JP4237118B2 - Robot apparatus and control method of robot apparatus - Google Patents

Description

  The present invention relates to a robot apparatus and a robot apparatus control method for enriching emotional expression, and more specifically, at low cost and with low power consumption, in addition to the vertical rotation function and the horizontal rotation function, The present invention relates to a robot apparatus that realizes a motion function including a vertical motion function and a control method of the robot apparatus.

  In the control technology of robotic devices, actuators such as motors are used to control the heads of robotic devices in order to express various emotions of robotic devices and to control the position of cameras and microphones stored in the robotic heads. By rotating them in the horizontal or vertical direction, their emotional expression and position control are realized. That is, when the emotion expression of the robot apparatus is performed by the action of the head, the head is normally rotated up and down or left and right in conjunction with the emotion program and the actuator control.

Various toys that combine two or more kinds of movements have been proposed on the assumption that it is difficult to express the animal's characteristic movements only by rotating these heads up and down or left and right. For example, in Patent Document 1, while using one driving force means and a plurality of cam mechanisms, the head of the gorilla toy is moved up and down while moving the head repeatedly in a circular arc and the mouth is opened and closed. I am letting. In Patent Document 2, when the abdomen of a stuffed toy is pressed, the flywheel rotates and the head is opened and closed by its inertial force. Further, in Patent Document 3, in order to make the toy perform an unexpected operation, the eye, mouth, shoulder, arm, and leg are deformed by a deformation cam provided on one gear shaft using a motor as a drive source. The parts work together.
Utility Model Registration No. 3035071 JP 2000-140455 A Japanese Patent Laid-Open No. 02-0665887

However, the above prior art has the following problems.
The first problem is that the expression of emotions of the robot apparatus is limited by the fact that the vertical rotation of the head (including the vertical opening and closing) and the horizontal rotation do not produce sufficient expressive power. One reason for this is that if the head of the robot apparatus is simply rotated and moved in the horizontal and vertical directions, a so-called neck-shrinking expression cannot be achieved in terms of human emotional expression. For example, in the expression of human emotions, the movement of shrugging the neck because of embarrassment is an expression that combines the vertical movement of the head and the horizontal rotation of the head, but the normal horizontal rotation of the head It is not possible to achieve it by only rotating up and down. Another reason is that when a plurality of exercises are simply combined and operated, the operation can be easily estimated. Although the expression by such an action is sufficient in the field of toys described above, in the field of robotic devices, it may be desired to perform a gimmick action. Need to be done separately.

  The second problem is that, in order to realize the vertical movement function separately from the vertical rotation function and the horizontal rotation function as the movement of the head of the robot apparatus, the cost increases. The reason is that when one operation or one combination operation is performed as in the above-described toy, only one drive source such as a motor may be used, but two or more different operations or combination operations can be selectively performed. This is because a drive source is generally required for each operation or each combination operation. That is, it is common to use an actuator such as a motor to perform an operation including a vertical movement function and a vertical movement function in addition to the vertical rotation function and the horizontal rotation function as the movement of the head of the robot apparatus, and This is because the development of a circuit board and control software is necessary to control it.

  The third problem is that the power consumed increases because the number of actuators and circuit boards that control them increases. The reason is that in order to make the robot apparatus head move up and down, it is necessary to supply power to an actuator such as a motor and a circuit board that drives the actuator.

  The present invention has been made in view of the above-described circumstances, and as a movement of the head of the robot apparatus for enriching the emotional expression of the robot apparatus, a low-cost and low power consumption, vertical rotation function, right and left An object of the present invention is to provide a robot apparatus and a control method for the robot apparatus that realize a vertical movement function or a movement function including a vertical movement separately from the rotation function.

In order to solve the above-mentioned problem, the invention according to claim 1 is composed of a first actuator and a first transmission means for transmitting a driving force thereof, and a first driving means for rotating the head in the horizontal direction . A robot apparatus comprising a second actuator and a second transmission means for transmitting a driving force thereof, and comprising a second driving means for rotating the head in a vertical direction, and driving the first or second actuator Thus, when the head exceeds a predetermined horizontal rotation angle or a predetermined vertical rotation angle, a motion conversion mechanism that converts a part of the driving energy of the first or second actuator into a vertical motion of the head If, when rotating only the head in the horizontal direction or the vertical direction such that said rotation of the head becomes a predetermined horizontal rotation angle of less than or the predetermined less vertical rotation angle When controlling the first or second driving means and moving the head up and down with horizontal or vertical rotation, the rotation of the head is determined by the predetermined horizontal rotation angle or the predetermined And control means for controlling the first or second drive means so as to exceed the vertical rotation angle .

The invention of claim 2 wherein relates to a robot apparatus according to claim 1, wherein said motion converting mechanism includes a first turntable which rotates in the horizontal direction and rotatably supporting the head in a vertical direction A telescopic support structure fixed to the first turntable and a second turntable parallel to the first turntable and supporting the first turntable movably downward while urging the first turntable upward by a biasing member. When provided in the head, it is characterized by comprising and a pressing member pushing down the elastic support structure downward in a predetermined angle range exceeding the predetermined vertical rotation angle of the head.

The invention according to claim 3 relates to the robot apparatus according to claim 1, wherein the motion conversion mechanism supports a head and fixes a support member having an engaging protrusion, or supports the head. A third rotating base having a member and an engaging projection, and a third base that is fixed to the base and slidably supported by the groove and can be rotated in the horizontal direction. The groove portion is inclined in a predetermined angle range exceeding the predetermined horizontal rotation angle .

  According to a fourth aspect of the present invention, there is provided the robot apparatus according to the third aspect, wherein the cylindrical structure is rotatably fitted in a hole in a central portion of the third turntable, and the engagement protrusion Is provided on the third turntable toward the central axis, and the groove is provided on the outer peripheral surface of the cylindrical structure.

  The invention according to claim 5 relates to the robot apparatus according to claim 3, wherein the third turntable is rotatably fitted on the inner peripheral side of the cylindrical structure, and the engagement protrusion is provided. The third turntable is provided outward from the central axis, and the groove is provided on the inner peripheral surface of the cylindrical structure.

  According to a sixth aspect of the present invention, there is provided the robot apparatus according to the first aspect, wherein the motion conversion mechanism includes a fourth turntable having an arc-shaped elongated hole portion that supports the head and follows the horizontal rotation direction. A fifth turntable mounted on the fourth turntable and rotated in the horizontal direction by an actuator; and an inclined surface in a part of the rotation direction fixed to the fifth turntable and provided in the elongated hole portion. A tilting base for entering, and a stopper for stopping the rotation of the fourth turntable at a predetermined rotation angle, wherein the fourth turntable has the fifth rotation within the range of the predetermined rotation angle. When the fifth rotary table rotates in a predetermined angular range beyond the predetermined rotation angle, the fourth rotary table is stopped by the stopper and the edge of the elongated hole portion in the rotation direction Slides on the tilt table and the fourth turntable moves upward or downward. It is characterized by a door.

  The invention according to claim 7 relates to the robot apparatus according to claim 6, wherein the stoppers are provided at both ends of the predetermined rotation angle range, and one stopper stops the fourth turntable located above. The other stopper is characterized in that the fourth stopper is stopped and the upper stopper is slid upward on the tilting table.

  The invention according to claim 8 relates to the robot apparatus according to claim 1, wherein the motion conversion mechanism supports the head movably downward while urging the head upward by the urging member. A sixth turntable that rotates in a horizontal direction while fixing the telescopic support structure, and the telescopic support when the sixth turntable exceeds a predetermined rotation angle range and rotates in a predetermined angle range. And a pressing member that pushes down the structure downward.

The invention according to claim 9 comprises the first actuator and the first transmission means for transmitting the driving force thereof, the first driving means for rotating the head in the horizontal direction, the second actuator, and the A second transmission means for transmitting a driving force, and the head is rotated in a predetermined horizontal direction by driving the second driving means for rotating the head in the vertical direction and the first or second actuator. A control method of a robot apparatus including a motion conversion mechanism that converts a part of driving energy of the first or second actuator into a vertical motion of the head when an angle or a predetermined vertical rotation angle is exceeded ; When the head is rotated only in the horizontal direction or the vertical direction, the first or second rotation is performed so that the rotation of the head is less than the predetermined horizontal rotation angle or less than the predetermined vertical rotation angle. When controlling the driving means and moving the head up and down with horizontal or vertical rotation, the rotation of the head is set at the predetermined horizontal rotation angle or the predetermined vertical rotation angle. The first or second driving means is controlled so as to exceed .

  As described above, the first effect of the configuration of the present invention is that the emotional expression of the robot apparatus can be improved. The reason for this is that an emotion expression method that cannot be realized by just rotating the head left and right or moving up and down, for example, an expression that shrugs the neck, can be realized by an up-and-down motion function of the head of the robot device or an exercise function including up-and-down motion. It is.

  The second effect is that the head vertical movement can be added at low cost. The reason for this is that the vertical movement function or the movement function including the vertical movement of the head of the robot apparatus is realized by using the rotational energy of the vertical rotation or the horizontal rotation, so that an additional actuator such as a motor is unnecessary and is controlled. This is because the function can be realized without the need for circuit board and software development.

  The third effect is that it is possible to realize a vertical movement function of the head of the robot apparatus or a movement function including a vertical movement with low power consumption. The reason is that, in order to realize the vertical movement function or the vertical movement function of the robot apparatus head according to the present invention, an actuator such as a motor that consumes electric power and a circuit board for controlling the actuator are not required.

The present invention provides a robot apparatus head movement for enriching the emotional expression of the robot apparatus at a low cost and with low power consumption. For the purpose of providing a robot apparatus that realizes a motor function and a control method therefor, the head of the robot apparatus is rotated up or down or left and right until a predetermined rotation angle position is reached. This was realized by providing a motion conversion mechanism that converts the vertical or horizontal kinetic energy in a predetermined angular range exceeding the rotational angle position into the vertical motion of the robot device head.
Embodiments of the present invention will be described below with reference to the drawings. The description will be made specifically using examples.

First, a configuration example of the robot apparatus head according to the first embodiment of the present invention will be described. In this embodiment, the vertical rotational kinetic energy of the robot apparatus head is converted into the vertical movement of the head of the robot apparatus using a vertically extending structure.
FIG. 1 is a perspective view showing an example of a mechanical configuration in the robot apparatus head of this embodiment. First, the vertical vertical movement mechanism of the robot apparatus head in this example will be described. The head 1 of the robot apparatus is fixed to a head bracket 2, and the head bracket 2 is supported so as to be capable of rotating in the vertical direction about a shaft 4 fixed to a motor bracket H3. Posts 8 are attached to both sides of the motor bracket H3, and are connected and fixed to a turntable U9 that rotates in the horizontal direction. A gear H5 is fixed to the head bracket 2, and the rotational kinetic energy from the motor H6 is transmitted to the gear H5 via the gear train H7, so that the head 1 moves vertically up and down with respect to the turntable U9. Can rotate.

  Next, the configuration of the vertical motion conversion mechanism of the robot apparatus head in this example will be described. A cylindrical slider 11 is fixed to the turntable U9, and a gear N12 is fixed to a turntable L10 parallel to the turntable U9, and the slider 11 slides in the vertical direction in the gear N12 to perform linear reciprocating motion. To be incorporated. Further, the turntable U9 and the turntable L10 are connected by a clamp L13a and a clamp U13b, and the clamp L13a and the clamp U13b have a degree of freedom in the rotation direction at each connecting shaft portion, and the connecting shaft portion between the turntable U9 and the turntable L10. But it has a degree of freedom in the direction of rotation. The spring 14 is compressed and attached to the clamp L13a and the clamp U13b, and the turntable U9 is biased upward with respect to the turntable L10. Thereby, the turntable U9 can move up and down. As shown in FIG. 2, which will be described later, below the head 1 of the robot apparatus, such a position that interferes with the clamp L13a at a predetermined rotation angle when the head 1 of the robot apparatus rotates up and down. A rib 1a having a shape is provided. The rib 1a presses the clamp L13a so that the turntable U9 moves against the lower turntable L10 against the upward biasing force of the spring 14 within a predetermined angle range exceeding a predetermined rotation angle. Since this vertical motion conversion mechanism uses a vertical rotational motion exceeding a predetermined rotational angle, an actuator such as a dedicated motor or solenoid is not required.

  Next, the horizontal right and left rotational movement mechanism of the robot apparatus head of this example will be described. The gear N12 fixed to the turntable L10 is attached to the bearing bracket 15 so as to have a degree of freedom in the rotational movement direction, and the rotational kinetic energy of the motor N16 attached to the bearing bracket 15 is transmitted through the gear train N17. To N12. As a result, the turntable L10 rotates in the horizontal direction with respect to the bearing bracket 15. Since the turntable U9 does not have a degree of freedom for horizontal rotation with respect to the turntable L10, the head 1 also rotates in the horizontal direction with respect to the bearing bracket 15 together with the turntable U9 and the turntable L10. .

Subsequently, an operation example of this embodiment will be described. 2 and 3 are schematic explanatory diagrams for explaining an operation example of the vertical movement mechanism of the robot apparatus head, and FIG. 4 is a block diagram showing an example of an electrical configuration of a control circuit of the robot apparatus head. .
First, an operation example of the vertical rotation motion of the robot apparatus head will be described. When a signal for rotating the head 1 of the robot apparatus downward is issued from a higher-level program, the controller 31 causes the driver to rotate the motor H6 within a range where the vertical rotation angle of the head 1 of the robot apparatus is within a predetermined α °. Command H32. In response to this, the driver H32 rotates the motor H6 until it detects the rotation angle in the range of α ° specified by the rotation angle detection means H33 such as a potentiometer, and the head 1 of the robot apparatus is issued from the host program. Fix at the specified position. When the vertical rotation angle of the head 1 of the robot apparatus is in the range of α °, the clamp L13a and the clamp U13b are stretched around the connecting shaft by the restoring force (biasing force) of the spring 14, and the turntable U9 and the head 1 of the robot apparatus are lifted upward within the movable range of the clamp L13a and the clamp U13b, stay in a predetermined position without moving up and down, and perform only the vertical rotation as described above.

  Next, an operation example of the vertical movement of the robot apparatus head will be described. When a signal for moving the head 1 of the robot apparatus downward is issued from the host program, the controller 31 rotates the motor H6 within the range of β ° where the vertical rotation angle of the head 1 of the robot device exceeds the α ° described above. The driver H32 is instructed to do so. In response to this, the driver H32 rotates the motor H6 until it detects the rotation angle in the range of β ° specified by the rotation angle detection means H33 such as a potentiometer, and the head 1 of the robot apparatus is issued from the upper program. Fix at the specified rotation position. When the vertical rotation angle of the head 1 of the robot apparatus is in the range of β °, the rib 1a pushes down the clamp L13a by the rotational kinetic energy of the motor H6, and the spring 14 is compressed via the clamp U13b interlocked therewith, and the turntable U9 is moved downward. Move to. The head 1 of the robot apparatus receives a force for moving the turntable U9 upward by the restoring force of the spring 14 within a rotation angle range of β °. However, by using the servo lock of the motor H6, the head of the robot apparatus is used. Part 1 can stand by at any angular position in the β ° range.

  When a signal for moving the head 1 of the robot apparatus upward from the lower position is issued from the upper program, the controller 31 causes the vertical rotation angle of the head 1 of the robot apparatus to be in the range of α ° from the angle in the range of β °. The driver H32 is instructed to rotate the motor H6 to the angle. In response to this, the driver H32 rotates the motor H6 until the rotation angle detection means H33 such as a potentiometer detects a rotation angle within a specified range of α °, and the head 1 of the robot apparatus is issued from the host program. Fix at the specified rotation position. When the vertical rotation angle of the head 1 of the robot apparatus is in the range of α °, the rib 1a is not engaged with the clamp L13a, so that the telescopic structure composed of the clamp L13a and the clamp U13b is stretched by the restoring force of the spring 14. Returning, the turntable U9 moves upward.

  Next, an operation example of horizontal rotation of the robot apparatus head in the horizontal direction will be described. When a signal for rotating the head 1 of the robot apparatus from the predetermined rotation angle position to the left or right is issued from the host program, the controller 31 instructs the driver N34 to rotate the motor N16 to the angle specified by the host program. Command. In response to this, the driver N34 rotates the motor N16 until the rotation angle detection means N35 such as a potentiometer detects the rotation angle at which the left and right rotation positions of the turntable L10 and the like are designated, and the head 1 of the robot apparatus is programmed to the upper program. Fixed at the specified angular position emitted from. Since the head 1 of the robot apparatus rotates to the left and right together with the turntable L10 and the turntable U9, the head 1 of the robot apparatus is also fixed at a specified angular position issued from the host program.

  As described above, according to this embodiment, the robot apparatus head 1 can implement a vertical motion function including a vertical motion function or a vertical motion function in addition to the vertical vertical motion function and the horizontal rotation function. Emotional expression methods that cannot be achieved with normal head left / right rotation and vertical rotation alone, for example, a facial expression that shrugs the neck can be realized by vertical movement of the head of the robotic device, improving the emotional expression of the robotic device be able to. The motion conversion mechanism that converts this vertical motion into vertical motion uses kinetic energy to perform vertical rotation, so it is necessary in normal cases, such as actuators such as motors, circuit boards that control them, software development, etc. Can be added, and it is possible to add an exercise function including vertical movement without increasing power consumption at a low cost.

Next, the configuration of the head of the robot apparatus according to the second embodiment of the present invention will be described in detail with reference to the drawings. 5, 6, 7 and 8 are detailed views of the mechanical configuration of this embodiment. This embodiment is a first example in which the rotational kinetic energy of the left and right of the robot apparatus head is converted into the vertical movement of the robot apparatus head.
FIG. 5 is a perspective view showing the mechanical configuration of this embodiment. The vertical rotation mechanism in the vertical direction in this embodiment is the same as that in the first embodiment and can be easily inferred, so that the description of the mechanical configuration is omitted.

  First, a configuration example of a horizontal rotation mechanism in the horizontal direction in the robot apparatus of this embodiment will be described. The gear N12 also serving as a turntable has a concentric hole inside, and a cylindrical inner slider 18 is rotatably fitted in this hole. FIG. 6 is a cross-sectional view showing the positional relationship between the inner slider 18 and the gear N12. The inner slider 18 is fixed to the bearing bracket 15, and the outer periphery thereof is grooved so that a plurality of pins 12a attached to the inner periphery of the gear N12 enter. The plurality of pins 12a of the gear N12 slides in the horizontal portion of the groove portion 18a located on the outer periphery of the inner slider 18 within a predetermined rotation angle range. A motor N16 is attached to the bearing bracket 15, and the rotational kinetic energy of the motor N16 is transmitted to the gear N12 via the gear train N17. Two posts 8 supporting the head 1 are fixed to the gear N12. When the gear N12 rotates, the head 1 of the robot apparatus is interlocked, and the bearing bracket 15 is in the predetermined rotation angle range. Rotate to the left and right in the horizontal direction.

  Next, a motion conversion mechanism that converts the horizontal rotation energy in the horizontal direction of the robot apparatus head of this example into the vertical movement in the vertical direction will be described. 7 and 8 are explanatory diagrams for explaining the configuration of the motion conversion mechanism, and FIG. 7 is a plan view of the gear N12 for explaining the left-right rotational motion of the head 1 of the robot apparatus as viewed from above. FIG. 8 is a development view of the groove portion 18a provided on the inner slider 18, and is a view showing the relationship between the left-right rotation angle of the head 1 of the robot apparatus and the groove portion 18a. The range of the left and right rotation angle A ° of the head 1 of the robot apparatus is the predetermined rotation angle range described above. In this angle range, the groove portion 18a is formed into a horizontal groove, and the pin 12a is applied to the inner slider 18. By sliding on the horizontal portion of the groove 18a, the head 1 of the robot apparatus is positioned above the vertical movement, and rotates in the horizontal direction as described above. In the angle range of B ° when the gear N12 is rotated beyond the range of the predetermined rotation angle A ° by the motor N16, the groove portion 18a of the inner slider 18 is grooved so as to incline toward the lower limit of the vertical movement. Is done. The pin 12a slides and descends along the slope portion of the groove 18a, and as a result, the head 1 of the robot apparatus can move downward. In this way, horizontal rotational energy in the horizontal direction is converted into vertical vertical motion. Since this motion conversion mechanism uses the energy of the rotational motion in the horizontal direction exceeding the predetermined rotation angle, an actuator such as a dedicated motor or solenoid is not required.

Subsequently, an operation example of this embodiment will be described. An example of the electrical configuration of the control circuit of the robot apparatus head in this example is substantially the same as that shown in FIG. 4 except for the following operations. First, the operation example of the vertical rotation motion of the robot apparatus head is substantially the same as that of the first embodiment except that it is not converted into the vertical motion, and the description thereof is omitted because it can be easily analogized.
Next, an operation example of horizontal rotation of the robot apparatus head in the horizontal direction will be described. When a signal for rotating the head 1 of the robotic device to the left or right from the stopped angular position is issued from the host program, the controller 31 has an angle in a range of a predetermined rotation angle A ° designated by the host program. Until the motor N16 is rotated. In response to this, the driver N34 rotates the motor N16 until the rotation angle detection means N35 such as a potentiometer detects the rotation angle at which the left and right rotation positions of the gear N12 and the like are designated, and the gear N12 is issued from the upper program. Fix at the specified angular position. In a range of a predetermined rotation angle A °, the pin 12a slides on the horizontal portion of the groove 18a formed on the inner slider 18, and the head 1 of the robot apparatus maintains a position above the vertical movement, Rotates horizontally from side to side. Since the head 1 of the robot apparatus is fixed to the gear N12, the head 1 of the robot apparatus rotates in conjunction with the gear N12, and the head 1 of the robot apparatus is also fixed at a specified angular position issued from the host program.

  Next, an operation example of the vertical movement of the robot apparatus head will be described. When a signal for lowering the head 1 of the robot apparatus is issued from the host program, the controller 31 instructs the driver N34 to rotate the motor N16 to an angle in the range of B ° exceeding the range of the predetermined rotation angle A °. . In response to this, the driver N34 rotates the motor N16 until the rotation angle detecting means N35 such as a potentiometer detects a rotation angle in the range of B ° where the rotation position of the gear N12 is designated, and fixes it at that angle. The angle in the range of B ° may be specified by a host program. In the angle range of B °, the pin 12a slides and descends along the inclined portion of the groove 18a formed on the inner slider 18, and as a result, the head 1 of the robot apparatus moves downward together with the gear N12.

  In this example, the left and right rotational movement and the vertical movement of the robot apparatus head 1 cannot be performed independently, but since the left and right rotational movement including the vertical movement can be performed separately from the left and right rotational movement, Several things can be realized, and the emotional expression of the robot apparatus can be improved. Therefore, the effect in this example is the same as that in the first embodiment.

Next, the configuration of the head of the robot apparatus according to the third embodiment of the present invention will be described in detail with reference to the drawings. 9, FIG. 10, FIG. 11 and FIG. 12 are detailed views of the mechanical configuration of this embodiment. This embodiment is a second example in which the rotational kinetic energy of the left and right of the head 1 of the robot apparatus is converted into the vertical movement of the head 1 of the robot apparatus. The difference from the second embodiment is the conversion mechanism for the vertical movement. An outer slider is used instead of the inner slider.
FIG. 9 is a perspective view showing a mechanical configuration of this embodiment, and is a perspective view in which a part of the outer slider 19 is cut off. Since the vertical rotational movement mechanism in the vertical direction in this embodiment is the same as that in the first embodiment and can be easily analogized, the description of the mechanical configuration is omitted.

  First, a configuration example of a horizontal rotation mechanism in the horizontal direction in the robot apparatus of this embodiment will be described. Two posts 8 that support the head 1 are fixed to the gear N12 that also serves as a turntable, and are fitted on the inner peripheral side of the cylindrical outer slider 19 so as to be movable up and down. FIG. 10 is a cross-sectional view showing the relationship between the outer slider 19 and the post 8. The outer slider 19 is fixed to the bearing bracket 15, and a groove is formed on the inner periphery thereof so that the pins 8 a on both sides attached to the posts 8 toward the outside enter. In addition, the group of the post 8 and the pin 8a may be 3 or more, and the pin 8a may be attached to the gear N12 via an attachment plate or the like. The pin 12a of the post 8 slides on the horizontal portion of the groove portion 19a located on the inner peripheral surface of the outer slider 19 within a predetermined rotation angle range. A motor N16 is attached to the bearing bracket 15, and the rotational kinetic energy of the motor N16 is transmitted to the gear N12 via the gear train N17. Since the post 8 is fixed to the gear N12, the head 1 of the robot apparatus is interlocked when the gear N12 rotates, and rotates to the left and right in the horizontal direction with respect to the bearing bracket 15 within the predetermined rotation angle range. Exercise.

  Next, a motion conversion mechanism that converts the horizontal rotation energy in the horizontal direction of the robot apparatus head of this example into the vertical movement in the vertical direction will be described. FIG. 10 is a view of the head 1 of the robot apparatus as viewed from above, and is an explanatory diagram of the left-right rotational movement of the head of the robot apparatus. FIG. 12 is a development view of the groove portion 19a provided on the outer slider 19, and is a diagram showing a relationship between the horizontal rotation angle of the head 1 of the robot apparatus and the groove. The range of the left / right rotation angle A ° of the head 1 of the robot apparatus is the above-mentioned predetermined rotation angle range. In this angle range, the groove portion 19a is horizontally grooved, and the pin 8a is applied to the outer slider 19. By sliding on the horizontal part of the groove 19a, the head 1 of the robot apparatus maintains a position above the vertical movement and rotates in the horizontal direction as described above. In the angle range of B ° when the gear N12 is rotated beyond the range of the predetermined rotation angle A ° by the motor N16, the groove portion 19a of the outer slider 19 is grooved so as to incline toward the lower limit of the vertical movement. Is given. The pin 8a slides and descends along the slope portion of the groove portion 19a. As a result, the head 1 of the robot apparatus can move downward together with the gear N12. In this way, horizontal rotational energy in the horizontal direction is converted into vertical vertical motion. Since this motion conversion mechanism uses the energy of the rotational motion in the horizontal direction exceeding the predetermined rotation angle, an actuator such as a dedicated motor or solenoid is not required.

Subsequently, an operation example of this embodiment will be described. An example of the electrical configuration of the control circuit of the robot apparatus head in this example is substantially the same as that shown in FIG. 4 except for the following operations. First, the operation example of the vertical rotation motion of the robot apparatus head is substantially the same as the first embodiment except that it is not converted into the vertical motion, and the description thereof is omitted because it can be easily analogized.
Next, an operation example of horizontal rotation of the robot apparatus head in the horizontal direction will be described. When a signal for rotating the head 1 of the robot apparatus 1 from the predetermined rotation angle position to the left or right is issued from the upper program, the controller 31 is set to an angle in the range of the predetermined rotation angle A ° specified by the upper program. The driver N34 is commanded to rotate the motor N16. In response to this, the driver N34 rotates the motor N16 until the rotation angle detection means N35 such as a potentiometer detects the specified rotation angle of the left and right rotation positions of the gear N12 and the like, and the gear N12 is issued from the host program. Fixed at the specified angular position. In a range of a predetermined rotation angle A °, the pin 12a slides on the horizontal portion of the groove 19a formed on the outer slider 19, and the head 1 of the robot apparatus maintains the position above the vertical movement, Rotate to the left and right of the direction. Since the head 1 of the robot apparatus is fixed to the gear N12, the head 1 of the robot apparatus rotates in conjunction with the gear N12, and the head 1 of the robot apparatus is also fixed at a specified angular position issued from the host program.

  Next, an operation example of the vertical movement of the robot apparatus head will be described. When a signal for lowering the head part of the robot apparatus is issued from the host program, the controller 31 instructs the driver N34 to rotate the motor N16 to an angle in the range of B ° exceeding the range of the predetermined rotation angle A °. To do. In response to this, the driver N34 rotates the motor N16 until the rotation angle of the gear N12 is detected within a specified range of B ° by the rotation angle detection means N35 such as a potentiometer, and fixes the motor N16 at that angle. The angle in the range of B ° may be specified by a host program. In the angle range of B °, the pin 8a on the gear N12 side slides and descends along the inclined portion of the groove 19a formed on the outer slider 19, and as a result, the head 1 of the robot apparatus moves downward together with the gear N12. Move to.

  In this example, the left and right rotational movement and the vertical movement of the robot apparatus head 1 cannot be performed independently, but since the left and right rotational movement including the vertical movement can be performed separately from the left and right rotational movement, Several things can be realized, and the emotional expression of the robot apparatus can be improved. Therefore, the effect in this example is the same as that in the first embodiment.

Next, the configuration of the head of the robot apparatus according to the fourth embodiment of the present invention will be described in detail with reference to the drawings. FIG. 13, FIG. 14 and FIG. 15 are detailed views showing the mechanical configuration of this embodiment. This embodiment is a third example of converting the left and right rotational kinetic energy of the head 1 of the robot apparatus into the vertical movement of the head 1 of the robot apparatus. The difference from the second and third embodiments is that Instead of the cylindrical slider, a slide piece that is an arc-shaped tilt base is used for the conversion mechanism.
FIG. 13 is a perspective view showing a mechanical configuration in the head of the robot apparatus of this embodiment. The vertical rotation mechanism in the vertical direction in this embodiment is the same as that in the first embodiment and can be easily inferred, so that the description of the mechanical configuration is omitted.

  First, a configuration example of a horizontal rotation mechanism in the horizontal direction in the robot apparatus of this embodiment will be described. In this example, two turntables a21a and b21b are provided so as to overlap each other. Two posts 8 supporting a head (not shown) are fixed to the upper turntable b21b, and at least two slide pieces 20 are fixed to the upper part of the lower turntable a21a. The shape of the slide piece 20 is a narrow concentric arc-shaped trapezoid, and has most of the slope portion and some horizontal portions. The turntable b21b is provided with a concentric arc-shaped slot 21c into which the slide piece 20 enters. The turntable b21b is in a state where the slide piece 20 enters the long hole portion 21c, or in a state where the slide piece 20 is detached from the long hole portion 21c and the turntable b21b is placed on the horizontal portion of the slide piece 20, Alternatively, both the locking hole portion 21e and the locking portion 20a which are released by the forcing force rotate horizontally in the horizontal direction within a predetermined rotation angle range. The lower turntable 21a is fixed to a gear N12, and the gear N12 is attached to the bearing bracket 15 and has a degree of freedom in the rotation direction with respect to the bearing bracket 15. A motor N16 is attached to the bearing bracket 15, and the rotational kinetic energy of the motor N16 is transmitted to the gear N12 via the gear train N17. Since the rotary base 21a is fixed to the gear N12, when the gear N12 rotates, the rotary base 21b supporting the head 1 of the robot apparatus rotates together with the rotary base 21a, and the predetermined rotation angle range is reached. In between, the head 1 rotates in a horizontal direction with respect to the bearing bracket 15.

  Next, a motion conversion mechanism that converts the horizontal rotation energy in the horizontal direction of the robot apparatus head of this example into the vertical movement in the vertical direction will be described. 14 and 15 are diagrams for explaining the configuration of the motion conversion mechanism of this embodiment. FIG. 14 is a side view showing the relationship between the rotary table and the slide piece, and FIG. 15 is a top view of the upper rotary table b21b. FIG. A protrusion 21d is provided on the outer peripheral edge of the turntable b21b, and an upper stopper is provided at one end of the predetermined rotation angle A ° in order to lock the protrusion 21d and forcibly stop the rotation. 22 and a lower stopper 23 on the other side. When the left and right rotations of the turntable a21a are in the range of A °, the turntable b21b rotates in the horizontal direction in conjunction with each other while maintaining either the upper or lower position. When the position of the turntable b21b is moved downward from the state where it is placed on the slide piece 20, the turntable a21a is rotated so that the angle is within the range of B ° beyond the predetermined rotation angle A °. To do. Since the upper stopper 22 independent of the rotary table a21a and the rotary table b21b is arranged at the start value point of B °, the protrusion 21d of the rotary table b21b is locked by the upper stopper 22, and the rotary table b21b The movement in the rotational direction is restricted. However, since the rotary table a21a continues to rotate due to the rotational energy of the motor N16, the rotary table b21b slides down the slope portion so that the slide piece 20 enters the elongated hole portion 21c and moves downward.

  On the other hand, when the slide piece 20 enters the elongated hole portion 21c and the position of the turntable b21b moves from the lower side of the ride piece 20, that is, from the state of overlapping the turntable a21a, the head of the robot apparatus The turntable a21a is rotated so that the left-right rotation angle of 1 exceeds the range of the predetermined rotation angle A ° and becomes the range of C ° in the opposite direction. At the start value point at which the horizontal rotation angle of the head 1 of the robot apparatus is C °, the rotation of the rotary table b21b is restricted by the lower stopper 23 independent of the rotary table a21a and the rotary table b21b. However, since the turntable a21a continues to rotate due to the rotational energy of the motor N16, the turntable b21b slides on the slope portion of the slide piece 20 so that the slide piece 20 is removed from the elongated hole portion 21c, and is placed on the horizontal portion. Move to.

Subsequently, an operation example of this embodiment will be described. An example of the electrical configuration of the control circuit of the robot apparatus head in this example is substantially the same as that shown in FIG. 4 except for the following operations. First, the operation example of the vertical rotation motion of the robot apparatus head is substantially the same as the first embodiment except that it is not converted into the vertical motion, and the description thereof is omitted because it can be easily analogized.
Next, an operation example of horizontal rotation of the robot apparatus head in the horizontal direction will be described. When a signal for rotating the head 1 of the robot apparatus from the predetermined rotation angle position to the left or right is issued from the upper program, the controller 31 causes the motor to move to an angle within the range of the predetermined rotation angle A ° designated by the upper program. Command driver N34 to rotate N16. In response to this, the driver N34 rotates the motor N16 until the rotation angle detection means N35 such as a potentiometer detects the specified rotation angle of the left and right rotation positions of the gear N12, etc. Fix at the specified angular position issued by the program. In the range of the predetermined rotation angle A °, the turntable b21b rotates in the horizontal direction in conjunction with each other while keeping either the upper or lower position. Since the head 1 of the robot apparatus is supported by the turntable b21b, the head 1 of the robot apparatus rotates in conjunction with the robot apparatus, and the head 1 of the robot apparatus is also fixed at the designated left and right angular positions issued from the host program.

  Next, an operation example of the vertical movement of the robot apparatus head will be described. When a signal lowering from the state in which the head 1 of the robot apparatus is positioned upward is issued from the upper program, the controller 31 causes the motor N16 to rotate beyond the angle range of A ° to an angle in the range of B °. To the driver N34. In response to this, the driver N34 rotates the motor N16 until the rotation angle detecting means N35 such as a potentiometer detects the rotation angle in the range of B ° where the rotation position of the gear N12, the rotary table a21a, etc. is designated, and at that angle. Fix it. The angle in the range of B ° may be specified by a host program. In this angle range of B °, the upper stopper 22 independent of the turntable b21b is disposed at the start value point of B °, so that the protrusion 21d of the turntable b21b is locked by the upper stopper 22, The rotation of the turntable b21b is restricted. However, since the rotary table a21a continues to rotate due to the rotational energy of the motor N16, the rotary table b21b slides down on the inclined surface so that the slide piece 20 enters the elongated hole portion 21c, and is supported by the rotary table b21b. The head 1 being moved also moves downward.

  On the other hand, when the slide piece 20 is inserted into the long hole portion 21c and the position of the turntable b21b is below the ride piece 20, that is, overlaps the turntable a21a, a signal that moves upward is generated from the upper program. In this case, the controller 31 causes the driver N34 to rotate the motor N16 so that the left-right rotation angle of the head 1 of the robot apparatus exceeds the range of A ° and the angle of C ° in the opposite direction with respect to the driver N34. Command. In response to this, the driver N34 rotates the motor N16 until the rotation angle detecting means N35 such as a potentiometer detects a rotation angle in the range of C ° where the rotation position of the gear N12, the rotary table a21a, etc. is designated. Fix at an angle. The angle in the range of C ° may be designated by the host program. In this angular range of C °, the lower stopper 23 independent of the rotary table b21b is disposed at the starting value point of C °, so that the projection 21d of the rotary table b21b is locked by the lower stopper 23, The rotation of the turntable b21b is restricted. However, since the rotary table a21a continues to rotate due to the rotational energy of the motor N16, the rotary table b21b ran up the slope portion so that the slide piece 20 entering the elongated hole portion 21c is removed, and moved upward. The head 1 supported by b21b also moves upward in conjunction with it.

  In this example, the vertical movement of the robot head 1 can be stopped at the start point of the angle range of B ° or the start point of the angle range of C ° and can be performed independently of the left-right rotation motion. As a result, the emotional expression of the robot apparatus can be improved. Therefore, the effect in this example is the same as that in the first embodiment.

Next, the configuration of the head of the robot apparatus according to the fifth embodiment of the present invention will be described in detail with reference to the drawings. 16 and 17 are detailed views showing the mechanical configuration of this embodiment. This embodiment is a fourth example in which the left-right rotational kinetic energy of the head 1 of the robot apparatus is converted into the vertical movement of the head 1 of the robot apparatus, and the head is biased to the conversion mechanism for the vertical movement. Thus, an expansion / contraction support structure that is movably supported downward while being urged upward is used.
FIG. 16 is a perspective view showing a mechanical configuration in the robot apparatus head 1 of this embodiment. The vertical rotation mechanism in the vertical direction in this embodiment is the same as that in the first embodiment and can be easily inferred, so that the description of the mechanical configuration is omitted.

  First, a configuration example of a horizontal rotation mechanism in the horizontal direction in the robot apparatus of this embodiment will be described. In this example, the head 1 is supported by the turntable 24 by an expansion / contraction support structure described later, and the turntable 24 is fixed to the gear N12. The gear N12 is attached to the bearing bracket 15 and has a degree of freedom in the rotational direction with respect to the bearing bracket 15. A motor N16 and a gear train N17 are attached to the bearing bracket 15, and the rotational kinetic energy of the motor N16 is transmitted to the gear N12 via the gear train N17 to rotate. Since the turntable 24 is fixed to the gear N12 and the head 1 is supported on the turntable 24, the head 1 rotates in a horizontal direction in conjunction with the gear N12 within a predetermined rotation angle range. .

  Next, a motion conversion mechanism that converts the horizontal rotation energy in the horizontal direction of the robot apparatus head of this example into the vertical movement in the vertical direction will be described. FIG. 17 is a diagram illustrating the configuration of the motion conversion mechanism of this embodiment, and is a diagram illustrating the relationship between the side crank 25 and the side stopper 27 when the turntable 24 is viewed from above. In this example, the side crank 25 is fixed to both sides of the turntable 24. The side crank 25 has a vertical expansion / contraction structure that can be bent with a pin fixed as an axis, and a side spring 26 is compressed and attached to urge the expansion structure upward. The two posts 8 that support the head 1 are pin-fixed to the side crank 25 and have a degree of freedom of rotation around the pins. When the side crank 25 is pressed in the direction of the center of rotation, the side crank 25 has a protruding piece 25a that contracts downward against the urging force, and the turntable 24 exceeds a predetermined rotation angle A °. A side stopper 27 that presses the projection piece 25a is provided at a position rotated within an angle range of B °. With this configuration, the rotation of the turntable 24 in the angle range of B ° exceeding the range of the predetermined rotation angle A ° can be converted into the vertical movement of the side crank 25, and the head 1 is moved up and down in conjunction with this. Can exercise.

Subsequently, an operation example of this embodiment will be described. The electrical configuration example of the control circuit of the robot apparatus head in this example is substantially the same as that in FIG. 4 except for the following operations. First, the operation example of the vertical rotation motion of the robot apparatus head is substantially the same as the first embodiment except that it is not converted into the vertical motion, and the description thereof is omitted because it can be easily analogized.
Next, an operation example of horizontal rotation of the robot apparatus head in the horizontal direction will be described. When the left and right rotation angle of the head 1 of the robot apparatus is in the range of A °, the side crank 25 is extended by the restoring force of the side spring 26, and the head 1 of the robot apparatus is positioned above. When a signal for lowering the head 1 of the robot apparatus is issued from the host program, the controller 31 instructs the driver N34 to rotate the motor N16 to an angle in a range of a predetermined rotation angle A ° designated by the host program. . In response to this, the driver N34 rotates the motor N16 until the rotation angle detection means N35 such as a potentiometer detects the specified rotation angle of the left and right rotation positions of the gear turntable 24, etc. Is fixed at the specified angular position issued by the host program. In the range of a predetermined rotation angle A °, the turntable 24 rotates horizontally in the horizontal direction while maintaining the upper position by the restoring force of the spring 26. Since the head 1 of the robot apparatus is supported by the turntable 24, the head 1 rotates in the horizontal direction in conjunction with each other, and is fixed at the designated left and right angular positions issued from the host program.

  Next, an operation example of the vertical movement of the robot apparatus head will be described. When a signal for lowering the head 1 of the robot apparatus is issued from the host program, the controller 31 instructs the driver N34 to rotate the motor N16 beyond the predetermined angle range of A ° to the angle of B °. To do. In response to this, the driver N34 rotates the motor N16 until the rotation angle detecting means N35 such as a potentiometer detects the rotation angle in the range of B ° where the rotation position of the gear N12, the rotary table a21a, etc. is designated. Fix at an angle. The angle in the range of B ° may be specified by a host program. In this angle range of B °, a side stopper 27 fixed independently of the turntable 24 is provided at the start value point where the left and right rotation angle of the head 1 of the robot device is B °. The side crank 25 interferes with the side stopper 27 at the start value point where the left-right rotation angle of the head 1 is B °. When the motor N16 continues to drive to a predetermined angle in the range of B °, the side stopper 27 applies a pressing force to the side crank 25 in the direction of the rotation center, and the side crank 25 compresses the side spring 26. It bends and the head 1 of the robot apparatus moves downward.

  In this example, the left and right rotational movement and the vertical movement of the robot apparatus head 1 cannot be performed independently. However, since the left and right rotational movement including the vertical movement can be performed separately from the left and right rotational movement, Several things can be realized, and the emotional expression of the robot apparatus can be improved. Therefore, the effect in this example is the same as that in the first embodiment.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and the present invention can be changed even if there is a design change or the like without departing from the gist of the present invention. include. For example, in addition to a combination of a DC / AC motor and a potentiometer as a motor, a mechanism that uses an encoder or the like as an angle detection means, or a motor such as a DC or AC servo motor or a stepping motor as an actuator is easily estimated. . Further, in the present invention, the gear train is used as the driving force transmission means of the actuator, but it goes without saying that the configuration of the present invention does not collapse even if an elastic belt, a metal wire, or the like is used. In the above-described embodiment, the detection angle is input to the driver corresponding to the motor, and this driver is provided with the rotation angle control function. However, if the processing capability of the controller is high, the detection angle is input to the controller. Thus, this controller may have a rotation angle control function.

  The present invention can be widely applied not only to robot devices for toys but also to robot devices for industrial use or consumer use.

It is a perspective view which shows the mechanical structure of the robot apparatus head which is 1st Example of this invention. It is typical explanatory drawing (the 1) explaining the operation example of the motion conversion mechanism to the vertical motion of the robot apparatus head. It is typical explanatory drawing (the 2) explaining the operation example of the motion conversion mechanism to the vertical motion of the robot apparatus head. It is a block diagram which shows an example of the electrical constitution of the control circuit of the robot apparatus head. It is a perspective view which shows the mechanical structure of the robot apparatus head which is 2nd Example of this invention. 3 is a cross-sectional view showing a positional relationship between an inner slider and a gear N in a left-right rotational movement mechanism of the robot apparatus head. FIG. It is the top view which looked at the gear N from the upper part. It is an expanded view of the groove part given to the inner slider. It is a perspective view which shows the mechanical structure of the robot apparatus head which is 3rd Example of this invention. It is sectional drawing which showed the positional relationship of the outer slider, the gear N, and the post in the left-right rotation mechanism of the robot apparatus head. It is the top view which looked at the gear N from the upper part. It is an expanded view of the groove part given to the outer slider. It is a perspective view which shows the mechanical structure of the robot apparatus head which is 4th Example of this invention. It is a side view showing the relation between the upper and lower turntables and slide pieces of the robot apparatus head. It is the top view which looked at the same upper turntable from the upper part. It is a perspective view which shows the mechanical structure of the robot apparatus head which is 5th Example of this invention. It is a figure which shows the relationship between the side crank and the side stopper which looked at the turntable of the robot apparatus head from the top.

Explanation of symbols

1 head 1a rib (pressing member)
5 Gear H (Transmission means)
6 Motor H (actuator)
7 Gear train (transmission means)
8 Post (support member)
8a Pin (engagement protrusion)
9 Turntable U (first turntable)
10 Turntable L (second turntable)
12 Gear N (Transmission means, third turntable)
12a Pin (engagement protrusion)
13a Clamp L (Expandable support structure)
13b Clamp U (Expandable support structure)
14 Spring (biasing member)
15 Bearing bracket (base)
16 Motor N (actuator)
17 Gear train (transmission means)
18 Inner slider (cylindrical structure)
18a Groove 19 Outer slider (cylindrical structure)
19a Groove 20 Slide piece (tilt base)
21a Turntable a (fourth turntable)
21b Turntable b (5th turntable)
21c Long hole portion 22 Upper stopper 23 Lower stopper 24 Turntable (sixth turntable)
25 Side crank (extensible support structure)
26 Side spring (biasing member)
27 Side stopper (pressing member)
31 Controller (control means)

Claims (9)

A first driving means comprising a first actuator and a first transmission means for transmitting the driving force thereof, and rotating the head in the horizontal direction ;
In a robot apparatus comprising a second actuator and a second transmission means for transmitting a driving force thereof, and a second driving means for rotating the head in a vertical direction ,
When the head exceeds a predetermined horizontal rotation angle or a predetermined vertical rotation angle by driving the first or second actuator, a part of driving energy of the first or second actuator is transferred to the head. A motion conversion mechanism that converts the vertical motion of the head part,
When the head is rotated only in the horizontal direction or the vertical direction, the first or second rotation is performed so that the rotation of the head is less than the predetermined horizontal rotation angle or less than the predetermined vertical rotation angle. When controlling the driving means and moving the head up and down with horizontal or vertical rotation, the rotation of the head is set at the predetermined horizontal rotation angle or the predetermined vertical rotation angle. And a control means for controlling the first or second drive means so as to exceed the robot apparatus. The motion converting mechanism is fixed to the first and the turntable, the first turntable and the second turntable parallel thereto for rotating the head in the horizontal direction and rotatably supports vertically a telescopic support structure that movably supports downward while urged upward by the urging member the first turntable is provided on said head, said predetermined vertical direction rotation angle of the head 2. The robot apparatus according to claim 1, further comprising: a pressing member that presses down the expandable support structure in a predetermined angle range exceeding 1. The motion conversion mechanism fixes a support member that supports the head and has an engagement protrusion, or a third rotation base that fixes the support member that supports the head and has an engagement protrusion, and a base It has a cylindrical structure that is fixed and slidably supports the engaging protrusion in the groove and supports the third turntable so as to be rotatable in the horizontal direction, and the groove is the predetermined horizontal. 2. The robot apparatus according to claim 1, wherein the robot apparatus is inclined in a predetermined angle range exceeding the direction rotation angle .   The cylindrical structure is rotatably fitted in a hole in the center of the third turntable, the engagement protrusion is provided on the third turntable toward the center axis, and the groove is formed by the groove. The robot apparatus according to claim 3, wherein the robot apparatus is provided on an outer peripheral surface of the cylindrical structure.   The third turntable is rotatably fitted on the inner peripheral side of the cylindrical structure, the engagement protrusion is provided outward from the central axis of the third turntable, and the groove is The robot apparatus according to claim 3, wherein the robot apparatus is provided on an inner peripheral surface of the cylindrical structure.   The motion converting mechanism has a fourth rotating table having an arc-shaped elongated hole portion supporting the head and following the horizontal rotation direction, and a fifth rotating table mounted on the fourth rotating table and rotated in the horizontal direction by an actuator. The rotation table, the inclined table fixed to the fifth rotation table and having an inclined surface in a part of the rotation direction and entering the elongated hole portion, and the fourth rotation table stopped rotating at a predetermined rotation angle And the fourth turntable rotates together with the fifth turntable within the range of the predetermined rotation angle, and the fifth turntable exceeds the predetermined rotation angle. When rotating within a predetermined angle range, the fourth turntable is stopped by the stopper, the edge in the rotation direction of the elongated hole portion slides on the inclined table, and the fourth turntable moves upward or downward. The robot apparatus according to claim 1, wherein the robot apparatus moves.   The stoppers are provided at both ends of the predetermined rotation angle range, and one stopper stops the fourth turntable located above and slides on the tilt table downward, and the other stopper is located below. The robot apparatus according to claim 6, wherein the fourth rotating base is stopped and slid upward on the tilting base.   The motion conversion mechanism supports the head so that the head can be moved downward while urging the head upward by the urging member, and the sixth rotation that fixes the expansion support structure and rotates in the horizontal direction. A table and a sixth turntable, and when the sixth turntable rotates beyond a predetermined rotation angle range to a predetermined angle range, the telescopic support structure is pushed downward. The robot apparatus according to claim 1, further comprising a pressing member. A first driving means comprising a first actuator and a first transmission means for transmitting the driving force thereof, and rotating the head in the horizontal direction;
A second actuator that comprises a second actuator and a second transmission means for transmitting the driving force thereof, the second driving means for rotating the head in the vertical direction;
When the head exceeds a predetermined horizontal rotation angle or a predetermined vertical rotation angle by driving the first or second actuator, a part of driving energy of the first or second actuator is transferred to the head. A method of controlling a robot apparatus including a motion conversion mechanism that converts the vertical motion of a part ,
When the head is rotated only in the horizontal direction or the vertical direction, the first or second rotation is performed so that the rotation of the head is less than the predetermined horizontal rotation angle or less than the predetermined vertical rotation angle. When controlling the driving means and moving the head up and down with horizontal or vertical rotation, the rotation of the head is set at the predetermined horizontal rotation angle or the predetermined vertical rotation angle. A control method for a robot apparatus , wherein the first or second driving means is controlled to exceed the above .

Images