JP3984493B2 - Security robot - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a security robot that can get on and off an elevator and move between levels by autonomous control.
[0002]
[Prior art]
In recent years, security robots that can get on and off elevators and move between levels by autonomous control have been used.
[0003]
Such a security robot is disclosed in Japanese Patent Application Laid-Open No. 5-210414 (hereinafter referred to as “A”), in which “the elevator car call signal is transmitted from the mobile robot to the elevator car call section provided in the elevator hall and the floor is designated. A mobile robot moving method is disclosed in which a signal is transmitted to a receiving unit provided in an elevator car, and the mobile robot is moved between tiers by an elevator car that moves in accordance with the signal.
Further, Japanese Patent Laid-Open No. 2000-339030 (hereinafter referred to as “B”) discloses “in an autonomous vehicle that can automatically get on and off an elevator and sequentially move to a plurality of preset floors”. Preset means for arbitrarily selecting the floor to get on and off from the multiple floors is provided, and when the autonomous vehicle is getting on and off the elevator, the open state of the elevator door is confirmed by the front sensor provided on the autonomous vehicle Then, an “autonomous vehicle for starting the traveling of the autonomous vehicle” has been disclosed.
[0004]
[Problems to be solved by the invention]
However, the above conventional techniques have the following problems.
(1) In the technology disclosed in the Japanese Patent Publication No. A, when a mobile robot is introduced, an elevator car call unit that receives an elevator car call signal in an elevator hall in a building, or reception that receives a floor designation signal in an elevator car Renovation and construction are required in the building, such as installing parts on all floors, requiring a lot of labor and construction time for the renovation and construction, lacking labor saving and workability, and a lot of installation or existing The cost of refurbishment of the existing equipment was required, and there was a problem of lack of cost saving and labor saving.
(2) In the autonomous vehicle disclosed in the Gazette, it is necessary to install the hall transceiver in the elevator hall, and to install the in-car transceiver in the elevator car. Therefore, it has a problem of lacking in cost saving and labor saving.
[0005]
The present invention solves the above-described conventional problems, and can move on and off the elevator by autonomous control and move between the floors. At that time, processing and construction on the building side such as an elevator hall and an elevator car, new equipment It is an object of the present invention to provide a security robot that does not require installation or the like and is excellent in cost saving and labor saving.
[0006]
[Means for Solving the Problems]
  In order to achieve the above object, the security robot of the present invention has the following configuration.
  A security robot according to a first aspect of the present invention is a security robot that travels in a security area and patrols, and has a trunk, an arm disposed on the trunk, and a tip of the arm. A button operation unit that is disposed and presses a button of a target; and an image capturing unit that is disposed at a front portion of the body portion and transmits a front image as an image signal to the control device unit,A finger shaft that extends toward the target; the finger unit that is disposed at a tip of the finger shaft and presses the target; and an elastic body that elastically expands and contracts the finger shaft. WithThe control unit calculates a three-dimensional position of the target from the image signal captured by the image capturing unit, moves the button operation unit to the front of the target, and presses the button of the target. It has the structure to press.
[0007]
  This configuration has the following effects.
(1) The front image is captured by the image capturing unit, and an elevator call button provided on the side of the elevator door such as in a building or the floor designation button in the elevator as a target by the control unit. The tip of the arm is moved to the front of the target based on the position information, and a button of the target, for example, an elevator is moved by a button operation unit arranged at the tip of the arm. Push button switches such as call buttons and floor specification buttons can be pressed.
(2) The front image is captured by the image capturing unit, and the control device unit recognizes, for example, the opening / closing of the door of the elevator, the turning on / off of the lamp indicating the position of the elevator, the display on the display unit, etc. When the elevator door opens or when the elevator arrives, it can travel and get on and off the elevator.
(3) After moving the button operation unit to the front of the target, the finger shaft can be extended toward the target, and the target can be pressed by the finger.
(4) Since the finger shaft can be elastically contracted by the elastic body, the three-dimensional position of the target calculated by the image capturing control unit by the image capturing unit is slightly deviated from the actual position. However, it is possible to buffer the excessive pressing force generated by the positional deviation and prevent the destruction of the target or the arm, the finger, and the finger shaft.
[0010]
  Of the present inventionClaim 2The security robot described inClaim 1The arm portion includes first to sixth arm members, a connection portion between the first arm member and the trunk portion, and a connection portion between each of the second to sixth arm members. And a joint formed with 6 degrees of freedom.
[0011]
  With this configuration,Claim 1In addition to the effects obtained by the invention described in the above, the following actions are obtained.
(1) Since the arm portion has six degrees of freedom, it is possible to perform a fine operation close to the movement of a human arm.
[0012]
  Of the present inventionClaim 3The security robot described inClaim 1 or 21 has a configuration including one or more arm portions.
[0013]
  With this configuration,Claim 1 or 2In addition to the effects obtained by the invention described in the above, the following actions are obtained.
(1) Since one or more arm portions are provided, for example, when two arm portions are provided, an obstacle can be sandwiched and lifted by the arm portions, and light work can be performed.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of the present invention will be described with reference to the drawings.
(Embodiment 1)
A security robot according to Embodiment 1 of the present invention will be described below with reference to the drawings.
[0015]
FIG. 1A is a front view of the security robot in the first embodiment, FIG. 1B is a side view of the security robot in the first embodiment, and FIG. 2A is the first embodiment. 2 is a perspective front view of the security robot in FIG. 1, and FIG. 2B is a perspective side view of the security robot in the first embodiment.
In the figure, 1 is a security robot in the first embodiment, 2 is a torso of the security robot 1, 3 is a head of the security robot 1, 4 is a neck that supports the head 3 on the top of the torso 2, and 5a is The right arm 5b is disposed on the front side of the right side of the body 2, the left arm 5b is disposed on the front of the left side of the body 2, and 6 is disposed on the front side of the body 2. The speaker unit provided, 6a is a microphone unit, 7 is an image capturing unit disposed in the lower part of the speaker unit 6 on the front side of the body unit 2, and 8 is a waist unit disposed in the lower part of the body unit 2. 8 a is a tape-shaped contact sensor wound around the waist 8, 9 is a traveling unit for running the security robot 1, 10 is an ultrasonic sensor, 11 is fixed to the body 2, and is attached to the upper part of the head 3. An omnidirectional camera 12 is a flame / smoke sensor.
In FIG. 2, 13 is a battery storage unit for storing a battery, 21 is a motor driver unit for controlling a servo motor disposed in each unit, 22 is a bus box which is an expansion board of the control unit, and 23 is an overall control unit. And a control unit that controls the image, 24 is a fire extinguisher disposed on the back side of the side of the body 2, 25 is a motor for the waist that rotates the body 2 with respect to the waist 8, and 26 is for the waist A worm gear disposed on the motor shaft of the motor 25, 27 is a lumbar shaft fixed to the waist 8, and 28 is a worm wheel fixed to the waist shaft 27 and meshed with the worm gear 26.
[0016]
The security robot 1 travels by the traveling unit 9 and performs patrol security in the building. When the security robot 1 finds a person who has fallen during the patrol, an injured person, an intruder, etc., the speaker 6 and the microphone 6a allow the operator waiting in another place to Talk with injured and intruders.
When the security robot 1 gets on and off the elevator, the control unit 23 recognizes the three-dimensional position of the target from the image captured by the image capturing unit 7 and the right arm 5a or the left arm in front of the target. The tip of 5b is moved, and the button of the target is pressed by the button operation unit 5c or the button operation unit 5d disposed at the tip of the right arm 5a or the left arm 5b.
The body 2 is disposed so as to be rotatable with respect to the waist 8 about the waist shaft 27 via the worm gear 26 and the worm wheel 28 by driving the waist motor 25. The contact sensor 8a is wound around the waist 8 and detects the contact of an obstacle during travel. The ultrasonic sensor 10 senses the approach of surrounding obstacles and intruders. The omnidirectional camera 11 captures the surroundings of the security robot 1 from the upper part of the head 3, and the captured images are sequentially stored in a storage unit (not shown) disposed on the head 3. The flame / smoke detection sensor 12 can detect a flame or smoke and notify the information to an operator or the like waiting in another place.
[0017]
Next, the operation of the head will be described with reference to the drawings.
3A is a side view of the main part of the head, FIG. 3B is a plan view of the main part of the head, and FIG. 3C is a rear view of the main part of the head. .
In the figure, 3 is a head, 3a is a head plate disposed on the head 3, 31 is a remote control camera disposed on the head plate 3a and tiltable up and down, and 32 is remote. A camera motor for tilting the operation camera 31 up and down, 33 a worm gear disposed on the motor shaft of the camera motor 32, 34 a worm wheel meshing with the worm gear 33, and 35 rotating in conjunction with the worm wheel 34. A belt wheel that moves, 36 is a timing belt that spans a belt wheel 35 and a belt wheel 37 described later, 37 is a belt wheel that rotates in conjunction with the remote control camera 31, 4 is a neck portion, and 4a is a body portion. The side neck frame 4b is a fixed shaft fixed to the body side neck frame 4a, 4c is a head side neck frame supported by the fixed shaft 4b, 41 is a neck shaft fixed to the upper part of the body 2, 42 Is the head Left and right motors 43, 43 is a belt wheel fixed to the motor shaft of the left and right motor 42, 44 is a worm gear, 44 a is a belt wheel that rotates in conjunction with the worm gear 44, and 45 is a neck shaft 41. A worm wheel that is fixed around the gear and meshes with the worm gear 44, 46 is a timing belt spanned between the belt wheel 43 and the belt wheel 44a, 47 is a vertical motor that rotates the head 3 up and down, and 48 is a vertical motor. A belt wheel arranged on the motor shaft of the motor 47, 49 is a worm gear, 49a is a belt wheel that rotates in conjunction with the worm gear 49, 50 is a worm wheel fixed to the fixed shaft 4b and meshed with the worm gear 49, 51 This is a timing belt spanned between the belt wheel 48 and the belt wheel 49a.
[0018]
The remote operation camera 31 swings up and down by driving a camera motor 32. The head 3 rotates left and right around the neck shaft 41 by driving the left and right motor 42. Further, the head 3 tilts up and down around the fixed shaft 4b by driving the vertical motor 47. In this way, the head 3 can be pointed in an arbitrary direction, and the remote control camera 31 disposed at the front of the head 3 can be pointed in an arbitrary direction. Further, since the remote operation camera 31 can be independently rotated up and down, a wider range can be confirmed.
[0019]
Next, the operation of the arm will be described with reference to the drawings.
FIG. 4A is a front view of a principal part of the arm portion, and FIG. 4B is a side view of a principal part of the arm portion. In the first embodiment, the left arm portion 5b will be described, and the right arm portion 5a has the same configuration, and thus the description thereof is omitted.
In the figure, 54 is a support frame disposed on the body 2, 55 is a first arm member pivotally supported on the support frame 54 and is rotatably supported, and 55 a is disposed on the support frame 54 side. A first motor for rotating the arm member 55 in the direction of arrow A, 55b a first worm gear disposed on the motor shaft of the first motor 55a, and 55c fixed to the first arm member 55 for the first This is a first worm wheel meshed with the worm gear 55b.
[0020]
56 is a second arm member, 56a is a second motor disposed on the first arm member 55 and pivots the second arm member 56 in the direction of arrow B, and 56b is disposed on the motor shaft of the second motor 56a. The provided second worm gear, 56c is a fixed shaft fixed to the second arm member 56, and 56d is a second worm wheel that is fixed to the fixed shaft 56c and meshed with the second worm gear 56b.
[0021]
57 is a third arm member, 57a is a third motor disposed on the second arm member 56 and rotates the third arm member 57 in the direction of arrow C, and 57b is a motor shaft of the third motor 57a. An arranged belt wheel, 57c is a belt wheel that rotates in conjunction with the belt wheel 57b via a timing belt 57d, 57e is a third worm gear that is arranged coaxially with the belt wheel 57c and rotates in conjunction with the belt wheel 57c, 57f is a fixed shaft fixed to the third arm member 57, and 57g is a third worm wheel that is fixedly attached to the fixed shaft 57f and meshed with the third worm gear 57e.
[0022]
58 is a fourth arm member, 58a is a fourth motor disposed on the third arm member 57 and pivots the fourth arm member 58 in the direction of arrow D, and 58b is arranged on the motor shaft of the fourth motor 58a. A provided fourth worm gear, 58c is a fixed shaft fixed to the fourth arm member 58, and 58d is a fourth worm wheel that is fixedly mounted on the fixed shaft 58c and meshed with the fourth worm gear 58b.
[0023]
59 is a fifth arm member, 59a is a fifth motor disposed on the fourth arm member 58 and rotates the fifth arm member 59 in the direction of arrow E, and 59b is a motor shaft of the fifth motor 59a. The arranged belt wheel 59c is connected to a belt wheel (not shown) that rotates in conjunction with the belt wheel 59b via a timing belt 59d. A fixed shaft 59f fixed to the arm member 59 is a fifth worm wheel that is fixed to the fixed shaft 59e and meshed with the fifth worm gear 59c.
[0024]
60 is a sixth arm member, 60a is a sixth motor disposed on the fifth arm member 59 and pivots the sixth arm member 60 in the direction of arrow F, and 60b is arranged on the motor shaft of the sixth motor 60a. A sixth worm gear provided, 60c is a fixed shaft fixed to the sixth arm member 60, and 60d is a sixth worm wheel that is fixed to the fixed shaft 60c and meshed with the sixth worm gear 60b.
[0025]
At the time of the elevator button operation, the control unit shown in FIG. 2B confirms the three-dimensional position of the elevator button or the like that is the target from the image obtained by the image capturing unit 7, and The left arm portion 5b is controlled so that the button operation portion 5d at the tip of the left arm portion 5b is positioned in front. Specifically, the first to sixth motors 55a, 56a, 57a, 58a, 59a, and 60a are controlled by adjusting a gain for driving and a rotation signal, respectively, by a preset program.
[0026]
Next, the operation of the button operation unit will be described with reference to the drawings.
FIG. 5A is a perspective side view of the button operation unit, and FIG. 5B is a perspective side view when the button operation unit is operated.
In the figure, 5d is a button operating part, 61 is a hand frame, 62 is an operating motor, 63 is a motor shaft of the operating motor 62, and a threaded part in which a male screw is threaded, and 64 is screwed into the threaded part 63. A movable part 65, a movable frame fixed to the movable part 64, a finger shaft 66 disposed under the movable frame 65 and supported slidably on the front and rear parts by support members 66a and 66b, 67 Finger part disposed at the tip of finger shaft 66, 68 is a spring-like elastic body provided around finger shaft 66, 69 is a gripping motor, and 70 is a belt disposed on the motor shaft of gripping motor 69. A car 71 is a gripping hand shaft disposed rotatably on the hand frame 61, and 72 is disposed on the gripping hand shaft 71 and rotates in conjunction with the belt wheel 70 via a timing belt 73. Belt car, 74 for gripper A fixed gripping hand portion in section 71.
[0027]
When the button operation unit 5d moves to the front of the target button, the button operation by the button operation unit 5d is started by a signal from the control unit 23. First, the operating motor 62 is driven to rotate the screw cutting portion 63. As a result, the movable portion 64 screwed to the screw cutting portion 63 moves toward the distal end side of the button operating portion 5d, and accordingly, the finger shaft 66 supported by the finger frame 65 slides toward the distal end side. Thereby, the button which is a target object can be pressed with the finger | toe part 67 arrange | positioned at the front-end | tip of the finger shaft 66. FIG. The finger shaft 66 is slidably supported by support members 66a and 66b at the front and rear portions. Further, the finger shaft 66 is urged toward the front side by the elastic body 68 against the sliding in the rear direction. Thereby, since the finger shaft 66 can be elastically contracted, the three-dimensional position of the target captured by the image capturing unit 7 and calculated by the control unit 23 is slightly shifted from the actual position. Even so, the excessive pressing force generated by the positional deviation can be buffered, and the destruction of the target or the destruction of the left arm portion 5b, the finger portion 67, and the finger shaft 66 can be prevented.
[0028]
In this way, the front image is captured by the image capturing unit 7 and the three-dimensional position of the target is calculated by the control unit 23, and the tip of the left arm 5b is placed on the target based on the position information. The target can be pushed and operated by the button operation portion 5d disposed at the tip of the left arm portion 5b.
For example, taking an elevator getting on and off during patrol security as an example, the security robot 1 captures an image of an elevator call button provided on the side of the elevator door in the building by the image capture unit 7 and controls it. The three-dimensional position of the elevator call button on the target floor is calculated by the device unit 23, and the tip of the left arm portion 5b is moved to the front of the elevator call button based on the position information, and is arranged at the tip of the left arm portion 5b. The elevator call button can be pressed by the button operation unit 5d. Further, the control device unit 23 recognizes the display of the opening / closing of the elevator door, the lighting or extinguishing of the lamp indicating the position of the elevator, the display unit or the like based on the image signal of the image capturing unit 7, and the elevator door When the elevator opens or the elevator arrives, a forward signal is sent to the traveling unit 9, and the traveling unit 9 is driven by this signal to drive the security robot 1 and get on the elevator.
When the security robot gets into the elevator, the controller 23 calculates the three-dimensional position of the button on the destination floor of the elevator captured by the image capturing unit 7, and based on the positional information, the tip of the left arm 5b is lifted up to the elevator. The button on the target floor of the elevator can be pushed by the button operation unit 5d.
When the elevator arrives at the destination floor, the controller 23 recognizes, for example, the opening operation of the elevator door, the lighting or extinguishing of the lamp indicating the position of the elevator, or the display on the display unit, and the elevator door opens. Alternatively, when the elevator arrives, a forward signal is sent to the traveling unit 9, and the traveling unit 9 is driven by this signal to run the security robot 1 and get off the elevator. In addition, it is also possible to measure the distance to the door using a laser sensor (not shown) disposed on the waist 8 of the security robot 1 and detect the change in the distance to recognize that the elevator door is opened. .
[0029]
Next, the traveling unit will be described with reference to the drawings.
FIG. 6A is a side view of the traveling unit, and FIG. 6B is a bottom view of the traveling unit. In the first embodiment, the left driving wheel will be described, but the right driving wheel is configured in the same manner, and the description thereof will be omitted.
In the figure, 81 is a driving wheel, 81a is a driving wheel frame, 81b is a front shaft support portion that supports the front side of the driving wheel frame 81a, 81c is a shock absorber, 81d is a rear side of the driving wheel frame 81a via the shock absorber 81c. , A rear wheel shaft support portion, 82 is a driving wheel driving motor disposed on the driving wheel frame 81a to drive the driving wheel 81, 83 is a belt wheel disposed on the motor shaft of the driving wheel driving motor 82, and 84 is a timing belt. A belt wheel that rotates in conjunction with the belt wheel 83 via 85, 86 is an axle of the driving wheel 81, 87 is a rotary encoder that detects the rotation of the axle 86, 88 is a rear wheel driven wheel, and 89 is a front wheel driven wheel. It is.
[0030]
The driving wheel 81 is rotated by the driving of the driving wheel driving motor 82 and can travel. The driving wheel 81 is pivotally supported on the driving wheel frame 81a by an axle 87, the front portion of the driving wheel frame 81a is pivotally supported by the front side pivotal support portion 81b, and the rear portion is pivotally supported by the rear side pivotal support portion 81d via the shock absorber 81c. Yes. Thereby, it is possible to prevent vibration during traveling and a load on the traveling unit 9 from being transmitted to the body 2 and the head 3. Further, during traveling, the rotary encoder 87 can detect the rotation of the driving wheel 81, analyze the information by a control unit or the like to calculate the traveling distance, and use it as auxiliary data.
[0031]
In the first embodiment, although not shown, a safety device using a limit switch is provided in the rotating portion so as not to rotate beyond the limit of mechanical rotation. Thereby, safety can be improved.
[0032]
As described above, the security robot according to the first embodiment is configured, and thus has the following operations.
(1) The image capturing unit 7 captures an image of the elevator call button provided on the side of the elevator door, and the control device unit 23 recognizes the three-dimensional position of the elevator call button to obtain the position information. Originally, the tip of the left arm portion 5b is moved to the front of the elevator call button, and the elevator call button can be called by the button operation portion 5d disposed at the tip of the left arm portion 5b to call the elevator. In addition, after getting into the elevator, the button on the target floor of the elevator can be pushed by the button operation unit 5d in the same manner.
(2) The vehicle travels autonomously by the travel unit 9 and patrols a preset patrol route in the building, gets on and off the elevator on the patrol route, and operates the elevator floor designation buttons by the button operation units 5c and 5d. You can move between tiers.
(3) After moving the button operation unit 5 d to the front of the target, the finger shaft 66 can be extended toward the target, and the target can be pressed by the finger 67.
(4) Since the finger shaft can be elastically contracted by the elastic body 68 in the button operation unit 5d, the three-dimensional position of the target calculated by the control unit 23 is slightly different from the actual position. Even if it exists, it can buffer the excessive pressing force which generate | occur | produces by position shift, and can prevent destruction of a target object or destruction of the left arm part 5b, the finger shaft 66, and the finger part 67. FIG.
(5) Since the left arm portion 5b is formed by the first to sixth arm members 55 to 60 and has six degrees of freedom, it is possible to perform a delicate and precise operation close to the movement of the human arm.
(6) Since the right arm portion 5a and the left arm portion 5b are provided, an obstacle can be sandwiched and lifted and transferred, and light work can be performed.
(7) A lightweight object can be grasped and transferred by the gripping hand portion 74.
[0033]
【The invention's effect】
  As described above, according to the security robot of the present invention, the following advantageous effects can be obtained.
  According to the invention of claim 1,
(1) The front image is captured by the image capturing unit, and an elevator call button provided on the side of the elevator door such as in a building or the floor designation button in the elevator as a target by the control unit. The tip of the arm is moved to the front of the target based on the position information, and the button of the target is pushed by the button operation unit arranged at the tip of the arm. A security robot can be provided.
(2) The image capturing unit captures the front image, and the control unit recognizes the opening / closing of the elevator door, the lighting of the lamp indicating the position of the elevator, the display on the display unit, etc. It is possible to provide a security robot that can open or get on and off the elevator when the elevator arrives.
(3) It is possible to provide a security robot that can move the button operation unit to the front of the target, then extend the finger shaft toward the target, and press the target with the finger.
(4) Since the finger shaft can be elastically contracted by the elastic body, the three-dimensional position of the target calculated by the image capturing control unit by the image capturing unit is slightly deviated from the actual position. However, it is possible to provide a security robot that can buffer the excessive pressing force generated by the positional deviation and prevent the destruction of the target or the arm, the finger, or the finger shaft.
[0035]
  Claim 2According to the invention described inClaim 1In addition to the effect of
(1) Since the arm portion has six degrees of freedom, it is possible to provide a security robot that can perform a fine movement close to the movement of a human arm.
[0036]
  Claim 3According to the invention described inClaim 1 or 2In addition to the effect of
(1) Since one or more arm portions are provided, for example, when two arm portions are provided, an obstacle can be sandwiched and lifted and transferred by the arm portions, and a light work can be performed. Robots can be provided.
[Brief description of the drawings]
FIG. 1A is a front view of a security robot according to a first embodiment.
(B) Side view of the security robot in the first embodiment
2A is a perspective front view of a security robot according to Embodiment 1. FIG.
(B) Perspective side view of security robot in embodiment 1
FIG. 3A is a side view of the main part of the perspective view of the head.
(B) Perspective plan view of the head of the head
(C) Rear view of the principal part of the head
FIG. 4A is a perspective front view of an arm portion.
(B) Side view of main part of the arm
FIG. 5A is a transparent side view of a button operation unit.
(B) Perspective side view when operating the button operation unit
FIG. 6A is a side view of the traveling unit.
(B) Bottom view of running section
[Explanation of symbols]
1 Security robot
2 trunk
3 head
3a Head plate
4 neck
4a Body side neck frame
4b Fixed shaft
4c Head side neck frame
5a Right arm
5b Left arm
5c, 5d Button operation unit
6 Speaker part
7 Image capture unit
8 waist
8a Contact sensor
9 Traveling part
10 Ultrasonic sensor
11 Omnidirectional camera
12 Flame / Smoke Sensor
13 Battery compartment
21 Motor driver
22 Bus box
23 Control unit
24 fire extinguisher
25 Lumbar motor
26 Worm gear
27 Lumbar axis
28 Worm wheel
31 Remote control camera
32 Camera motor
33 Worm gear
34 Worm wheel
35 belt car
36 Timing Belt
37 belt car
41 neck shaft
42 Left and right motors
43 belt car
44 Worm gear
44a belt car
45 Worm wheel
46 Timing Belt
47 Vertical motor
48 belt car
49 Worm Gear
49a belt car
50 Worm wheel
51 Timing belt
54 Support frame
55 First arm member
55a First motor
55b First worm gear
55c first worm wheel
56 Second arm member
56a Second motor
56b second worm gear
56c fixed shaft
56d second worm wheel
57 Third arm member
57a Third motor
57b belt car
57c belt car
57d Timing belt
57e Third worm gear
57f fixed shaft
57g Third worm wheel
58 Fourth arm member
58a Fourth motor
58b 4th worm gear
58c fixed shaft
58d 4th worm wheel
59 Fifth arm member
59a Fifth motor
59b belt car
59c 5th worm gear
59d Timing belt
59e fixed shaft
59f Fifth worm wheel
60 Sixth arm member
60a Sixth motor
60b Sixth worm gear
60c fixed shaft
60d 6th worm wheel
61 hand frame
62 Motor for operation
63 Spiral cutting part
64 Movable parts
65 Movable frame
66 finger shaft
67 fingers
68 Elastic body
69 Gripping motor
70 belt car
71 Shaft for gripper
72 belt car
73 Timing Belt
74 Grasp hand part
81 Driving wheel
81a Driving frame
81b Front side shaft support
81c shock absorber
81d Rear side shaft support
82 Driving wheel drive motor
83 belt car
84 Belt car
85 Timing belt
86 axle
87 Rotary encoder
88 Rear wheel side driven wheel
89 Front wheel driven wheel

Claims (3)

A security robot that travels in a security area and patrols, and includes a trunk, an arm disposed on the trunk, and a button operation unit that is disposed at a tip of the arm and presses a target button. And an image capturing unit that is disposed in front of the body unit and transmits a front image as an image signal to the control unit, and the button operation unit is a finger that extends toward the target. A shaft, a finger that is disposed at a tip of the finger shaft and presses the target, and an elastic body that elastically expands and contracts the finger shaft, and the control unit is configured by the image capturing unit. A security robot characterized in that a three-dimensional position of the target is calculated from the captured image signal, the button operation unit is moved to the front of the target, and the button of the target is pressed. The arm portion includes first to sixth arm members, and joint portions between the first arm member and the trunk portion and joint portions of the second to sixth arm members are jointed. The security robot according to claim 1 , wherein the security robot is formed with six degrees of freedom. The security robot according to claim 1, further comprising one or more arms.

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