JP4367116B2 - robot - Google Patents

Description

  The present invention relates to a healing robot suitable for use in robot therapy and the like.

  Conventionally, research on robot therapy has been advanced in order to realize the effects of animal therapy in a sanitary and safe manner. In addition, robot therapy has begun to be introduced for healing elderly people. In order to improve the effectiveness of robot therapy, the “warmth” (feel and temperature) of the robot is important.

On the other hand, a technique for controlling the temperature of the robot has been conventionally proposed (see, for example, Patent Document 1).
JP-A-6-126672

  However, the conventional temperature control technology as described above is for a space robot that raises the temperature of a robot joint from a standby temperature to an operable temperature in a short time, and is a healing robot used for robot therapy and the like. It has nothing to do with the “warmth” (feel and temperature) required for the shampoo.

  Also, some conventional healing robots use artificial fur to improve the touch. Such a robot is good in touch, but the “body temperature” of the robot is not managed at all.

  Therefore, in the case of such a conventional robot, there is a problem that almost the entire surface of the robot is cold and the user cannot feel the “body temperature” of the robot.

  Also, in some conventional robots, the temperature rises to the extent that only a part of the surface feels hot due to the influence of the heat source inside the robot.

  In any case, even if a conventional robot looks like an animal, it does not allow the user to sense the body temperature of the animal. It was far away.

  Therefore, the problem to be solved by the present invention is that by giving the robot “warmth” (temperature), the user can feel the “body temperature” of the robot, and as a result, it feels like it is in contact with the animal. To provide a close robot.

The present invention solves the above-mentioned problems, and the invention according to claim 1 is a robot having a heat source that generates heat by performing an electrical operation, and absorbs heat generated by the heat source. and parts, and a plurality of heat radiating portion for radiating the exterior portion of the robot, it includes a formed heat conducting means between the heat conducting portion for conducting heat to the heat radiating portion from the heat absorbing unit, the heat conducting unit, In the robot, the cross-sectional area of the heat conducting part is formed so as to increase as the path length of the heat conducting part from the heat absorbing part to the heat radiating part increases.

As described above, according to the present invention, in the robot including a heat source that generates heat by performing an electrical operation, a heat absorbing unit that absorbs heat generated from the heat source, and a plurality of heat that dissipates heat to the exterior of the robot . A heat conducting means comprising a heat dissipating part and a heat conducting part that conducts heat from the heat absorbing part to the heat dissipating part, wherein the heat conducting part has a cross-sectional area of the heat absorbing part. Since the path length of the heat conducting part from the heat dissipating part to the heat dissipating part is increased, the heat generating part provided in the robot can dissipate heat to the exterior part of the robot, and the heat dissipating part Since there is little variation in the amount of heat dissipated in the robot, the robot can be given "warmth" (temperature), and the user can feel the "body temperature" of the robot.

  Embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a perspective view showing an embodiment of the robot of the present invention, FIG. 2 is a perspective view showing a drive base thereof, and the robot 1 is a healing system in the form of a monkey as shown in FIG. It is a robot.

  As shown in FIG. 2, the drive base of the robot 1 includes a body part 10, a head part 20, and four leg parts 30 and 40 (front legs 30 a and 30 b and rear legs 40 a and 40 b).

  CCD cameras 21 a and 21 b are attached to portions corresponding to the eyes of the head 20. In the head 20, a portion corresponding to a neck attached to the body unit 10 is configured with two degrees of freedom, that is, yaw (turning) and pitch (moving back and forth).

  Each front leg 30 has a portion corresponding to a shoulder attached to the body portion 10 with two degrees of freedom of pitch (moves back and forth) and roll (moves left and right), and a portion corresponding to the elbow is a body portion. 10 is configured with one degree of freedom in the roll direction so as to bend inward.

  Each rear leg 40 has a portion corresponding to the base of the leg attached to the body portion 10 with two degrees of freedom of pitch (moving back and forth) and roll (moving left and right), and a portion corresponding to the knee. The pitch direction is one degree of freedom.

  Such a degree of freedom of the portion corresponding to each joint can be realized by using an appropriate actuator such as a motor, for example, and this type of actuator (motor) and its drive mechanism can use well-known ones. Therefore, the description thereof is omitted.

  Touch sensors 31a, 31b, 41a, 41b whose surfaces are covered with rubber are attached to the front portions (hands) of the front legs 30a, 30b and the front portions (foot tips) of the rear legs 40a, 40b. It is possible to check whether the front legs 30a, 30b) and the feet (rear legs 40a, 40b) are in contact with the floor or the like.

  The appearance of the robot 1 as shown in FIG. 1 is formed by applying an exterior to the drive base having such a structure. That is, the part corresponding to the face of the head 20 and the part corresponding to the belly of the body part 10 are covered with soft rubber. In addition, the other parts of the head 20 and the body part 10, the wrists of the front legs 30a and 30b, and the parts of the rear legs 40a and 40b excluding the tip of the head are covered with fur-like long-legged fibers. Yes.

  FIG. 3 is a block diagram showing a control device of the robot 1, and the control device 50 includes a main CPU 51 that performs overall control. A flash memory 52 and a sub CPU 53 are connected to the main CPU 51, and motor control units 55 with 14 degrees of freedom are connected to the sub CPU 53 via a serial bus 54.

  Here, “14 degrees of freedom” means two degrees of freedom of the yaw and pitch of the head 20, two degrees of freedom of the pitch and roll corresponding to the shoulder of each front leg 30, and the direction of roll of the part corresponding to the elbow This is a combination of one degree of freedom, the pitch of the portion corresponding to the base of each rear leg 40, two degrees of freedom of the roll, and one degree of freedom in the pitch direction of the portion corresponding to the knee.

  Each motor control unit 55 includes a motor control CPU 56, a drive motor 57 and an angle sensor 58 connected to the motor control CPU 56. For example, one motor control unit 55 may be provided for each of the 14 degrees of freedom. For example, one motor control unit 55 is provided for every two degrees of freedom of the head 20 and one for each of the three degrees of freedom of the front legs 30. , One for each of the three degrees of freedom of each rear leg 40, and a total of five can be configured.

  For example, a motor control unit 55 provided with one front leg 30 with three degrees of freedom will be described as an example. As shown in FIG. 3, the motor control CPU 56 includes a drive motor 57 as a shoulder pitch gear motor and a shoulder. An angle sensor 58 as a pitch rotation sensor, a drive motor 57 as a shoulder roll gear motor, an angle sensor 58 as a shoulder roll rotation sensor, a drive motor 57 as an elbow roll gear motor, and an angle sensor 58 as an elbow roll rotation sensor. Connected.

  The control device 50 will be described with respect to walking. The main CPU 51 generates a target value of the angle of each joint at a predetermined timing based on the walking program stored in the flash memory 52, and sends this to the sub CPU 53. is there. The sub CPU 53 serially converts the target angle data sent from the main CPU 51 and sends it to the motor control CPU 56 of each motor control unit 55.

  The motor control CPU 56 of each motor control unit 55 compares the target angle data sent from the sub CPU 53 with the output of the angle sensor 58 attached to each joint, so that both are the same. It controls rotation. Thereby, each joint is controlled to have a predetermined angle based on the walking program.

  The main CPU 51 is connected to CCD cameras (imaging means) 21 a and 21 b, and captures image data obtained by the CCD cameras 21 a and 21 b and records it in the flash memory 52.

  In addition, touch sensors 31a, 31b, 41a, and 41b are connected to the main CPU 51, and an exterior temperature sensor 59 attached to the exterior member of the robot 1 or a position close thereto is also connected. Temperature data of the exterior temperature sensor 59 is connected to the main CPU 51. By reading the above, the main CPU 51 can detect the temperature of the surface of the robot 1.

  FIG. 4 is a schematic view showing a CPU board installed in the body part 10 of the robot 1, and the CPU board 60 is installed in the interior near the part 11 (see FIG. 1) corresponding to the belly of the body part 10. The size is about 60% of the abdominal surface of the body 10 covered with soft rubber.

  A CPU chip 61 is arranged in the center of the CPU board 60. Normally, the CPU consumes a large amount of current and generates a large amount of heat. Conventionally, the robot 1 is often cooled with a built-in fan or the like. However, in the robot 1, the heat of the CPU is effectively used by using a heat conduction plate.

  FIG. 5 is a schematic view showing a heat conductive plate, and the heat conductive plate 70 is made of a metal material having a good heat conductivity. The heat conduction plate 70 includes a heat absorption part 71 that absorbs heat generated by the CPU chip 61 in the center, and a heat conduction part 72 that conducts heat from the heat absorption part 71 spreads radially, and at the tip of the heat conduction part 72, A heat dissipating part 73 that dissipates heat is provided on the exterior of the robot 1.

  When the position of the heat dissipating part 73 is close to the heat absorbing part 71, the heat conducting part 72 is thinned to reduce the cross-sectional area so that the temperature in each heat dissipating part 73 is substantially the same. However, when the heat conducting part 72 is far from the heat absorbing part 71, the heat conducting part 72 is thickened to increase its cross-sectional area to facilitate heat transfer.

  That is, the heat conduction part 72 is formed so that the cross-sectional area of the heat conduction part 72 increases as the path length of the heat conduction part 72 from the heat absorption part 71 to the heat radiation part 73 increases. The longer the conduction path 72 is, the easier it is to transfer heat.

  As an alternative method, a material having different thermal conductivity is used for each part of the heat conduction part 72, and the heat conduction part 72 having a longer heat conduction path length is used by using a material having better thermal conductivity. The longer the heat conducting path 72 is, the easier it is to transfer heat.

  In any method, the temperatures in the heat radiating portions 73 can be made substantially the same.

  FIG. 6 is a cross-sectional view showing the abdomen 11 of the body 10 of the robot 1, and the CPU board 60 is arranged near the exterior of the abdomen 11. A CPU chip 61 is mounted at the center of the CPU board 60, and a heat absorbing portion 71 of the heat conducting plate 70 is disposed in contact with the package of the CPU chip 61. It is desirable to improve heat conduction by applying silicon grease between the heat absorbing portion 71 and the CPU chip 61.

  The heat conduction plate 70 extends from the heat absorption part 71 in contact with the CPU chip 61 by bending the heat conduction part 72 toward the exterior of the abdomen 11, and the heat radiation part 73 extends from the tip of the heat conduction part 72 to the abdomen 11. It is arranged along the exterior and in contact with the exterior. Such a heat conductive plate 70 is easy to assemble when a part thereof is bonded or screwed.

  FIG. 7 is a cross-sectional view showing details of the exterior portion of the abdomen 11 of the robot 1, and the inside of the exterior plastic 12 serving as a structural member of the abdomen 11 is uniformly distributed from the heat radiation portion 73 of the heat conduction plate 70 to the exterior portion. In order to conduct heat to the aluminum sheet 15, an aluminum sheet 15 is stuck with an adhesive 14. It is desirable that the adhesive 14 has a high thermal conductivity and is thinly applied.

  The heat radiating portion 73 of the heat conducting plate 70 is brought into contact with the aluminum sheet 15 and transfers heat of the CPU chip 61. It is desirable to improve heat conduction by applying silicon grease between the aluminum sheet 15 and the heat radiation part 73.

  A soft surface rubber 13 is stretched outside the exterior plastic 12. This may be bonded, but it is better to be molded integrally. It is desirable that the surface rubber 13 also has a high thermal conductivity. With this structure, a warm and soft skin-like texture can be produced.

  Here, the CPU chip 61 has been described as a heat generation source. However, since the motor driver IC and the like generate a large amount of heat, for example, heat can be transmitted to other portions such as a portion corresponding to the bottom of the robot 1 by a heat conduction plate. It is.

  FIG. 8 shows a flowchart of a program for controlling the CPU chip based on the temperature data of the exterior temperature sensor.

  First, the output of the exterior temperature sensor 59 attached to the exterior part is taken into the CPU chip 61 (step S1). The exterior temperature sensor 59 may be a thermistor or the like, and the output is amplified and offset adjusted, AD converted, and taken into the CPU chip 61.

  If the temperature data is equal to or less than the predetermined value (NO in step S2), normal operation is performed (step S3).

  On the other hand, if the temperature data is higher than the predetermined value (YES in step S2), it feels hotter than the warmth, so the CPU clock frequency is lowered or some functions are stopped to lower the drive current ( Step S4).

  At this time, if the user is tired of the robot and expresses an image of a little rest, the operation is easy to understand and there is no sense of incongruity. If you can “swing after shaking your head” and voice output, you can pronounce it as tired.

  FIG. 9 shows a flowchart of a program for controlling the overall operation of the motor driver based on the temperature data of the exterior temperature sensor.

  First, the output of the exterior temperature sensor 59 attached to the exterior part is taken into the CPU chip 61 (step S11).

  If the temperature data is equal to or less than the predetermined value (NO in step S12), normal operation is performed (step S13).

  On the other hand, if this temperature data is higher than the predetermined value (YES in step S12), it feels hotter than the warm feeling, so the speed of the joint driving operation is reduced or the operation itself is stopped to reduce the driving current (step). S14).

  At this time, if the user is tired of the robot and expresses an image of a little rest, the operation is easy to understand and there is no sense of incongruity. If you can “swing after shaking your head” and voice output, you can pronounce it as tired.

  FIG. 10 is a cross-sectional view showing the abdomen 11 of the robot 1 according to the embodiment using the fuel cell as a heat source.

  Since the fuel cell 62 generates heat during power generation, it can be used as a heat source. In this case, the heat absorbing portion 71 of the heat conducting plate 70 is placed in contact with the heat generating surface of the fuel cell 62, and the rest can be configured in the same manner as in FIG.

  Since the robot 1 of the present invention is configured as described above, the following various functions and effects are obtained.

(1) Since a robot with warmth can be realized, the healing effect is high.

(2) Since the heat of the CPU and the motor driver is used based on the body temperature of the robot, a heat generating device is unnecessary, and power for that purpose is also unnecessary and efficient.

(3) Due to the structure of the heat conduction plate, the heat distribution in the exterior portion becomes relatively uniform.

(4) Heat is not transmitted to the furry part, the efficiency of using the heat is good, and the cooling effect of the CPU and the like is improved.

(5) Since the texture of the fur-like part and the texture of soft skin with warmth can be expressed simultaneously, the healing effect is high.

(6) Since the temperature can be controlled by the sensor and the CPU, it does not heat up or cool down, a good healing robot can be realized, and it is safe because it does not heat up.

It is a perspective view which shows one Embodiment of the robot of this invention. It is a perspective view which shows the drive base | substrate of a robot. It is a block diagram which shows the control apparatus of a robot. It is the schematic which shows the CPU board installed in the trunk | drum part of a robot. It is the schematic which shows a heat conductive board. It is sectional drawing which shows the abdominal part of the trunk | drum of a robot. It is sectional drawing which shows the detail of the exterior part of the abdominal part of a robot. It is a flowchart which shows the program which controls a CPU chip based on the temperature data of an exterior temperature sensor. It is a flowchart which shows the program which controls the whole operation | movement regarding a motor driver based on the temperature data of an exterior temperature sensor. It is sectional drawing which shows the abdominal part of the robot about embodiment which uses a fuel cell as a heat source.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Robot 10 Body part 11 Abdominal part 12 Exterior plastic 13 Surface rubber 14 Adhesive 15 Aluminum sheet 20 Head part 21a, 21b CCD camera (imaging means)
30 (30a, 30b) Leg (front leg)
31a, 31b Touch sensor 40 (40a, 40b) Leg (rear leg)
41a, 41b Touch sensor 50 Control device 51 Main CPU
52 Flash memory 53 Sub CPU
54 Serial bus 55 Motor control unit 56 Motor control CPU
57 drive motor 58 angle sensor 59 exterior temperature sensor 60 CPU board 61 CPU chip (heat generation source)
62 Fuel cell (heat source)
70 Heat conduction plate (heat conduction means)
71 heat absorption part 72 heat conduction part 73 heat dissipation part

Claims (1)

In a robot equipped with a heat source that generates heat by electrical operation,
Thermal conduction comprising a heat absorption part that absorbs heat generated by the heat source, a plurality of heat radiation parts that radiate heat to the exterior part of the robot, and a heat conduction part that conducts heat from the heat absorption part to the heat radiation part With means,
The heat conducting part,
A robot characterized in that a cross-sectional area of the heat conducting part is formed so as to increase as a path length of the heat conducting part from the heat absorbing part to the heat radiating part increases.

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