JP4662705B2 - Waist yaw axis drive device for humanoid robot - Google Patents

Description

  The present invention relates to a lumbar yaw axis drive device for rotating the upper half of a torso to the left and right relative to the lower half of the torso of a humanoid robot.

  The above-mentioned hip-yaw axis drive device for humanoid robots has a space for optimally guiding a large amount of wiring from the lower body to the upper body, and has high rigidity and no backlash for stable robot operation. Is required. In addition, considering the ratio of the body to the overall dimensions of the humanoid bot and the amount of equipment mounted, the waist yaw axis driving device needs to be more compactly packed.

By the way, the movable axis drive device of the conventional robot usually passes the wiring outside the support shaft member that constitutes the movable shaft of the drive device (for example, Patent Document 1), or the support shaft member that constitutes the movable shaft. An axial groove is provided, and wiring is passed through the axial groove (for example, Patent Document 2).
Japanese Patent Laid-Open No. 10-166286 JP 2000-210888 A

  However, when the wiring is externally connected, there are cases where the robot operation cannot be stably performed due to unstable wiring outside, and there is a possibility that the operation is limited. Furthermore, the wiring itself has a risk of disconnection due to excessive external force.

  On the other hand, when the wiring is inserted, there are cases where the reduction gear is arranged in series with the support shaft member and cases where the reduction gear is arranged in parallel and the power is transmitted between them with a gear or a timing belt. When the reduction gears are arranged in series and the wiring is passed through the support shaft member, if the amount of wiring increases or the operating angle increases, the groove becomes large and the rigidity of the support shaft member may be reduced. Further, particularly with respect to the waist yaw axis, there has been a problem that the longitudinal dimension of the fuselage is increased by the speed reducer arranged in series with the support shaft member (yaw shaft member).

  When a speed reducer is arranged in parallel on the support shaft member and power is transmitted between them with a gear or a timing belt, and wiring is passed through the support shaft member, a large force is applied on the output side of the speed reducer. There was a problem that the backlash of the power transmission unit using the gears and the timing belt was too large.

SUMMARY OF THE INVENTION An object of the present invention is to advantageously solve the above-described problems, and a hip-yaw axis drive device for a humanoid robot according to the present invention is configured so that the upper half of the body of the humanoid robot is lower than the lower half of the body. the in waist yaw axis drive device for relative to pivot, to one of said upper half and said lower half, in the lateral direction of the body and the lower extending into the body in the vertical direction A hollow support shaft member integrally formed with an extending upper portion is coupled, and a bearing that rotatably supports the support shaft member is provided on the other of the lower half portion and the upper half portion, While mounting the reduction gear disposed in parallel to the support shaft member and a motor for driving the reduction gear on the side where the support shaft member is not coupled between the lower half and the upper half, The output of the motor is connected to the input shaft of the reducer via a pulley and a belt. A shaft drivingly connected, to the output member of the reduction gear, and ligated prior SL via a parallel link mechanism in the direction which reducer and the motor is not mounted within the said upper half and lower half It is characterized by.

  According to the hip-yaw axis drive device of the humanoid robot of the present invention, by passing a large amount of wiring from the lower body through the hollow support shaft member extending in the vertical direction of the torso and guiding it to the upper body, Since there is no unstable wiring outside, the robot can be operated stably, there is no restriction on the operation, and the wiring itself is free from the risk of disconnection due to excessive external force. be able to.

  Moreover, according to the lumbar yaw axis drive device of the humanoid robot of the present invention, since the speed reducer of the lumbar yaw axis drive device is not arranged in series with the support shaft member, it is not necessary to provide a slit in the support shaft member. Therefore, there is no risk of lowering the rigidity of the support shaft member even if the amount of wiring increases or the operating angle increases, and the longitudinal dimension of the fuselage is increased by the speed reducer arranged in series with the support shaft member. There is nothing.

  And according to the waist yaw axis drive device of the humanoid robot of the present invention, the speed reducer arranged in parallel with the support shaft member of the waist yaw axis drive device on either the lower half or the upper half of the torso And a motor that drives the speed reducer, and the output member of the speed reducer is connected to the other of the lower half and the upper half via a parallel link mechanism, so that the waist yaw axis drive It is possible to substantially eliminate the backlash of the power transmission portion to which a large force is applied between the support shaft member of the device and the speed reducer.

  In the lumbar yaw axis drive device for a humanoid robot according to the present invention, the lower half is mounted with a speed reducer arranged in parallel with the support shaft member and a motor for driving the speed reducer, and the speed reduction The output member of the machine may be connected via a parallel link mechanism to the support shaft member of the lumbar yaw shaft drive device that is drive-coupled to the upper half. Since the machine and the motor for driving the speed reducer are mounted on the lower half of the body, it is possible to effectively secure a mounting space for control electrical equipment and the like in the upper half of the body of the humanoid robot.

  Further, in the lumbar yaw axis drive device for a humanoid robot according to the present invention, the support shaft member of the lumbar yaw axis drive device rotates the upper half of the body relatively back and forth relative to the lower half of the body. It may be integrally coupled with the support shaft member of the waist pitch shaft drive device to be moved, and in this way, even when the waist pitch shaft drive device is provided, the wiring to the support shaft member can be routed. It can be done easily and safely.

  In the lumbar yaw axis driving device of the humanoid robot of the present invention, the support shaft member of the lumbar pitch axis driving device may be mounted with the speed reducer of the lumbar pitch axis driving device. For example, even when the waist pitch axis driving device is provided with improved space efficiency, it is possible to prevent the longitudinal dimension of the body from increasing.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. 1 (a), (b), and (c) are plan views showing an embodiment of a waist-yaw axis drive device for a humanoid robot according to the present invention together with a lower half of a body with a cover, FIG. The sectional view and perspective view along the AA line of a), FIG. 2 (a), (b) is the front view and side view showing the whole of the humanoid robot, FIG. 3, FIG. 4 and FIG. The front view showing the waist yaw axis driving device of the above embodiment together with the upper half frame and the lower half frame of the body, the side view seen from the left side of the robot, and the side view seen from the right side of the robot, FIG. FIGS. 7A and 7B are perspective views showing an example of the waist yaw axis driving device with the upper half frame and the lower half frame of the body, and FIGS. 7A and 7B show the waist yaw axis driving device of the above embodiment in the lower half of the body. It is the front view shown with a frame, and the side view seen from the left side of the robot.

  As shown in FIGS. 2 (a) and 2 (b), the humanoid robot has two legs 2 under the body 1, and these legs 2 balance the dynamics in an inverted pendulum by a known method. While walking. This humanoid robot also has arms 3 on the left and right as viewed from the robot itself of the body 1 and a head 4 on the body 1.

  The body 1 here comprises 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. As shown in FIGS. The frame comprises a fuselage outer shell 5 formed by casting an aluminum alloy, a tower bar 6 mounted on the fuselage shell 5 and two pipe frames 7, and is divided into a front and rear split fuselage. The inside of the shell outer shell 5 and the left and right sides of the rear part are spaces for mounting electrical equipment (not shown). Further, the frame 12 of the lower half 1b of the body is formed by casting an aluminum alloy so as to form a substantially inverted T shape when viewed from the front, and the left and right side portions corresponding to the T-shaped arm portion are: It is a mounting space for two battery units (not shown).

  The waist yaw axis driving device of this embodiment is for rotating the upper half 1a of the body relatively to the left and right around the axis Y with respect to the lower half 1b of the trunk. A hollow support shaft member 13 having a portion extending in the vertical direction of the body 1 in an upright state is coupled to the body upper half 1a of the half 1b and the body upper half 1a. That is, the hollow support shaft member 13 here includes a hollow lower shaft portion 13 a extending in the vertical direction of the body 1 in an upright state and a hollow upper shaft portion 13 b extending in the left-right direction of the body 1. The upper shaft portion 13b has a substantially inverted L-shape, and the upper shaft portion 13b has a left end portion (right end portion in FIG. 1B) as a speed reducer of the waist pitch shaft driving device as viewed from the robot. A harmonic drive mechanism (trade name) 14 is mounted, an annular internal gear as a fixing member of the harmonic drive mechanism 14 is fixed to the upper shaft portion 13b, and an elastic external gear as an output member of the harmonic drive mechanism 14 is provided. The lower left end portion (the lower right end portion in FIG. 3) 5a as viewed from the robot of the outer shell 5 of the upper half 1a of the trunk is integrally coupled.

  Further, as shown in FIG. 5, the hollow support shaft member 13 has a hollow shaft 15 as shown in FIG. 5 via a bearing at the right end portion (left end portion in FIG. 1B) as viewed from the robot of the hollow upper shaft portion 13 b. Is supported rotatably around the axis P, and the hollow shaft 15 is integrally provided with a lower right end (left lower end in FIG. 3) 5b as viewed from the robot of the outer shell 5 of the upper half 1a of the body. Is bound to. The harmonic drive mechanism 14 has an input shaft through two pulleys 16 and 17 and a timing belt 18, and a lower left end (see FIG. 3) as seen from the robot of the body shell 5 of the body upper half 1 a. In this case, the output shaft of the motor 19 of the waist pitch shaft driving device mounted on the lower right end is drive-coupled. The waist pitch shaft drive device is configured to decelerate and rotate the outer shell 5 and thus the upper half 1a of the body relatively back and forth around the axis P with respect to the lower half 1b of the body.

  On the other hand, in this embodiment, as shown in FIGS. 1 and 7, the support shaft member 13 is hollow in the upper end portion of the central portion corresponding to the T-shaped shaft portion of the frame 12 of the lower half 1b of the body. A bearing 20 is disposed as a bearing that rotatably supports the lower shaft portion 13a around the axis Y, and the upper end portion on the rear side of the bearing 20 in the center portion of the frame 12 is disposed on the rear portion of the embodiment. A harmonic drive mechanism (trade name) 21 as a speed reducer of the hip yaw axis drive device is mounted, and an annular internal gear as a fixing member of the harmonic drive mechanism 21 is fixed to the upper end of the center portion of the frame 12; Further, the input shaft of the harmonic drive mechanism 21 projecting into the frame 12 from the rear upper end of the bearing 20 in the center of the frame 12 has two pulleys 22, 23 and Through the fine timing belt 24, the output shaft of the motor 25 mounted on the waist yaw-axis drive unit in the central portion of the frame 12 of the body lower half portion 1b is driven coupling.

  Here, the central portion of the substantially straight drive arm 26 is coupled to the elastic external gear as the output member of the harmonic drive mechanism 21, and both ends of the drive arm 26 are parallel to each other in the front and rear of the robot. The rear end portions of two connecting rods 27 each having an adjustable length extending in the direction are pivotally supported, and the upper shaft portion 13b of the support shaft member 13 and a harmonic drive mounted thereon. The lower part of the mechanism 14 pivotally supports the front end portions of the two connecting rods 27 so as to be rotatable. Thus, in this embodiment, the two connecting rods 27 form a parallel link, and a parallel link mechanism for connecting the output member of the harmonic drive mechanism 21 to the upper body half 1a is configured, and the lower body half 1b. The output rotation of the motor 25 mounted on the motor is decelerated by the harmonic drive mechanism 21 having a large reduction ratio, and the drive arm 26 is rotated. The rotation is performed by the two connecting rods 27 and the upper shaft portion of the support shaft member 13. 13b and the harmonic drive mechanism 14 mounted thereon, and the fuselage outer shell 5 with the lower ends 5a and 5b supported by them and the fuselage upper half 1a relative to the fuselage lower half 1b around the axis Y A waist yaw axis driving device that rotates right and left is configured.

  The frame 12 of the lower half 1b of the fuselage is covered with a front cover 28 of the lower half of the fuselage and a butt cover 29 in which a gel material is provided so as to absorb shock, as shown in FIGS. It has been broken.

  According to the lumbar yaw axis driving device of the humanoid robot of this embodiment, the lower portion extends in the vertical direction of the body 1 and the upper portion extends in the left-right direction of the body 1 in the hollow support shaft member 13. As shown by the arrow R in Fig. 1 (b), a large amount of wiring from the lower body is inserted and guided to the upper body, so that unstable wiring is eliminated outside, so that the robot can be operated stably. In addition, the operation is not limited, and the risk of disconnection due to an excessive external force can be eliminated for the wiring itself.

  Moreover, according to the lumbar yaw axis drive device of the humanoid robot of this embodiment, since the harmonic drive mechanism 21 of the lumbar yaw axis drive device is not arranged in series with the support shaft member 13, a slit is formed in the support shaft member 13. Therefore, even if the amount of wiring increases or the operating angle increases, the rigidity of the support shaft member 13 does not decrease, and the fuselage is provided by the speed reducer arranged in series with the support shaft member 13. The vertical dimension of the is not increased.

  According to the lumbar yaw axis driving device of the humanoid robot of this embodiment, the lower half 1b of the lower half 1b and the upper half 1a of the body 1 is provided with the support shaft member of the lumbar yaw axis driving device. Since the harmonic drive mechanism 21 arranged in parallel with the motor 13 and the motor 25 for driving the same are mounted and the output member of the harmonic drive mechanism 21 is connected to the upper half 1a via the parallel link mechanism, the waist yaw axis The backlash of the power transmission unit to which a large force is applied between the support shaft member 13 of the drive device and the harmonic drive mechanism 21 can be substantially eliminated.

  Furthermore, according to the lumbar yaw axis driving device of the humanoid robot of this embodiment, the harmonic drive mechanism 21 of the lumbar yaw axis driving device and the motor 25 for driving the same are mounted on the lower half 1b of the body 1 as described above. Since it is mounted, it is possible to effectively secure a mounting space for the control electrical equipment or the like in the upper half 1a of the body 1 of the humanoid robot.

  Further, according to the lumbar yaw axis driving device of the humanoid robot of this embodiment, the lower shaft portion 13a of the support shaft member 13 of the lumbar yaw axis driving device extending in the vertical direction of the body 1 is below the body 1. Since the upper half portion 1b of the waist 1 that rotates the upper half 1a of the body 1 relatively back and forth with respect to the half 1b is integrated with the upper shaft portion 13b as a support shaft member, the waist pitch shaft drive device Even if it is provided, the wiring through the support shaft member can be easily and safely performed.

  According to the lumbar yaw axis driving device of the humanoid robot of this embodiment, the upper shaft portion 13b as the support shaft member of the lumbar pitch axis driving device is equipped with the harmonic drive mechanism 14 of the lumbar pitch axis driving device. Therefore, space efficiency can be improved and it can prevent that the vertical dimension of the fuselage | body 1 becomes large even if the waist pitch axis drive device is provided.

  Although the present invention has been described based on the illustrated example, the present invention is not limited to the above example. For example, the waist yaw axis driving device of the present invention may be used alone without being combined with the waist pitch axis driving device. . Further, the support shaft member may be coupled to the lower half of the fuselage and the bearing may be provided in the upper half of the fuselage, and the reducer and motor of the waist yaw shaft drive device may be mounted on the upper half of the fuselage. .

  Thus, according to the hip yaw axis drive device of the humanoid robot of the present invention, since there is no unstable wiring outside, the robot can be stably operated, and the operation is not limited. The risk of disconnection due to excessive external force can be eliminated for the wiring itself. In addition, since there is no need to provide a slit in the support shaft member, there is no risk of lowering the rigidity of the support shaft member even if the amount of wiring increases or the operating angle increases, and the speed reduction arranged in series with the support shaft member The machine does not increase the longitudinal dimensions of the fuselage. And since it connects by a parallel link mechanism, the backlash of the power transmission between the support shaft member of a waist yaw axis drive device and a reduction gear can be substantially eliminated.

(A), (b), (c) is a plan view showing an embodiment of a waist-yaw axis driving device for a humanoid robot according to the present invention together with a lower half of a torso with a cover, A- in FIG. It is sectional drawing and a perspective view which follow an A line. (A), (b) is the front view and side view which show the whole humanoid robot to which the waist yaw axis drive device of the said Example is applied. It is a front view which shows the waist yaw axis drive device of the said Example with the flame | frame of a trunk | drum upper half part and a lower half part. It is the side view seen from the left side of the robot which shows the waist yaw axis drive device of the above-mentioned example with the frame of the upper half of the body and the lower half. It is the side view seen from the right side of the robot which shows the waist yaw axis drive device of the above-mentioned embodiment with the frames of the upper half and the lower half of the body. It is a perspective view which shows the waist yaw axis drive device of the said Example with the frame of the upper half part of a trunk | drum, and a lower half part. (A), (b) is the front view which shows the waist yaw axis drive device of the said Example with the frame of the lower half part of the fuselage, and the side view seen from the left side of the robot.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Body 1a Upper half of fuselage 1b Lower half of fuselage 2 Leg 3 Arm 4 Head 5 Trunk shell 5a Lower left end as seen from robot of trunk shell 5b Lower right end as seen from robot of trunk shell 6 Tower bar 7 Pipe frame 8 Body upper half cover 12 Body lower half frame 13 Support shaft member 13a Lower shaft portion 13b Upper shaft portion 14, 21 Harmonic drive mechanism 15 Hollow shaft 16, 17, 22, 23 Pulley 18, 24 Timing belt 19 , 25 Motor 20 Bearing 26 Drive arm 27 Connecting rod 28 Front half lower body cover 29 Bottom cover

Claims (4)

In humanoid waist yaw axis drive device for relative to pivot the upper half of its body to the lower half of the body of the robot,
A hollow support shaft member in which a lower part extending in the vertical direction of the body and an upper part extending in the left-right direction of the body are integrally formed on any one of the lower half part and the upper half part. In addition to coupling, the other of the lower half and the upper half is provided with a bearing that rotatably supports the support shaft member,
While mounting the speed reducer arranged in parallel to the support shaft member and the motor driving the speed reducer on the side where the support shaft member is not coupled between the lower half and the upper half, through the pulley and belt drive coupling the output shaft of the motor to the input shaft of the reduction gear, the output member of the reduction gear, the reduction gear and the one of said upper half and before Symbol lower half A hip-yaw axis drive device for a humanoid robot, characterized in that it is connected to a side not equipped with a motor via a parallel link mechanism.   The lower half is mounted with a speed reducer arranged in parallel with the support shaft member and a motor for driving the speed reducer, and an output member of the speed reducer is drivingly coupled to the upper half. 2. The hip yaw axis drive device for a human robot according to claim 1, wherein the device is connected to a support shaft member of the axis drive device via a parallel link mechanism.   The support shaft member of the waist yaw shaft drive device is integrally coupled to the support shaft member of the waist pitch shaft drive device that rotates the upper half of the body relatively back and forth relative to the lower half of the body. The human yaw axis drive apparatus for a human robot according to claim 1 or 2, wherein   4. A human robot hip yaw axis driving device according to claim 3, wherein the support shaft member of the hip pitch axis driving device is mounted with a speed reducer of the hip pitch axis driving device.

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