drive shaft pin 64, and a head side Z-axis drive shaft portion 65. The Z-axis drive shaft pin 62, the intermediate Z-axis drive shaft portion 63, and the Z-axis drive shaft pin 64 form a universal joint of a cardan joint.

The main body side Z-axis drive shaft portion 61 is assembled so as to rotate with respect to the intermediate Z-axis drive shaft portion 63 about the Z-axis drive shaft pin 62 as an axis, and is arranged on the axis line of the Z-axis. Further, the intermediate Z-axis drive shaft portion 63 is assembled so as to rotate with respect to the head side Z-axis drive shaft portion 65 about the Z-axis drive shaft pin 64. The axis extending direction of the Z-axis drive shaft pin 62 and the axis extending direction of the Z-axis drive shaft pin 64 are configured to be orthogonal to each other. Further, the Z-axis drive shaft 60 is attached to the Z-axis gear 59 so that the directions in which the axes of the Z-axis drive shaft pin 62 and the Z-axis drive shaft pin 64 extend match the X-axis rotation axis and the Y-axis rotation axis, respectively. It is fixed.

As shown in FIGS. 15( a) and 15 (b ), the Z-axis drive shaft 60 has the main body 1 side Z-axis drive shaft portion 61 inserted through the first Z-axis bearing 67 and the head 6 side. The head side Z-axis drive shaft portion 65 is inserted into the second Z-axis bearing 68. The first Z-axis bearing 67 is fixed (provided) in a hole in the field wall 16 of the neck base 16 that coincides with the axis of the Z-axis. The second Z-axis bearing 68 is a substantially disk-shaped member in an XY plan view, has a substantially circular hole in the center thereof that matches the axis of the Z-axis, and has a downwardly convex wall on the outer periphery of the hole. Is provided, and a Z-axis bearing portion 68a is formed. The Z-axis bearing portion 68a of the second Z-axis bearing 68 is inserted into the Z-axis drive shaft insertion hole 34a, and the second Z-axis bearing 68 is fixed (provided) to the X-axis rotary stage 34. In order to improve the rotation of the Z-axis drive shaft 60, the inner surface of the Z-axis bearing portion 68a is covered with a metal having a low friction coefficient. As a result, when the main body side Z-axis drive shaft portion 61 rotates about the axis of the Z-axis, rotational movement is transmitted and the head side Z-axis drive shaft portion 65 also rotates.

Further, as shown in FIGS. 15A and 15B, the second Z-axis bearing 68 is fixed to the second Z-axis bearing fixing portion 34b of the X-axis rotary stage 34, and the Z-axis drive shaft 60 (the head side Z The axial drive shaft portion 65) is inserted into the Z-axis bearing portion 68a of the second Z-axis bearing 68 at the tip end thereof on the side of the head portion 6 and fitted into the fitting portion 66, so that the Z-axis drive shaft 60 is always It is regulated so as to face the same direction as the tilting direction of the X-axis rotary stage 34. Further, the Z-axis drive shaft 60 rotates about the axis of the Z-axis rotating shaft by the first Z-axis bearing 67 and the second Z-axis bearing 68 about the axis of the Z-axis with respect to the neck base 16 and the X-axis rotating stage 34. It is possible to install. Since the tip of the Z-axis drive shaft 60 (head side Z-axis drive shaft portion 65) is fixed to the Z-axis rotary stage 52, the Z-axis rotary stage 52 also rotates integrally with the Z-axis drive shaft 60 in the same direction. .. Therefore, the rotational movement about the axis line of the Z axis is caused by the Z axis rotary stage 52 tilting with respect to the neck base 16 by the rotation of the Y axis rotary stage 18 and/or the X axis rotary stage 34. It is possible to transmit the rotation operation of the main body side Z-axis drive shaft portion 61 to the head side Z-axis drive shaft portion 65 regardless of the inclination of the head side Z-axis drive shaft portion 65 that occurs.

As shown in FIG. 17A, when the Z-axis worm wheel 58 is rotated in the CCW direction when viewed from the +Z side (upper side), the Z-axis gear 59 and the Z-axis drive shaft 60 rotate in the CW direction, and Z The axis rotation stage 52 rotates in the CW direction around the Z axis rotation axis. On the other hand, as shown in FIG. 17B, when the Z-axis worm wheel 58 is rotated in the CW direction, which is opposite to the above when viewed from the +Z side (upper side), the Z-axis gear 59 and the Z-axis drive shaft 60 are moved. The Z-axis rotation stage 52 rotates in the CCW direction, and the Z-axis rotation stage 52 rotates in the CCW direction around the Z-axis rotation axis.

As shown in FIG. 18, even when the X-axis axis and/or the Y-axis axis is inclined with respect to the neck base 16, the Z-axis worm wheel 58 is in the CW direction when viewed from the +Z side (upper side). When rotated, the Z-axis gear 59 and the Z-axis drive shaft 60 rotate in the CCW direction, and the Z-axis rotation stage 52 rotates in the CCW direction around the Z-axis rotation axis.

The head 6 is fixed to the Z-axis rotary stage 52 of the neck drive unit 10 configured as described above via the head adapter 69 shown in FIG. Therefore, when the neck drive unit 10 performs X-axis rotation, Y-axis rotation, and Z-axis rotation, power is transmitted to the head 6 via the drive shafts of each axis and the support mechanism, and as shown in FIG. Similarly, the unit 6 can also perform X-axis rotation, Y-axis rotation, and Z-axis rotation with respect to the main body unit 1.

As described above, regardless of the rotation angle of the head 6, the neck drive of the robot 100, which is a triaxial rotation type drive mechanism in which the rotation axes of the three axes (X axis, Y axis, Z axis) are always orthogonal to each other. The unit (driving mechanism) 10 uses the Y-axis drive shaft 26 having a spherical sliding portion 26a at the end on the head 6 side, which is the position for transmitting the motion with respect to the Y-axis, and is the position for transmitting the motion. By making the shape of the concave portion 33a of the Y-axis sleeve 33 to be a cylindrical shape extending in the X-axis direction and enabling the rotation about the Y-axis axis and the sliding operation of the sliding portion 26a in the X-axis thrust direction, The head 6 can be rotated about the Y-axis with respect to the main body 1.

Further, also for the X axis, the X axis drive shaft 42 having the sliding portion 43a with a spherical end portion on the side of the head 6 which is a portion to which the operation is similarly transmitted is used, and the X axis sleeve 51 to which the operation is transmitted. Similarly, the concave portion 51a is also formed in a cylindrical shape extending in the Y-axis direction to allow rotation about the X-axis axis and sliding movement of the sliding portion 43a in the Y-axis thrust direction. A joint mechanism that interlocks with the rotational movement of the Y-axis at an intermediate position of 42 (the head-side X-axis drive shaft portion 43 via the X-axis drive shaft pin 44 arranged in the direction in which the axis extends in the axial direction of the Y-axis). And a body portion side X-axis drive shaft portion 45 are provided), and the X-axis rotary stage 34 is configured to rotate with respect to the Y-axis rotary stage 18 about the axis of the X-axis rotary shaft. , The rotation of the head 6 around the axis of the X axis with respect to the main body 1 is not affected by the movement of the Y axis.

Further, with respect to the Z-axis, the Z-axis rotary stage 52 is rotated about the X-axis so that the Z-axis rotary stage 52 can be rotated in a direction centered on two axis lines that intersect at right angles with the axis line of the Z-axis which is the rotation center of the Z-axis rotary stage 52. The stage 34 is configured to be rotatable about the X-axis axis, the Z-axis drive shaft 60 is arranged on the Z-axis, and the axes of the Z-axis drive shaft pin 62 and the Z-axis drive shaft pin 64 are arranged. Are made to coincide with the extending directions of the X-axis axis line and the Y-axis axis line, respectively, so that the Z-axis axis line with respect to the main body portion 1 of the head 6 is centered without being affected by the movements of the X-axis and the Y-axis. Rotation operation is possible.

As described above, since the X-axis motor 36 and the Y-axis motor 20 are arranged in the main body 1 of the robot 100, the head 6 of the robot 100 can be lightened and downsized. By reducing the weight of the head 6, it is possible to suppress the consumption of energy (electric power) for driving the head 6. Further, since the weight of the head 6 is reduced, the response speed of the operation of the drive mechanism is increased, so that the head 6 can be swiftly operated. Furthermore, since the Z-axis motor 54 is also arranged in the main body portion 1, the head portion 6 can be further reduced in size and weight.

Furthermore, since the wiring for sending electricity to the X-axis motor 36, the Y-axis motor 20, and the Z-axis motor 54 is also arranged on the main body 1 side, it is possible to reduce the possibility that the wiring is cut by the operation of the head 6. A clean neck drive unit 10 can be realized. Further, the X-axis motor 36, the Y-axis motor 20, the Z-axis motor 54, and the circuit unit 11 can be arranged in the main body 1, and the wiring can be easily arranged, so that the drive mechanism can be easily manufactured. Can be done. Further, since the robot 100 can perform the swinging motion of the head 6 (Z-axis rotating motion) independently of the nod motion (X-axis rotating motion), the degree of freedom of movement of the head 6 is increased. You can

Further, each of the powers output from the Y-axis motor 20, the X-axis motor 36, and the Z-axis motor 54 is supplied to the corresponding one of the Y-axis drive shaft 26, the X-axis drive shaft 42, and the Z-axis drive shaft 60. Since it is transmitted to the head 6 by using it, the structure can be simpler than the structure using, for example, a belt and a pulley instead of the shaft.

Further, the head 6 is configured so that the Y-axis rotary stage 18 rotatably supports the neck base 16 about the Y-axis, and the X-axis rotary stage 34 centers the X-axis on the Y-axis rotary stage 18. The Z-axis rotary stage 52 is configured to rotatably support the Y-axis rotary stage 18 and the X-axis rotary stage 34 about the Z-axis. It is possible to configure a triaxial rotation type drive mechanism in which the triaxial (X-axis/Y-axis/Z-axis) rotational axes are always orthogonal to each other regardless of the rotational angle of the head 6.

Further, in the drive mechanism, since the Y-axis drive shaft 26, the X-axis drive shaft 42, and the Z-axis drive shaft 60 are arranged inside the substantially cylindrical neck base 16, the Y-axis drive shaft 26 is provided by the neck base 16. , The X-axis drive shaft 42 and the Z-axis drive shaft 60 can be protected, and the diameter of the neck drive unit 10 can be reduced.

Further, the Y-axis drive shaft 26 and the X-axis drive shaft 42 move in the direction in which the head 6 and the main body 1 are arranged (Z-axis direction), and the sliding portions 26 a of the Y-axis drive shaft 26 and the X-axis drive shaft 42. , 43a have a spherical shape, and the Y-axis rotary stage 18 and the X-axis rotary stage 34 have a Y-axis in which the sliding portions 26a, 43a of the Y-axis drive shaft 26 and the X-axis drive shaft 42 are rotatably fitted, respectively. The Y-axis rotary stage 18 and the X-axis rotary stage 18 have the sleeve 33 and the X-axis sleeve 51, respectively, and the Y-axis sleeve 33 and the X-axis sleeve 51 extend in the directions in which the X-axis and the Y-axis extend. 34 can rotate about the Y-axis and the X-axis, respectively, without being affected by the rotation of the X-axis rotating stage 34 and the Y-axis rotating stage 18, respectively. Further, the Z-axis drive shaft 60 rotates about the Z-axis, and since the Z-axis drive shaft 60 is provided with a universal joint, the Z-axis drive shaft 60 includes the Y-axis rotary stage 18 and the X-axis rotary stage. It is possible to rotate about the Z axis without being affected by the rotation of the 34 about the Y axis and the X axis.

The X-axis drive shaft 42 is an X-axis drive shaft that rotatably connects the head-side X-axis drive shaft portion 43 and the body-side X-axis drive shaft portion 45 about an axis extending in the same direction as the X-axis. Since the pin 44 is provided, it is possible to transmit the rotational power about the X-axis axis to the head 6 without being affected by the rotation of the head 6 about the Y-axis axis.

The Y-axis guide portion and the X-axis guide portion are provided on the neck base 16 and are configured to guide the Y-axis drive shaft 26 and the X-axis drive shaft 42 so as to be movable in the Z-axis direction, respectively. The bearing 67 and the second Z-axis bearing 68 are provided on the neck base 16 and the X-axis rotary stage 34, respectively, and rotate the Z-axis drive shaft 60 about the Z-axis axis with respect to the neck base 16 and the X-axis rotary stage 34. Since they are freely supported, the Y-axis drive shaft 26, the X-axis drive shaft 42, and the Z-axis drive shaft 60 can reduce the swing of the axes in the Z-axis orthogonal direction.

Further, the Y-axis transmission unit 21 is configured to reciprocate the Y-axis drive shaft 26 in the Z-axis direction by transmitting the rotational power of the Y-axis motor 20 to the Y-axis drive shaft 26. Therefore, it is not necessary to align the rotation axis of the Y-axis motor 20 with the axis of the Y-axis. Further, the X-axis transmission unit 37 is configured to reciprocate the X-axis drive shaft 42 in the Z-axis direction by transmitting the rotational power of the X-axis motor 36 to the X-axis drive shaft 42. Therefore, it is not necessary to align the rotation axis of the X-axis motor 36 with the axis of the X-axis. Therefore, the degree of freedom of arrangement of the Y-axis motor 20 and the X-axis motor 36 can be increased.

Further, each of the X-axis motor terminal 36a, the Y-axis motor terminal 20a, and the Z-axis motor terminal 54a is located in the drive base 17 below the neck base 16 with reference to a plane including the X-axis axis and the Z-axis axis. Since they are provided on the same side as each other, the wiring of the X-axis motor terminal 36a, the Y-axis motor terminal 20a, and the Z-axis motor terminal 54a can be collectively performed from the -Y direction, and the wiring can be routed. It will be easier. Even if the X-axis motor terminal 36a, the Y-axis motor terminal 20a, and the Z-axis motor terminal 54a are arranged in the same direction, the X-axis motor terminal 36a, the Y-axis motor terminal 20a, and the Z-axis motor terminal Since the wiring of the terminal 54a can be collectively performed from the −Y direction, the wiring of the X-axis motor 36, the Y-axis motor 20, and the Z-axis motor 54 can be easily routed.

Further, a rotatable Y-axis roller 28 is provided at the end of the Y-axis drive shaft 26 on the main body 1 side, and the Y-axis cam 25 has a Y-axis cam groove into which the Y-axis roller 28 is rotatably fitted. 25a, a rotatable X-axis roller 47 is provided at the end of the X-axis drive shaft 42 on the main body 1 side, and the X-axis cam 41 is an X-axis roller 47 into which the X-axis roller 47 is rotatably fitted. Since the camshaft has the axial cam groove 41a, for example, the Y-axis drive shaft 26 can be compared with a configuration that does not have a cam groove and uses a cam that pushes the end portions of the Y-axis drive shaft and the X-axis drive shaft on the main body 1 side. Further, the vertical movement of the X-axis drive shaft 42 can be performed more accurately.

(Modification)
In the above-described embodiment, the triaxial rotation type drive mechanism is used, but a biaxial rotation type drive mechanism that rotates only around the X axis and the Z axis may be used. If only a simple YES or NO gesture can be expressed, such a biaxial rotation type drive mechanism is sufficient. At this time, the X-axis transmission unit may have the same configuration as the Y-axis transmission unit 21. Further, the 60 shaft pins of the Z-axis drive shaft need only have the Z-axis drive shaft pin 64 corresponding to the X-axis rotation. As a result, the drive mechanism can be simplified, lightened and miniaturized. It should be noted that instead of the biaxial rotation type drive mechanism rotating about the X axis and the Z axis, a biaxial rotation type drive mechanism rotating about the X axis and the Y axis may be used. A biaxial rotation type drive mechanism that rotates around the Z axis may be used.

In the above-described embodiment, the motor is capable of outputting power (rotational power), but an actuator may be used. The actuator may be an electric motor or a servo motor, or may be a pneumatic motor or a hydraulic motor (including a piston cylinder type). When using the actuator, the actuator is arranged in the vertical direction, and the X and Y axis rotary stages are provided with recesses corresponding to the recesses 33a and 51a, so that the transmission mechanism is configured only by the drive shaft (shaft unit) of each axis. You can also do it.

In the above embodiment, the shaft is moved to transmit the rotation. However, for example, a belt and a pulley or a chain and a sprocket may be used to transmit the rotation to a universal joint having a bevel gear.

The X-axis drive shaft 42 and the Z-axis drive shaft 60 are configured to be rotatable by a universal joint of a Cardan joint via a shaft pin, but may be rotatable by using a universal joint of a Rzeppa joint. Alternatively, a flexible shaft may be used instead of the universal joint so as to be rotatable. Alternatively, without using the shaft pin, for example, by providing a pair of concave portions in the diametrical direction of one shaft end portion, and by providing a pair of claws for sandwiching the concave portion at the other shaft end portion, a rotatable structure Is also good.

In the above embodiment, the X-axis rotary stage 34 and the Y-axis rotary stage 18 have the X-axis sleeve 51 and the Y-axis sleeve 33, respectively. However, the X-axis rotary stage and the Y-axis rotary stage have the X-axis sleeve 51. The sleeve may not be provided as long as it has a recess and a hole provided in the recess having the same configuration as the recess 51a and the recess 33a of the Y-axis sleeve 33, respectively.

Further, in the above embodiment, the neck base 16 is provided with the first X-axis bearing 48 and the first Y-axis bearing 29, and the drive base 17 is provided with the second X-axis bearing 49 and the second Y-axis bearing 30. The tubular portion of the neck base is formed into a substantially solid cylinder, and the substantially cylindrical portion is provided with a hole through which the X-axis drive shaft 42 and the Y-axis drive shaft 26 can move and a hole through which the Z-axis drive shaft 60 can rotate. An opening may be provided in the drive base immediately below the cylindrical portion.

In the above embodiment, the Y-axis cam 25 and the X-axis cam 41 are provided with the Y-axis cam groove 25a and the X-axis cam groove 41a, respectively. However, the Y-axis cam and the X-axis cam are, for example, substantially elliptical plates. However, the configuration may be such that it does not have a cam groove, and the Y-axis drive shaft and the X-axis drive shaft are pushed by the substantially elliptical portion.

In the above-described embodiment, the Y-axis drive shaft 26 and the X-axis drive shaft 42 are moved in the direction in which the head 6 and the main body 1 are arranged (Z-axis direction). May rotate about their respective axes, and the Y-axis rotary stage and the X-axis rotary stage may be jacked up in accordance with the rotation.

In the above embodiment, the robot 100 is humanoid, but may be, for example, a quadruped dog-shaped or cat-shaped robot. Alternatively, the head may be arranged on the side surface of the main body, or the head may be arranged below the main body. In this case, the X, Y, Z axes and the setting of the rotatable angle may be changed appropriately.

Although the preferred embodiment of the present invention has been described above, the present invention is not limited to the specific embodiment, and the present invention includes the invention described in the claims and an equivalent range thereof. Be done. The inventions described in the initial claims of the present application will be additionally described below.

(Appendix 1)
A drive mechanism of a robot for driving the robot head with respect to the robot main body,
A support mechanism configured to support the head so as to be rotatable about a first predetermined axis and a second predetermined axis orthogonal to the first predetermined axis;
A first actuator and a second actuator that are configured to be capable of outputting power and that are supported by the main body;
A first part for rotating the head part with respect to the main body part about the first predetermined axis by being supported by the main body part and transmitting power output from the first actuator to the head part. 1 transmission mechanism,
A first unit for rotating the head with respect to the main unit about the second predetermined axis by being supported by the main unit and transmitting power output from the second actuator to the head. 2 transmission mechanism,
A drive mechanism for a robot, comprising:

(Appendix 2)
The support mechanism is configured to support the head so as to be rotatable about a third predetermined axis orthogonal to both the first and second predetermined axes.
A third actuator configured to be capable of outputting power and supported by the main body;
A first unit for rotating the head with respect to the main unit about the third predetermined axis by being supported by the main unit and transmitting power output from the third actuator to the head. 3 transmission mechanism,
The drive mechanism of the robot according to appendix 1, further comprising:

(Appendix 3)
The first, second and third transmission mechanisms respectively have first, second and third shafts extending in the direction in which the head portion and the main body portion are arranged, and the first, second and third actuators have the same structure. By transmitting the power output from the corresponding actuator among them to the head through at least the corresponding one of the first, second and third shafts and the support mechanism, The drive mechanism for the robot according to appendix 2, wherein the drive mechanism is configured to rotate with respect to the main body unit about a corresponding one of the first, second, and third predetermined axes. ..

(Appendix 4)
The support mechanism is
A base fixed to the main body and arranged between the main body and the head,
A first rotary stage connected to the first shaft, configured to support the head rotatably with respect to the base about the first predetermined axis;
A second rotary stage configured to be coupled to the second shaft and rotatably support the head with respect to the first rotary stage about the second predetermined axis;
A third rotary stage configured to connect the third shaft and rotatably support the head with respect to the first and second rotary stages about the third predetermined axis.
4. The robot drive mechanism according to appendix 3, further comprising:

(Appendix 5)
The base has a substantially tubular shape,
5. The robot drive mechanism according to appendix 4, wherein the first shaft, the second shaft, and the third shaft are arranged inside the base.

(Appendix 6)
The third predetermined axis extends in the direction in which the head and the main body are arranged,
The first and second shafts move in the direction in which the head and the main body are aligned, as power is transmitted from the first and second actuators to the head,
The third shaft rotates about the third predetermined axis with the transmission of power from the third actuator to the head,
The head-side ends of the first and second shafts have a spherical shape,
The first and second rotary stages each have a first recess and a second recess into which the ends of the first and second shafts are rotatably fitted, respectively.
The first and second recesses extend in a direction in which the second and first predetermined axes extend, respectively.
6. The robot drive mechanism according to appendix 4 or 5, wherein the third shaft is provided with a universal joint.

(Appendix 7)
The second shaft includes a head portion side shaft portion provided on the head portion side and a body portion side shaft portion provided on the body portion side, and an end of the head portion side shaft portion on the body portion side. Item 7. An additional item 6 is characterized in that it has a pin portion configured to rotatably connect the portion to the main body side shaft portion around a predetermined axis extending in the same direction as the first predetermined axis. Robot drive mechanism.

(Appendix 8)
A first guide portion provided on the base portion and configured to guide the first shaft so as to be movable in a direction in which the head portion and the main body portion are arranged;
A second guide portion provided on the base portion and configured to guide the second shaft so as to be movable in the direction in which the head portion and the main body portion are aligned;
A first bearing and a second bearing which are respectively provided on the base and the second rotary stage, and which respectively support the third shaft rotatably with respect to the base and the second rotary stage about the third predetermined axis. When,
8. The drive mechanism for the robot according to appendix 6 or 7, further comprising:

(Appendix 9)
The first actuator, the second actuator and the third actuator are configured by an electric motor capable of outputting rotational power,
The first and second transmission mechanisms respectively transmit rotational power from a corresponding one of the first and second actuators to a corresponding one of the first and second shafts, Any one of Supplementary Notes 6 to 8, further comprising a first cam and a second cam configured to reciprocate the one shaft in the direction in which the head portion and the main body portion are arranged. The drive mechanism of the described robot.

(Appendix 10)
Each of the first to third actuators has a terminal for supplying electric power to each of the first to third actuators,
The robot according to claim 9, wherein the terminals are arranged on the same side of each other in a lower portion of the base with reference to a plane including the second predetermined axis and the third predetermined axis. Drive mechanism.

(Appendix 11)
A rotatable first roller is provided at an end of the first shaft on the side of the main body,
The first cam has a first cam groove into which the first roller is rotatably fitted,
A rotatable second roller is provided at an end of the second shaft on the main body side.
11. The drive mechanism for the robot according to appendix 9 or 10, wherein the second cam has a second cam groove into which the second roller is rotatably fitted.

(Appendix 12)
A robot comprising the robot drive mechanism according to any one of appendices 1 to 11.

1... Main body part, 2... Right arm, 3... Left arm, 4... Right foot, 5... Left foot, 6... Head part, 7... Front case, 8... Rear case, 9... Base, 10... Neck drive unit ( Drive mechanism), 11... circuit unit, 12... right arm drive unit, 13... left arm drive unit, 14... front head, 15... rear head, 16... neck base, 16a... boundary wall, 17... drive base, 17a... convex Section, 18... Y axis rotary stage, 19... Y axis potentiometer, 20... Y axis motor, 20a... Y axis motor terminal, 21... Y axis transmission unit, 22... Y axis motor frame, 23... Y axis worm, 24... Y axis worm wheel, 25... Y axis cam, 25a... Y axis cam groove, 26... Y axis drive shaft, 26a, 43a... Sliding part, 27... Y axis roller shaft, 28... Y axis roller, 29... 1st Y axis Bearing, 30... 2nd Y-axis bearing, 31... Y-axis rotary bearing, 32... Y-axis rotary bearing, 33... Y-axis sleeve, 33a, 51a... Recessed part, 33b, 51b... Hole, 34... X-axis rotary stage, 34a... Z-axis drive shaft insertion hole, 34b... Second Z-axis bearing fixing portion, 35... X-axis potentiometer, 36... X-axis motor, 36a... X-axis motor terminal, 37... X-axis transmission unit, 38... X-axis motor frame, 39 ... X-axis worm, 40... X-axis worm wheel, 41... X-axis cam, 41a... X-axis cam groove, 42... X-axis drive shaft, 43... Head side X-axis drive shaft part, 44... X-axis drive shaft pin , 45... Main body side X-axis drive shaft portion, 46... X-axis roller shaft, 47... X-axis roller, 48... First X-axis bearing, 49... Second X-axis bearing, 50... X-axis rotary bearing, 51... X-axis Sleeve, 52... Z-axis rotary stage, 53... Z-axis potentiometer, 54... Z-axis motor, 54a... Z-axis motor terminal, 55... Z-axis transmission unit, 56... Z-axis motor frame, 57... Z-axis worm, 58... Z-axis worm wheel, 59... Z-axis gear, 60... Z-axis drive shaft, 61... Main body side Z-axis drive shaft section, 62... Z-axis drive shaft pin, 63... Intermediate Z-axis drive shaft section, 64... Z-axis Drive shaft pin, 65... Head side Z-axis drive shaft portion, 66... Fitting portion, 67... First Z-axis bearing, 68... Second Z-axis bearing, 68a... Z-axis bearing portion, 69... Head adapter, 100... Robot , 101... Neck hole, 102... Front neck hole, 103... Rear neck hole, 104... Right arm hole, 105... Left arm hole, 106... Base hoe Reference numeral 107... Front base hole, 108... Rear base hole, 109... Opening, 110... Front opening, 111... Rear opening, 200... Switches

Claims (12)

A drive mechanism of a robot for driving the robot head with respect to the robot main body,
A support mechanism configured to support the head so as to be rotatable about a first predetermined axis and a second predetermined axis orthogonal to the first predetermined axis;
A first actuator and a second actuator that are configured to be capable of outputting power and that are supported by the main body;
A first part for rotating the head part with respect to the main body part about the first predetermined axis by being supported by the main body part and transmitting power output from the first actuator to the head part. 1 transmission mechanism,
A first unit for rotating the head with respect to the main unit about the second predetermined axis by being supported by the main unit and transmitting power output from the second actuator to the head. 2 transmission mechanism,
A drive mechanism for a robot, comprising: The support mechanism is configured to support the head so as to be rotatable about a third predetermined axis orthogonal to both the first and second predetermined axes.
A third actuator configured to be capable of outputting power and supported by the main body;
A first unit for rotating the head with respect to the main unit about the third predetermined axis by being supported by the main unit and transmitting power output from the third actuator to the head. 3 transmission mechanism,
The drive mechanism for the robot according to claim 1, further comprising: The first, second and third transmission mechanisms respectively have first, second and third shafts extending in the direction in which the head portion and the main body portion are arranged, and the first, second and third actuators have the same structure. By transmitting the power output from the corresponding actuator among them to the head through at least the corresponding one of the first, second and third shafts and the support mechanism, 3. The robot drive according to claim 2, wherein the robot is configured to rotate with respect to the main body about an axis corresponding to one of the first, second, and third predetermined axes. mechanism. The support mechanism is
A base fixed to the main body and arranged between the main body and the head,
A first rotary stage configured to connect the first shaft and rotatably support the head with respect to the base about the first predetermined axis;
A second rotary stage configured to rotatably support the head with respect to the first rotary stage about the second predetermined axis, to which the second shaft is connected;
A third rotary stage configured to rotatably support the head with respect to the first and second rotary stages about the third predetermined axis, to which the third shaft is connected;
The drive mechanism for the robot according to claim 3, further comprising: The base has a substantially tubular shape,
The drive mechanism for a robot according to claim 4, wherein the first shaft, the second shaft, and the third shaft are arranged inside the base portion. The third predetermined axis extends in the direction in which the head and the main body are arranged,
The first and second shafts move in the direction in which the head and the main body are aligned, as power is transmitted from the first and second actuators to the head,
The third shaft rotates about the third predetermined axis with the transmission of power from the third actuator to the head,
The head-side ends of the first and second shafts have a spherical shape,
The first and second rotary stages each have a first recess and a second recess into which the ends of the first and second shafts are rotatably fitted, respectively.
The first and second recesses extend in a direction in which the second and first predetermined axes extend, respectively.
The robot drive mechanism according to claim 4, wherein a universal joint is provided on the third shaft. The second shaft includes a head portion side shaft portion provided on the head portion side and a body portion side shaft portion provided on the body portion side, and an end of the head portion side shaft portion on the body portion side. 7. A pin portion configured to connect a portion to the shaft portion on the main body portion side so as to be rotatable about a predetermined axis extending in the same direction as the first predetermined axis. Robot drive mechanism. A first guide portion provided on the base portion and configured to guide the first shaft so as to be movable in a direction in which the head portion and the main body portion are arranged;
A second guide portion provided on the base portion and configured to guide the second shaft so as to be movable in the direction in which the head portion and the main body portion are aligned;
A first bearing and a second bearing which are respectively provided on the base and the second rotary stage, and which respectively support the third shaft rotatably with respect to the base and the second rotary stage about the third predetermined axis. When,
The drive mechanism for the robot according to claim 6, further comprising: The first actuator, the second actuator and the third actuator are configured by an electric motor capable of outputting rotational power,
The first and second transmission mechanisms respectively transmit rotational power from a corresponding one of the first and second actuators to a corresponding one of the first and second shafts, 9. The first cam and the second cam configured to reciprocate the one shaft in the direction in which the head portion and the body portion are arranged side by side, further comprising: a first cam and a second cam. The drive mechanism of the robot according to 1. Each of the first to third actuators has a terminal for supplying electric power to each of the first to third actuators,
The said each terminal is arrange|positioned on the same side in the lower part of the said base part on the basis of the plane containing the said 2nd predetermined axis and the said 3rd predetermined axis, It is characterized by the above-mentioned. Robot drive mechanism. A rotatable first roller is provided at an end of the first shaft on the side of the main body,
The first cam has a first cam groove into which the first roller is rotatably fitted,
A rotatable second roller is provided at an end of the second shaft on the main body side.
The robot drive mechanism according to claim 9, wherein the second cam has a second cam groove into which the second roller is rotatably fitted. A robot comprising the robot drive mechanism according to claim 1.

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