JP4588993B2 - Modular structure of walking robot - Google Patents

Description

  The present invention relates to a modularized structure of a walking robot in which a plurality of constituent devices of the walking robot are separated from each other as modules.

  In a walking robot, the whole body is designed as one device configuration, and devices such as arms and legs are designed individually and exclusively for the configuration of each part. Therefore, the development cost for the entire robot equipped with the constituent devices of these parts becomes very large. Also, because each part is individually designed exclusively for robots, unlike general-purpose industrial products, even if a slight deviation occurs due to attachment / detachment for maintenance, it is necessary to adjust the components that are mechanically coupled. A lot of work is required.

  On the other hand, if each component device of the walking robot is made into one functional component as a module, the module can be used not only in the robot but also in other devices, and if it is given versatility, the development cost can be reduced. It is possible to disperse, and it is possible to improve the reproducibility at the time of desorption by unifying the structure of the coupling portion.

By the way, each part exists as a module in a walking robot, and in order to couple them, electrical connection is necessary in addition to mechanical coupling, and as a conventionally known structure performing these, for example, It is known that a groove portion and an insertion portion each having a substantially T-shaped cross section and having a substantially planar shape are fitted to each other, and a plug provided at the tip of the insertion portion is inserted into a jack provided at the back of the groove portion (patent) Reference 1).
Japanese Patent Laid-Open No. 10-166286

  However, the conventional structure described above eliminates the need for a tool for connection, and can be attached and detached with the power of a human hand. However, when the walking robot is enlarged, the function required of the connection structure due to rigidity, strength, etc. There was a problem of being unable to keep. In other words, this conventional structure is compatible with small toy robots, but when a predetermined detaching force is applied in the pulling direction, the engaging part is elastically deformed and the coupling part can be removed. There is a problem that it is difficult to apply to a large-sized robot.

An object of the present invention is to advantageously solve the above-mentioned problems, and the modular structure of a walking robot according to the present invention is a walking robot in which a plurality of constituent devices of a walking robot are separated from each other as modules. In the modular structure, a mechanical coupling portion configured by a female member and a male member that are fitted by displacement in a predetermined axial direction and mechanically coupling a plurality of component devices to each of the component devices, and a plurality of component devices An electrical connection portion for electrical connection, and a separable coupling portion separable in the predetermined axial direction by an operation of rotating the mechanical coupling portion around the predetermined axis, a key groove, and a key groove A torque transmission shape portion that includes a key protrusion that transmits torque around the predetermined axis when fitted, and a tapered cone-shaped inner peripheral surface having a slight angle with respect to the predetermined axis direction And a tapered cone-shaped outer peripheral surface that fits into the tapered cone-shaped inner peripheral surface by displacement in the predetermined axial direction, and a cylindrical shape having a play-off shape portion that eliminates play during fitting, and the predetermined axial line as a central axis It consists of a cylindrical outer peripheral surface that slidably contacts the cylindrical inner peripheral surface with an outer diameter smaller than the inner peripheral surface and the cylindrical inner peripheral surface, and is fitted against a bending moment in a direction perpendicular to the predetermined axis when fitted. a bending moment support shaped portion for supporting the state, shifting the position of the predetermined axis line direction together with the a predetermined axis coaxial, and, as each by the displacement of the said predetermined axial direction is fitted in the semi-radial size set only by changing of each, said the electrical connections, a plurality of electrodes including at least power supply contacts, so as to protrude toward the other at least one of the electrodes in contact with each other It is characterized in that sexually energized.

According to such a modular structure of a walking robot, the mechanical coupling portion of each component device is composed of a female member and a male member that are fitted by displacement in a predetermined axial direction, and rotates around a predetermined axis such as turning a ring having a female screw. A separable coupling portion that can be separated in a predetermined axial direction by an operation of rotating to a key axis, a torque transmission shape portion that includes a key groove and a key protrusion that fits into the key groove, and transmits torque around the predetermined axis when fitted; A tapered cone-shaped inner circumferential surface having a slight angle with respect to the axial direction and a tapered cone-shaped outer circumferential surface that fits the tapered cone-shaped inner circumferential surface by displacement in the predetermined axial direction eliminates play during fitting. A ratchet-shaped part, a cylindrical inner peripheral surface having the predetermined axis as a central axis, and a cylindrical outer peripheral surface that is slidably in contact with the cylindrical inner peripheral surface with a smaller outer diameter than the cylindrical inner peripheral surface. A bending moment support shaped portion for supporting the fitting state against the perpendicular direction of the bending moment with respect to the given axis, shifting the position of the predetermined axis line direction together with the a predetermined axis coaxial, and the predetermined axis direction since only setting changing semi radial size respectively so that each mating by displacement in, be applied to humans and life-size approximately large robots, and separable coupling portion in the predetermined operation The component devices can be firmly connected to each other by the torque transmission shape portion, the backlash shape portion, and the bending moment support shape portion, and the electric connection portion of each component device is an electrode for supplying power necessary for driving the device. Since at least one of the electrodes in contact with each other is elastically biased so as to protrude toward the other, a large load is applied. And give to prevent poor contact caused by contact from floating by the influence of the deflection of the concrete, it is possible to reliably maintain the electrical connection between the component devices.

In the modular structure of the walking robot of the present invention, the detachable coupling portion, but it may also be a screw connection using a ring with the internal thread.

  Further, in the modularized structure of the walking robot of the present invention, the control signal may be transmitted by optical communication, but the plurality of electrodes may include a control signal electrode. Thus, a control signal can also be transmitted.

  Furthermore, in the modularized structure of the walking robot according to the present invention, the component device may include at least one of an arm and a leg of the walking robot, and a head of the walking robot on which a video camera is mounted. It may be included.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Here, FIG. 1 shows, in a separated state, a joint between a part of a torso frame of a humanoid robot and a shoulder of an arm as a walking robot to which an embodiment of a modularized structure of a walking robot according to the present invention is applied. 4 is a cross-sectional view taken along the line AA in FIG. 4, FIG. 2 is a perspective view showing the whole of the humanoid robot, and FIG. 3 is a perspective view showing the body frame and arms of the humanoid robot with the cover removed. FIG. 4 is a plan view showing a joint portion between a part of the torso frame of the humanoid robot and the shoulder of the arm in a separated state, and FIG. 5 is a diagram of a part of the torso frame of the humanoid robot and the shoulder of the arm. FIG. 6 is a partially cutaway front view showing the joint part in a separated state, FIG. 6 is a perspective view showing the joint part between the body frame of the humanoid robot and the shoulder in a separated state, and FIGS. ) Is a torso frame that shows a joint between a part of the torso frame of the humanoid robot and the shoulder in a separated state. FIG. 8 is a perspective view showing a coupled portion of a body frame and a shoulder of the humanoid robot in a coupled state, and FIG. 9 is a perspective view of the humanoid robot. FIG. 10 is a plan view showing a joint portion between the body frame and a shoulder in a coupled state, and FIG. 10 is a plan view of FIG. 9 showing a joint portion between the body frame and a shoulder in the humanoid robot in a coupled state. It is sectional drawing corresponding to a figure.

  As shown in FIG. 2, the humanoid robot has two legs 2 as a component device under a body 1 as a component device, and these legs 2 are dynamically operated in an inverted pendulum manner by a known method. Walk while keeping balance. The humanoid robot also has arms 3 as component devices on the left and right as viewed from the robot itself of the trunk 1, and also has a head 4 as a component device on the trunk 1. The body 1 here has an upper half 1a and a lower half 1b that are connected to each other at the waist so as to be able to rotate back and forth and to the left and right, and the head 4 has two video cameras on the left and right sides. One unit is mounted at the position of the base and the shield in the center.

  The frame structure of the upper half 1a of the body 1 has a body outer shell 5 as shown in FIG. 3 as its main part, and the arm 3 is connected to the body outer shell 5 via a shoulder pitch axis and a shoulder roll axis. 1, the shoulder pitch shaft driving device is provided in the shell outer shell 5 as shown in FIG. 1, and the output rotation of the motor 7 shown in FIG. The shoulder frame 10 coupled to the shoulder support shaft 9 is rotated around the shoulder pitch axis P with respect to the body outer shell 5, and the shoulder roll shaft The driving device rotates the arm 3 around the shoulder roll axis R with respect to the shoulder frame 10 by decelerating the output rotation of the motor 11 shown in FIG.

  However, in the modularized structure of the walking robot of this embodiment, as shown in FIG. 1, a body 1 and an arm 3 as two constituent devices are respectively connected to the shoulder support shaft 9 and the shoulder frame 10. A mechanical coupling portion 21 that electrically couples and an electrical connection portion 22 that electrically connects the body 1 and the arm 3 are provided.

  In the mechanical coupling portion 21 here, a female member 23 provided on the shoulder support shaft 9 and a male member provided on the shoulder frame 10 are connected as a screw coupling portion that can be coupled and separated by an operation of rotating around the shoulder pitch axis P. 24, a ring 25 having a female screw 25a and a male screw 26 screwed into the female screw 25a are provided, respectively, and a female member 23 provided on the shoulder support shaft 9 and a shoulder frame 10 are provided as a torque transmission shape portion. The provided male member 24 is provided with a key groove 27 extending in the diameter direction and a key protrusion 28 extending in the diameter direction and closely fitted in the key groove 27. Further, as the backlash-shaped portion, the female member 23 provided on the shoulder support shaft 9 and the male member 24 provided on the shoulder frame 10 are tapered cone-shaped inner circumferences having a slight angle with respect to the shoulder pitch axis P. A surface 29 and a tapered cone-like outer peripheral surface 30 that fits closely to the inner peripheral surface 29 are provided, respectively, and a female member 23 and a shoulder frame 10 provided on the shoulder support shaft 9 as a bending moment support shape portion. A cylindrical inner peripheral surface 31 centered on the shoulder pitch axis P and a cylindrical outer peripheral surface 32 slidably in contact with the inner peripheral surface 31 with an outer diameter slightly smaller than the inner peripheral surface 31. And are provided respectively.

  Further, in the electrical connection portion 22 here, a plurality of female members 23 for power supply and control signals (eight in the figure) are provided on the female member 23 provided on the shoulder support shaft 9 and the male member 24 provided on the shoulder frame 10. The electrodes 33 and 34 are arranged in the circumferential direction around the shoulder pitch axis P, and are arranged in parallel with the shoulder pitch axis P via the insulator 35. The electrodes 33 and 34 are in contact with each other. The electrode 34 on the side of the shoulder frame 10 among the electrodes 33 and 34 has a flat front end portion 34a and can slide in the insulator 35. A synthetic rubber O-ring 36 is inserted between the back surface and the male member 24 as an elastic body that elastically biases the electrode 34 so as to protrude toward the electrode 33. Of the electrodes 33, 34, the electrode 33 on the shoulder support shaft 9 side has a tip 33a rounded into a hemisphere, so that the tip of the electrode 34 is always flat regardless of the change in the posture of the electrode 34. It is made to contact part 34a.

According to the modularized structure of the walking robot according to this embodiment, the mechanical coupling portion 21 of each of the constituent devices of the body 1, the leg 2, the arm 3, and the head 4 rotates the ring 25 to change the shoulder pitch axis P as a predetermined axis. A screw coupling portion composed of a female screw 25a and a male screw 26 which can be coupled and separated in the extending direction of the shaft, a torque transmission shape portion which is composed of a key protrusion 28 and a key groove 27 and transmits torque around the shoulder pitch axis P, and a tapered cone The inner and outer peripheral surfaces 29 and 30 are formed in the radial direction with respect to the shoulder pitch axis P, that is, the rattling shape portion that eliminates play during fitting and the cylindrical inner and outer peripheral surfaces 31 and 32 in the direction orthogonal to the shoulder pitch axis P. a bending moment support shaped portion for supporting the fitting state against bending by the force moment, shifting the position of the predetermined axis line direction with a predetermined axis coaxial, and a predetermined axis direction Since only setting changing semi radial size respectively so that each mating by displacement in the human and be applied to the life size approximately large robots, separable coupling part and torque above operation The component devices can be firmly coupled to each other by the transmission shape portion, the backlash removal shape portion, and the bending moment support shape portion, and the electrical connection portion 22 of each component device is used for supplying power necessary for driving the component device. Since it has a plurality of electrodes 33 and 34 including electrodes and control signal electrodes of the component device, and one electrode 34 is elastically biased to protrude toward the other electrode 33, a large load It is possible to prevent contact failure due to the floating of the contact due to the influence of the structural deformation caused by the above, and it is possible to reliably maintain the electrical connection between the constituent devices.

  FIG. 11 is an exploded perspective view and an assembled perspective view showing an application example in which the arm 3 of the humanoid robot to which the modularized structure of the walking robot of the above embodiment is applied is mounted on the wheelchair 41, and FIG. It is explanatory drawing which shows the use condition of the wheelchair 41 with which it mounted | worn, and if it does in this way, the arm 3 can be used for the hand of the handicapped person H, such as giving a load to the arm 3.

  FIGS. 13A and 13B are perspective views showing an application example in which the leg 2 of the humanoid robot to which the modularized structure of the walking robot of the above embodiment is applied is mounted on the wheelchair 41 in a state where the leg 2 is bent. 14 (a), 14 (b), and 14 (c) are a perspective view, a front view, and a side view showing the wheelchair 41 to which the leg 2 is attached, with the leg 2 extended. If so, it is possible to move a place other than a flat road, such as moving up and down stairs with the wheelchair 41.

  15A and 15B are a perspective view and a plan view showing an application example in which the arm 3 of the humanoid robot to which the modularized structure of the walking robot of the above embodiment is applied is attached to the work table 42, FIG. a), (b), and (c) are a left side view, a front view, and a right side view showing the work table 42 on which the arm 3 is mounted. 3 can be helped, or the arm 3 can be automatically operated on the work table 42.

  17A, 17B, and 17C show a humanoid robot head 4 to which the modular structure of the walking robot of the above embodiment is applied, and the applicant of the present application previously disclosed in Japanese Patent Laid-Open No. 2001-020224. The perspective view which shows the application example with which it mounted to the bridge lower surface inspection apparatus 43 disclosed above instead of the CCD camera, the perspective view which shows the application example with which the head 4 was mounted | worn with the tripod 44 instead of the surveying apparatus, and the head 4 Is a perspective view showing an application example in which the camera is attached to the wall 45 instead of the surveillance camera. In this way, the three video cameras provided on the head 4 are used to measure the distance to the object. You can observe things.

  FIG. 18 shows that the body 1 of the humanoid robot to which the modular structure of the walking robot of the above embodiment is applied is equipped with an electric carriage 46 instead of the legs 2, and a keyboard 47 and a surveying device 48 are attached instead of both arms 3. FIG. 7 is a perspective view showing an example of application to a self-propelled automatic surveying device in which a display device 49 is mounted instead of the head 4. In this way, the humanoid robot can automatically operate based on a program given in advance. You can run and survey automatically.

  FIG. 19 is a side view showing an application example to a high-speed / long-distance mobile robot in which the electric cart 46 is attached instead of the leg 2 to the humanoid robot to which the modular structure of the walking robot of the above embodiment is applied. In this way, the humanoid robot can be moved at a higher speed for a longer distance than when the leg 2 is used.

  FIG. 20 is a side view showing an application example to an automatic water monitoring robot in which a hull 50 is attached instead of the leg 2 to the humanoid robot to which the modular structure of the walking robot of the above embodiment is applied. By doing so, the humanoid robot can automatically perform monitoring on the water based on a program given in advance.

  Although the present invention has been described based on the illustrated example, the present invention is not limited to the above example. For example, in the modular structure of a walking robot according to the present invention, the separable coupling portion is a male joint like an air hose joint. A number of female idle balls that fit in the circumferential groove on the side are pressed against the ring to prevent it from coming off, and when the ring is moved in the axial direction, the ball escapes to the relief part on the inner circumferential surface of the ring so that the male side comes out It may be a one-touch type ball lock type coupling portion. In the modular structure of the walking robot according to the present invention, the control signal may be transmitted by optical communication.

  Thus, according to the modular structure of the walking robot of the present invention, even when applied to a large-sized robot that is about the same size as a human being, it can be separated by a predetermined operation, a coupling portion, a torque transmission shape portion, a backlash shape portion, and a bending moment support. The component parts can be firmly connected to each other by the shape part, and furthermore, the electrical connection part of each component apparatus can prevent contact failure due to floating of the contact due to the deformation of the structure due to heavy load, etc. The electrical connection between the devices can be reliably maintained.

FIG. 4 is a cross-sectional view of FIG. 4A, showing a joint portion between a part of a torso frame of a humanoid robot as a walking robot and a shoulder of an arm, to which one embodiment of a modularized structure of the walking robot of the present invention is applied. It is sectional drawing which follows A line. It is a perspective view which shows the whole said humanoid robot. It is a perspective view which shows the trunk | frame frame and arm of the said humanoid robot except a cover. It is a top view which shows the coupling | bond part of a part of torso frame of the said humanoid robot, and the shoulder of an arm in the isolation | separation state. It is a partially cutaway front view which shows the coupling | bond part of a part of torso frame of the said humanoid robot, and the shoulder of an arm in the isolation | separation state. It is a perspective view which shows the coupling | bond part of a part of torso frame of the said humanoid robot, and a shoulder in the isolation | separation state. (A), (b) is a perspective view on the side of the body frame and a perspective view on the side of the shoulder, showing a joint between a part of the body frame of the humanoid robot and the shoulder in a separated state. It is a perspective view which shows the coupling | bond part of a torso part and trunk | body part of the said humanoid robot in a coupling | bonding state. It is a top view which shows the coupling | bond part of the coupling | bond part of a part of torso frame of the said humanoid robot, and a shoulder. FIG. 10 is a cross-sectional view corresponding to the plan view of FIG. 9, showing a joint portion between a part of a body frame of the humanoid robot and a shoulder in a coupled state. (A), (b) is the exploded perspective view and assembly perspective view which show the application example which mounted | wore the wheelchair with the arm which has the modular structure of the said Example. It is explanatory drawing which shows the use condition of the wheelchair equipped with the said arm. (A), (b) is the perspective view and front view which show the application example which mounted | wore the wheelchair with the leg with the modular structure of the said Example in the state which bent the leg. (A), (b), (c) is the perspective view, front view, and side view which show the wheelchair equipped with the said leg in the state which extended the leg. (A), (b) is the perspective view and top view which show the example of an application with which the arm with the modular structure of the said Example was mounted | worn with the work table. (A), (b), (c) is the left view, the front view, and the right view which show the work table with which the said arm was mounted | worn. (A), (b), (c) is a perspective view showing an application example in which the head having the modular structure of the above embodiment is mounted on the bridge bottom surface inspection device instead of the CCD camera, and the head of the surveying device is shown. It is the perspective view which shows the application example with which it attached to the tripod instead, and the perspective view which shows the application example which attached the head to the wall instead of the surveillance camera. A self-propelled automatic surveying device in which the body having the modular structure of the above embodiment is equipped with an electric cart instead of legs, a keyboard and a surveying device are mounted instead of both arms, and a display device is mounted instead of the head It is a perspective view which shows the example of application to. It is a perspective view which shows the example of application to the high-speed and long-distance movement type robot which mounted | worn the robot with the modular structure of the said Example with the electric trolley instead of the leg. It is a side view which shows the example of application to the water surface automatic monitoring robot which attached the ship body instead of the leg to the robot with the modular structure of the said Example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Body 1a Body upper half 1b Body lower half 2 Leg 3 Arm 4 Head 5 Body outer shell 7,11 Motor 8,12 Reduction gear 9 Shoulder support shaft 10 Shoulder frame 21 Mechanical coupling part 22 Electrical connection part 23 Female member 24 Male member 25 Ring 25a Female screw 26 Male screw 27 Key groove 28 Key protrusion 29 Tapered cone-shaped inner peripheral surface 30 Tapered cone-shaped outer peripheral surface 31 Cylindrical inner peripheral surface 32 Cylindrical outer peripheral surface 33, 34 Electrode 33a, 34a Tip 35 Insulator 36 Synthetic rubber O-ring 41 Wheelchair 42 Work table 43 Bridge bottom surface inspection device 44 Tripod 45 Wall 46 Electric cart 47 Keyboard 48 Surveying device 49 Display device 50 Hull P Shoulder pitch axis R Shoulder roll axis H

Claims (5)

In a modular structure of a walking robot, in which a plurality of constituent devices of the walking robot are separated from each other as modules,
A mechanical coupling portion that is composed of a female member and a male member that are fitted by displacement in a predetermined axial direction and mechanically couples a plurality of component devices to each of the component devices, and an electric that electrically connects the plurality of component devices. A connection part,
In the mechanical coupling part,
A separable coupling portion separable in the predetermined axis direction by an operation of rotating around the predetermined axis;
A torque transmission shape portion that includes a key groove and a key protrusion that fits in the key groove, and transmits torque around the predetermined axis when fitted;
A tapered cone-shaped inner circumferential surface having a slight angle with respect to the predetermined axial direction and a tapered cone-shaped outer circumferential surface that fits into the tapered cone-shaped inner circumferential surface by displacement in the predetermined axial direction. The backlash shape part to eliminate
The cylindrical inner peripheral surface having the predetermined axis as a central axis, and a cylindrical outer peripheral surface that is smaller in outer diameter than the cylindrical inner peripheral surface and in sliding contact with the cylindrical inner peripheral surface, and is orthogonal to the predetermined axis when fitted. Bending moment support shape part that supports the mating state against the bending moment in the direction,
Wherein with a predetermined axis coaxial shifting the position of the predetermined axis direction and set by changing the radius direction size respectively so that each mating by displacement in the predetermined axial direction,
A plurality of electrodes including at least a contact for power supply are provided in the electrical connection portion,
A modularized structure of a walking robot, wherein at least one of the electrodes in contact with each other is elastically biased so as to protrude toward the other.   The modular structure for a walking robot according to claim 1, wherein the separable coupling part is a screw coupling part. The modular structure for a walking robot according to claim 1, wherein the plurality of electrodes include control signal electrodes. The modular structure for a walking robot according to any one of claims 1 to 3 , wherein the component device includes at least one of an arm and a leg of the walking robot. The modular structure of the walking robot according to any one of claims 1 to 4 , wherein the component device includes a head of the walking robot on which a video camera is mounted.

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