JP4234285B2 - Self-propelled - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a small robot-like self-propelled body that operates autonomously and can also perform an operation similar to a living thing at first glance.
[0002]
[Prior art]
There are already known microrobots that can entertain humans by performing actions that are somewhat similar to living things, such as actions that adapt to changes in the surrounding environment, and that are lightweight and large enough to fit on a palm.
[0003]
[Problems to be solved by the invention]
However, this type of small robot has a short history and few types. Although there is a strong need for people's comfort or to go further and do minor work, it is still far from the level that can be adequately met. Currently, in order to make further progress in this technical field, further diversification of ideas and products, as well as the best efforts between them, are expected and are in a waiting stage.
[0004]
An object of the present invention is to provide a self-propelled body that is a small robot having a basically simple structure and capable of autonomous and biologically interesting movements.
[0005]
[Means for Solving the Problems]
To achieve the above object, the self-propelled body of the present invention includes at least one wheel having a substantially horizontal rotation axis, a motor for driving the wheel, a gear train for reducing the rotational speed of the motor, and the motor. Including a circuit including an oscillation circuit for supplying a drive pulse to the solar cell as a power source, and the motor is a step motor including a stator having a two-pole permanent magnet rotor and a fixed coil , The frequency at which the drive pulse of the oscillation circuit forms is set to a value lower than the step-out frequency when no load is applied. the set so as cause, the step motor is driven by the light hits the solar cell, the wheel is driven via the gear train It is characterized in.
[0007]
A plurality of the wheels are provided, each wheel is individually driven by a dedicated step motor, and the step motor and the gear train are used for a clock mechanism, and the wheels are It is attached to a minute hand shaft, hour hand shaft or calendar shaft which is a pointer shaft of the timepiece mechanism, and a decorative rotating body is attached to the second hand shaft of the timepiece mechanism .
[0008]
The wheels and the timepiece mechanism are arranged on both the left and right sides of the self-propelled body, and the stator of the stepping motor of the timepiece mechanism rotates the rotor in opposite directions as viewed from the pointer shaft side with respect to the same drive input. The wheel and the timepiece mechanism are arranged on both the left and right sides of the self-propelled body, and the stator of the stepping motor of the timepiece mechanism is equal to the same drive input. The rotors are configured to rotate in the same direction as viewed from the pointer shaft side .
[0009]
The solar cell has a transparent plate shape, and the light receiving surface of the solar cell is arranged substantially horizontally in the traveling direction. The self-propelled body is equipped with a timepiece, and the solar cell also serves as a power source for the timepiece .
[0010]
Further, the light receiving surface of the solar cell is arranged so as to be vertical and V-shaped in the traveling direction and face the outside of the V-shape, the right solar cell drives the left clock mechanism, and the left solar cell The battery is characterized in that it is configured to drive the timepiece mechanism on the right side, or arranged so that the light receiving surface of the solar cell is perpendicular to the traveling direction and V-shaped and faces the inside of the V-shape. The right solar cell drives the right timepiece mechanism, and the left solar cell drives the left timepiece mechanism .
[0011]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is a perspective view of a first embodiment of the present invention.
Reference numeral 1 denotes a frame of a self-propelled body, which is formed into a substantially “U” shape with, for example, a transparent acrylic resin in order to reduce the weight and the simplicity of the internal structure. Reference numeral 2 denotes a disk-shaped solar cell that is a kinetic energy source, which is used in a watch dial. It is mounted upward on the upper surface of the frame 1 in order to use the irradiation light from above. Reference numeral 3 denotes a timepiece mechanism (movement), which is attached to each of the left and right side surfaces of the frame 1. From the timepiece mechanism 3, the quartz crystal, circuit (oscillation / frequency division / drive) and button type battery for driving the timepiece have been removed, step motor, reduction gear train (wheel train) to the pointer shaft, Only the base plate and the receiving base (Evoche), which are their base and bearing, are used.
[0012]
Reference numeral 4 denotes a wheel which is fitted on the minute hand shaft of the timepiece mechanism 3. The speed of the rotor shaft of the step motor (usually half-turned every second in a watch) is reduced to 1/30 on the minute hand shaft, and a torque sufficient to drive the wheel 4 can be generated. (Depending on the drive frequency, the wheel axis may be the hour hand axis or the axis of the calendar display body.) The normal minute hand speed is too slow, so in this example the rotational speed of the step motor is about 400 times. .
[0013]
The left and right clock mechanisms are attached to the frame 1 with their pointer faces outward, and one of the stepping motors is given the property of normal rotation and the other is reverse rotation. Go straight. (If a timepiece mechanism that is aligned with the rotation direction of the step motor is used, the directions of the pointer surfaces of both the left and right timepiece mechanisms 3 may be the same direction, that is, one is inward and the other is outward. Alternatively, the step motor for a watch can be reversed by applying a specific drive waveform--although there are speed and torque limitations--but both the left and right watch mechanism pointer faces outward and one of them (It may be driven with a waveform for normal rotation, and the other may be driven with a waveform for reverse rotation.)
[0014]
Reference numeral 5 denotes a decorative rotating body, which is attached to the second hand shaft and has an outer diameter smaller than that of the wheel 4 and rotates at a high speed without impeding the traveling of the self-propelled body to give a visual effect. In this example, a watch dial (larger than the outer diameter of the timepiece mechanism 3) is used as the wheel 4, and a wristwatch second hand (short) is used as the decoration rotating body 5 as it is.
[0015]
Reference numeral 6 denotes a circuit that supplies a drive voltage pulse having a frequency of about 200 Hz, which is 400 times that of normal operation, to the step motor using the photovoltaic power of the solar cell 2. A saddle member 11 is provided in front and rear of the frame 1 in order to stabilize the attitude of the self-propelled body, which is a two-wheeled vehicle in this example, and has a smooth convex surface at the lowermost end, one of which is a floor and Slip in contact. G indicates the normal traveling direction of the self-propelled body.
[0016]
FIG. 2A is a circuit diagram of an example of an electric system realized by the circuit 6 of the first embodiment, and FIG. 2B is a circuit diagram of an example of an electric system used in a modification of this embodiment. It is. In (a), two inverters 61 constitute a CR oscillation circuit together with a resistor R and a capacitor C, and generate a frequency signal of about 200 Hz. Two of the four inverters 63 that receive this signal are connected to both ends of the drive coils 31R and 31L of the step motor in the left and right (L and R) timepiece mechanism 3, respectively. Of these, the inputs of two inverters are inverted by an inverter 62. The configuration of this example generates a drive waveform for normal rotation.
[0017]
With this configuration, a drive current that reverses the direction every half cycle in synchronization with the oscillation waveform flows through each drive coil 31R, 31L, and drives each rotor in a predetermined direction. In the solar cell 2, unit elements are connected in series and parallel so that the output becomes an appropriate voltage, and the photovoltaic power whose voltage fluctuation is buffered by the smoothing capacitor 21 is supplied as the power source of each inverter.
[0018]
FIG. 2B is a block diagram in which details of the oscillation and drive circuits are omitted. This consists of two circuits. That is, the circuit 6 consists of two sets of 6R and 6L. Each of the block circuits 6R and 6L includes a solar cell, an oscillation circuit, and a drive circuit including two pairs of inverters. The solar cells are provided in two groups on the left and right sides of the self-propelled body. The driving coil 31R of the stepping motor of the timepiece mechanism and the solar cell of the right circuit 6R drive the driving coil 31L of the stepping motor of the left timepiece mechanism. Other mechanical configurations are substantially the same as those of the first embodiment shown in FIG.
[0019]
As a result, for example, if the illuminance of the right solar cell is insufficient, the left wheel stops or slows, or vice versa. Therefore, when the illumination light as an energy source extends in a band shape and the self-propelled body moves along the band of light, if the self-propelled body moves to one side of the light band, the wheel on the opposite side stops or slows down. The course of the runner turns to return toward the center of the light belt. In this way, the self-propelled body can move without meandering the light band while meandering. If a light source is placed under a translucent floor surface and an appropriate shading mask is applied, an arbitrary curved light band appears on the floor surface. An effective demonstration can be achieved by following a self-propelled body in which a solar cell (divided into left and right parts) is attached to a frame with the light receiving surface facing downward.
[0020]
FIG. 3 is a schematic plan view of a step motor having a flat stator, where (a) and (b) have a separated stator, and (c) and (d) have an integral stator. Both are of the type used for watches. (A) and (b) are portions of the cylindrical surface in which the stator 33 surrounds the rotor 32 in (c) and (d) due to the difference in the stepping direction of the step portion 34 of the semicylindrical surface in which the stator 33 surrounds the rotor 32. Due to the difference in the direction in which the notch 35 is provided, the rotor 32 rotates in directions opposite to each other even when current is passed through the drive coil 31 and excitation is performed in the same direction. Therefore, if only the stator 33 is replaced in the left and right timepiece mechanisms 3, the rotation direction of the wheels 4 can be changed. There are no problems in procuring stator parts because watches that have their stators reversed by changing the stator are actually commercialized.
[0021]
If the original pointer face of the left and right clock mechanism of the self-propelled body is turned outward and the step motor with the same structure is intentionally driven in the same direction, the wheels on both sides will reverse, and the self-propelled body will be moved almost on the spot. It can also be turned. A configuration that gives another motion will be described. FIG. 3 (e) shows that the direction of rotation (intermittent every start) of the rotor is deliberately uncertain by eliminating the cuts in the cylindrical surface around the rotor and making the distance from the stator uniform. The step motor is given a stator shape. Such a step motor is not usually used in a timepiece, but in the present invention, for example, a modified example can be realized that provides an interesting feature that makes it impossible to predict how the self-propelled body moves.
[0022]
Next, the movement of this self-propelled body will be described. First of all, it uses a solar cell as a power source, so it appears to be a biological movement that becomes active when it gets bright and sleeps when it gets dark. You can also move while following the band of light. Also, since the rotor of the step motor operates intermittently and vibrates during rotation, if the drive frequency is increased, the rotor will not be able to follow the drive input, causing a so-called step-out phenomenon, the movement is disturbed and reversed, and the direction is It is not fixed or changes suddenly or periodically.
[0023]
The frequency at which step-out occurs tends to decrease as the load torque of the motor shaft increases, so if the drive frequency is set to a value slightly lower than the step-out frequency at no load, the moving object will hit the obstacle and the wheel resistance will decrease. When the value increases, the step-out occurs and the rotor is distorted or reversed, and the self-propelled body hesitates or changes direction (if there is a difference in the step-out frequency between the left and right motors), it automatically moves backward. Further, if a circuit configuration in which the oscillation frequency changes depending on the light intensity or the like is given, the motion speed or the like changes depending on the intensity or color of the light.
[0024]
In this way, a biologically visible operation can be performed without a particularly complicated control device. In addition, if it is driven in a frequency band that already causes a step-out phenomenon in a normal state, it is possible to give the self-propelled body an action that looks like a whim. Also, the degree of regularity of the movement of the self-propelled body can be switched by changing the driving frequency.
[0025]
FIG. 4 is a perspective view of the second embodiment of the present invention. In this example, a transparent solar cell 2 is used. For example, a PN junction made of an amorphous silicon thin film is formed on a glass substrate, and an electrode made of a transparent conductive film (ITO) is attached. Since the solar cell 2 is transparent, light from both directions from above and below can be used as energy. In addition, since it seems to have no power source, it is possible to wonder and arouse the observer.
[0026]
FIG. 5 is a perspective view of the third embodiment of the present invention. In this example, it is a specific example of a unicycle with one wheel and two saddle members 11.
[0027]
FIG. 6 is a plan view of another embodiment of the present invention. (A), (b), and (c) show the fourth, fifth, and sixth embodiments, respectively. In either case, the self-propelled body moves toward the light (arrow B is the direction of light) emitted from the front (the direction of travel is arrow G). (A) Stands the solar cells 2R and 2L on the left and right on the frame 1 in a vertical folding manner so as to form a V shape convex in the G direction, and the light receiving surface faces the outside of the V shape. The right solar cell 2R drives the left clock mechanism 3L, and the left solar cell 2L drives the right clock mechanism 3R. When the direction of the self-propelled body deviates from G to the right, for example, the solar cell 2R becomes parallel to the light direction B and the electromotive force decreases, and the solar cell 2L becomes perpendicular to the light direction B and the electromotive force increases. The rotational force of the right wheel increases and the self-propelled body restores its direction to the left.
[0028]
In FIG. 6B, the solar cells 2R and 2L are erected vertically on the left and right sides of the frame 1 so as to form a V shape that is concave in the G direction, and the light receiving surface faces the inside of the V shape. The solar cell 2R drives the timepiece mechanism 3R, and the solar cell 2L drives the timepiece mechanism 3L. When the direction of the self-propelled body deviates from G to the right, for example, the solar cell 2L becomes parallel to the light direction B and the electromotive force decreases, and the solar cell 2R becomes perpendicular to the light direction B and the electromotive force increases. The rotational force of the right wheel increases and the self-propelled body restores its direction to the left.
[0029]
FIG. 6C has sensors 7R and 7L for direction detection on the self-propelled body. The light from the B direction is for guiding the course, and the energy light is irradiated from above. The left and right sensors 7R and 7L are equipped with a control circuit (not shown) that changes the driving torque and rotational speed of the wheel 4 on one side according to the received light intensity. Reference numeral 8 denotes a vertical light shielding plate. When the traveling direction of the self-propelled body deviates from G (which coincides with the light direction B), for example, to the right, the light shielding plate 8 is inclined to hide the sensor 7R from the guide light. Then, the control circuit works and returns the path so that the received light intensity of each sensor becomes equal. In addition, if a sensor and a control circuit are used, the application example of a self-propelled body will spread extremely.
[0030]
Although several embodiments have been described above, some of the other embodiments, modifications, application examples, control examples, etc. of other self-propelled bodies of the present invention (of course, these are not all) will be described below. To mention.
(1) The exterior shape, design, etc. are devised to give, for example, an animal or plant or insect appearance.
(2) The number and arrangement of wheels and drive mechanisms provided in the self-propelled body are arbitrary.
(3) The movement can be made more complicated or the stability can be changed by decentering the wheels, making the diameters of the plurality of wheels different, or shifting the axes from each other or placing them in a crossed or twisted positional relationship.
(4) Conceal the wheel or move the foot with a link mechanism to run.
[0031]
(5) Other types of drive means, for example, step motors, ultrasonic motors, intermittent drive mechanisms, etc., that provide multi-phase drive inputs to a plurality of coils are used.
(6) The oscillation circuit is not limited to the configuration described above. As long as the circuit generates a signal for controlling the driving speed of the motor, the circuit does not have to perform a narrow meaning of oscillation.
(7) The motor drive status is changed in accordance with ambient conditions and external signals.
(8) The direction is changed by changing the drive frequency of the left and right motors.
(9) The drive waveform, current, and the like are randomly changed to perform an intentional operation.
[0032]
(10) A watch is mounted on the self-propelled body, and the watch is also driven by a solar cell. For example, a wristwatch using light energy whose dial is a solar cell is mounted on the top, and the self-propelled body is driven using the output of the solar cell (photoelectric power generation that drives the self-propelled body because the power consumption of the wristwatch itself is small) (With this configuration, a “running clock” is realized.)
(11) A plurality of self-propelled bodies are connected with a string or the like to perform a more complicated operation.
(12) A plurality of self-propelled bodies communicate with each other and affect each other's movement.
(13) A motor different from the one for traveling is mounted and some kind of light work is performed.
[0033]
(14) Sound (including ultrasonic waves), light (including infrared rays, etc.) and radio wave sensors and control circuits are installed, and the movement state of the self-propelled body is controlled by remote control (eg speed, direction, drive on)・ Off or any other work operation etc.).
(15) A more complicated motion is made by approximating the waveform of the remote control signal such as sound and light to the control / drive signal waveform of the motor.
(16) A plurality of sensors that receive external signals such as sound, light, and radio waves are arranged on the left and right sides of the self-propelled body, for example, so as to have a stereo effect when receiving signals. That is, one or the sum of the received signals of a plurality of sensors is used as a control signal, but a signal in which a slight difference between the received signals is detected is also included as a control signal. As a result, the motion control of the self-propelled body can be made more diverse.
[0034]
(17) In watch technology, called load compensation, the movement of the rotor after applying a drive pulse is detected by a counter electromotive voltage generated in the coil, and if there is a drive error, a high level of energy is applied again. There is a driving technology. This can be applied to stabilize the running of the self-propelled body, but on the other hand, if the back electromotive voltage waveform is complicated, various drive controls can be performed depending on the feedback method. it can.
[0035]
(18) Make them appear to dance by moving in the changing sound and light.
(19) A trajectory having a circular shape, an elliptical shape, a polygonal shape, or the like is run at a predetermined accurate speed to realize a timepiece having the self-propelled body itself as a pointer.
(20) An auxiliary power source, for example, a rechargeable power source is used in combination. The amount of charge is arbitrary. As a result, the soft start of the self-propelled body, the guarantee of the operation in a place where there is no energy supply (for example, in the tunnel), the active operation such as sound generation and utterance, and other operations become possible.
(21) By combining the above, it is possible to arbitrarily set the size and shape of the self-propelled body as well as the desired motion and motion speed.
[0036]
【The invention's effect】
The various effects that the present invention can exhibit will be described below in correspondence with the configurations .
With the basic configuration of the present invention in which the power source is a solar cell, the step motor is driven by light hitting the solar cell, and the wheels are driven through a gear train, the structure has a simple and small structure, and the self-propelled body is Acting with light or acting in search of light, it can impart some characteristics similar to living organisms, and it can operate in the light so that it has a better visual effect and is semi-permanent. the self-propelled body with a possibility of operation can be realized, also the configuration for driving the wheels using a stepper motor and reduction gear train of the two poles, there is a small inertia, the effect of the drive mechanism can be realized a high torque.
[0037]
Having set within a range of frequencies that may cause a change in the step-out or velocity by variations in the intensity fluctuations and light load torque, for driving the step motor in an easy frequency cause or causes loss of synchronism phenomenon, self-propelled body There is an effect that the operation can be complicated, and the movement can be changed by the fluctuation of the light intensity or the fluctuation of the load torque . In addition, the configuration in which the plurality of wheels are driven independently stabilizes the posture of the self-propelled body and enables complex movement.
[0038]
The structure that uses the stepping motor and gear train of the clock mechanism makes it extremely easy to design and manufacture a self-propelled body, and attaches wheels to the minute hand shaft, hour hand shaft, or calendar shaft, and decorates the second hand shaft. With the configuration in which the rotating body is attached, the wheel has a large reduction ratio and sufficient torque can be obtained, and the decorative rotating body can rotate at a high speed to provide an excellent visual effect.
[0039]
Only the stator of the clock mechanism arranged on the left and right sides is changed to mutually reverse the rotation direction of the rotor, so that the structure of the clock mechanism other than the stator can be substantially the same, and the design and manufacture are further it is possible simplification of. Alternatively, the self-propelled body can rotate or swivel with a small radius by the configuration in which the rotation directions of the stepping motors of the clock mechanism arranged on the left and right sides are the same. In addition, a clock mechanism having a structure similar to that on the left and right can be used, and design and manufacturing can be further simplified.
[0040]
With the configuration using the transparent plate-like solar cell, light coming from any direction of the plate surface can be used as kinetic energy. Also this self-propelled body can give a strong impression on the viewer by moving regardless of Runimo can look like do not have the power at a glance. Furthermore, with a configuration in which the light receiving surface is arranged almost horizontally in the direction of travel, if the solar cell is placed on the upper surface of the self-propelled body, it moves with the light from the upper surface as in normal proof, and if it is placed downward, it is free-running. Can exercise by receiving light from the floor on which the body travels. In addition, by mounting a watch with a solar cell on the self-propelled body and sharing its power source with the self-propelled body, a “running clock” can be realized, and the viewer's interest can be further aroused .
[0041]
The solar cell is vertically arranged with the V shape facing outward, and the right time solar cell is configured to drive the left timepiece mechanism, and the left side solar cell is configured to drive the right timepiece mechanism. The right solar cell is driven by the right solar cell and the left solar cell is driven by the left solar cell so that the direction of the self-propelled body is restored by increasing or decreasing the electromotive force. I can do it.
[Brief description of the drawings]
FIG. 1 is a perspective view of a first embodiment of the present invention.
FIG. 2 is an example of a circuit diagram of the present invention, wherein (a) is used for the first embodiment, and (b) is used for a modification thereof.
FIGS. 3A and 3B are plan views of some examples of a step motor used in the present invention, in which FIGS. 3A and 3B are first examples in which rotation directions of rotors are opposite to each other, FIGS. (D) is a second example in which the rotor rotation directions are opposite to each other, and (e) is a third example in which the rotor rotation direction is not determined.
FIG. 4 is a perspective view of a second embodiment of the present invention.
FIG. 5 is a perspective view of a third embodiment of the present invention.
FIG. 6 is a plan view of another embodiment of the present invention, in which (a) shows the fourth embodiment, (b) shows the fifth embodiment, and (c) shows the sixth embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Frame 11 橇 member 2, 2R, 2L Solar cell 21 Smoothing capacity 3, 3R, 3L Clock mechanism 31, 31R, 31L Driving coil 32 Rotor 33 Stator 34 Step part 35 Notch 4 Wheel 5 Decoration rotating body 6, 6R, 6L Circuit 7R, 7L Infrared sensor 8 Light shielding plate B Light direction G Traveling direction

Claims (10)

At least one wheel having a substantially horizontal rotation axis, a motor for driving the wheel, a gear train for reducing the rotation speed of the motor, a circuit including an oscillation circuit for supplying a drive pulse to the motor, A solar cell as a source, wherein the motor is a step motor comprising a stator having a two-pole permanent magnet rotor and a fixed coil, and the oscillation circuit is driven at a frequency forming the drive pulse of the oscillation circuit. By setting the frequency to a value lower than the step-out frequency at no load, the step motor is set to cause step-out due to fluctuations in load torque encountered during self-running, and light is emitted to the solar cell. The self-propelled body, wherein the step motor is driven by hitting and the wheels are driven through the gear train. The self-propelled body according to claim 1 , wherein a plurality of the wheels are provided, and each wheel is individually driven by a dedicated step motor. The step motor and the gear train use those used in a timepiece mechanism, and the wheel is attached to a minute hand shaft, hour hand shaft, or calendar shaft that is a pointer shaft of the timepiece mechanism, and The self-propelled body according to claim 1 or 2 , wherein a decorative rotating body is attached to the second hand shaft. The wheels and the timepiece mechanism are arranged on the left and right sides of the self-propelled body, and the stator of the stepping motor of the timepiece mechanism rotates the rotor in opposite directions as viewed from the pointer shaft side with respect to the same drive input. The self-propelled body according to any one of claims 1 to 3 , wherein the self-propelled body is configured as follows. The wheels and the timepiece mechanism are arranged on the left and right sides of the self-propelled body, and the stator of the stepping motor of the timepiece mechanism rotates the rotor in the same direction as seen from the pointer shaft side with respect to the same drive input. It is comprised, The self-propelled body in any one of Claim 1 thru | or 3 characterized by the above-mentioned.   The self-propelled body according to claim 1, wherein the solar cell has a transparent plate shape. The self-propelled body according to claim 1 or 6 , wherein the light-receiving surface of the solar cell is disposed substantially horizontally in the traveling direction. The self-propelled body according to claim 1 or 6 , wherein the self-propelled body is equipped with a timepiece, and the solar cell also serves as a power source for the timepiece.   The light receiving surface of the solar cell is arranged so as to be vertical and V-shaped toward the traveling direction and facing the outside of the V-shape, the solar cell on the right side drives the clock mechanism on the left side, and the solar cell on the left side 2. The self-propelled body according to claim 1, wherein the timepiece mechanism on the right side is driven.   The light-receiving surface of the solar cell is arranged so as to be vertical and V-shaped in the traveling direction and face the inside of the V-shape, the solar cell on the right side drives the clock mechanism on the right side, and the solar cell on the left side 2. The self-propelled body according to claim 1, wherein the timepiece mechanism on the left side is driven.

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