JP4776159B2 - Electrical equipment mounting structure of humanoid robot - Google Patents

Description

  The present invention relates to a structure in which control system electrical equipment such as a motor drive circuit (driver) and an operation control computer is mounted on a humanoid robot.

  Control system electrical equipment (excluding motors) mounted on a walking robot or the like may be placed in the vicinity of a controlled device (eg, an actuator) controlled by the control system electrical equipment or in a required mounting space. desirable. However, mounting control system electrical equipment in the vicinity of walking robots, especially actuators mounted in the legs and arms of humanoid robots, makes it difficult to secure the mounting space and increase the weight. The increase in the inertial mass of the legs and arms greatly affects the walking performance of the humanoid robot and the whole body movement function (movement using the whole body, falling movement, rising movement, etc.), and the appearance of the humanoid robot It also affects the design.

Conventionally, humanoid robots have been designed so that the humanoid robot is in a stable state when its center of gravity is close to the center axis of the torso so that it is easy to maintain a stable gait as much as possible. As with other internal components, it is better to mount the control system electrical equipment around the central axis of the humanoid robot. Although the inertial mass that affects the whole body motor function can be reduced, in the humanoid robot that itself is a moving body, the mounting space that occupies the internal structure is very small, so A backpack for storing the control system electrical equipment is carried on the back (see Patent Document 1), or a part of the electrical equipment is stored on the legs and arms. In some cases, it is centrally placed in the body of a humanoid robot at the expense of the detachability and noise resistance of the electrical equipment to be mounted.
JP 2002-154083 A

  However, when a large protrusion such as a backpack is provided, there is a possibility that the walking performance and whole body movement function of the humanoid robot may be greatly restricted, and the degree of freedom of the appearance design of the humanoid robot may be impaired. .

  If a part of the electrical equipment is mounted on a leg or arm that requires exercise performance, the inertial mass including the mounting bracket and the like may increase, and the exercise performance of the leg and arm may be hindered. And about the electrical equipment which heat | fever-generates, there also exists a problem that the installation of the cooling means to a leg or an arm is needed individually.

  On the other hand, forcibly concentrated placement in the fuselage at the expense of the detachability of the electrical equipment requires a great deal of labor during assembly and maintenance, as well as wiring breakage and poor contact during these operations. There is a risk of causing the following problems. In addition, if wiring such as a power supply line and a signal line is forcibly packed, an unexpected problem may occur due to noise or the like.

SUMMARY OF THE INVENTION An object of the present invention is to advantageously solve the above-mentioned problems, and an electrical equipment mounting structure for a humanoid robot according to the present invention includes a control system including electrical equipment for controlling the operation of legs and arms of the humanoid robot. A fuselage outer shell having a front center opening and a rear left and right opening extending from the rear to the left and right sides, constituting an upper half of the body of the humanoid robot by unitizing electrical equipment for each function, A tower bar extending across the front central opening and removably coupled at both ends to the fuselage shell to reinforce the front of the fuselage shell , and a rearward end toward the rear of the fuselage shell A frame comprising two pipe frames that are removably fixed to a rear portion of the fuselage outer shell and attached to left and right side portions of the fuselage outer shell to reinforce the rear portion of the fuselage outer shell. Motor driver unit inside the shell The wireless LAN unit is mounted next to the rear part of the shell outer shell, the attitude sensor unit is stored in the rear part of the shell outer shell, and the rear driver unit is disposed between the front part and the rear part of the shell outer shell. Mounted, computer units mounted on both sides of the rear part of the shell outer shell, a plurality of electrical equipment units centrally mounted on the upper half of the body of the humanoid robot, and a plurality of battery cells are integrated and integrated, as each mounting location right sides of the frame of the fuselage lower half of the humanoid robot, and a battery unit that is focused mounted to the fuselage below the half of the humanoid robot, mounted on the tower bar, vertical tilting backwards the air is the same direction as that air obliquely downward rearward without, and a plurality of cooling means placed together on the electrical equipment that generates heat is concentrated mounted to the fuselage upper half.

  According to the electrical equipment mounting structure of the humanoid robot according to the present invention, since the control system electrical equipment is unitarily installed in the body of the humanoid robot, the backpack can be made unnecessary, and the person using the backpack can The restriction on the walking performance and the whole body movement function of the robot can be eliminated, and the degree of freedom of the appearance design of the humanoid robot can be increased.

  In addition, it is possible to eliminate the need to mount electrical equipment on the legs and arms that require exercise performance, and to avoid the increase in inertial mass including mounting brackets, etc., so that the exercise performance of the legs and arms can be improved. Furthermore, it is possible to collectively install the cooling means on the body of the electrical equipment that generates heat, and to eliminate the need to provide a space for installing the cooling means on the legs and arms.

  And since the control system electrical equipment that is unitized for each function is centrally mounted in the body of the humanoid robot, the labor at the time of assembly and maintenance can be reduced, and the wiring is disconnected during those operations. The possibility of secondary problems such as contact failure and contact failure can be reduced, and there is no need to force the wires such as power lines and signal lines to be packed. The possibility of doing can be eliminated.

In particular, the upper half of the torso of the humanoid robot , the front outer opening having a front central opening and the rear left and right openings extending from the rear to the left and right sides, extending across the front central opening. A tower bar that is removably coupled to the outer shell of the fuselage shell to reinforce the front of the fuselage shell, and is removably fixed to the left and right sides of the fuselage shell. A motor driver unit is housed inside the fuselage outer shell of a frame composed of two pipe frames that reinforce the rear portion of the fuselage outer shell toward the rear of the fuselage outer shell, A wireless LAN unit is mounted, a posture sensor unit is housed in the rear part of the fuselage outer shell, a rear driver unit is mounted between the front part and the rear part of the fuselage outer shell, Install the computer unit next to it Since it concentrated with multiple electrical equipment unit to the body upper half of the humanoid robot, with possible to secure a sufficient space for mounting electrical equipment in fuselage inner shell, and the rigidity of the body frame by attachment and detachment of the reinforcement member It is possible to ensure good mountability (ease of mounting work) and detachability of the electrical equipment.

Further, in the electrical equipment mounting structure of a humanoid robot of the present invention, the control system of electrical equipment has been turned into pre Kiyu knit have a plurality of board connected to each other by coupling a connector What happened was mounted on each substrate In this way, since it is not necessary to separately provide wiring between the substrates constituting the unit, the unit can be collected more compactly.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIGS. 1 and 2 are an exploded perspective view and an assembled perspective view showing an external appearance of an embodiment of the electrical equipment mounting structure of the humanoid robot of the present invention. FIGS. 3 (a) and 3 (b) FIG. 4A and FIG. 4B are side views of the humanoid robot as viewed from the left hand side, showing the electrical equipment mounting structure of the embodiment. 5A, 5B, and 5C are a perspective view showing a driver board, a driver unit assembling method, and an assembled driver unit in the electrical equipment mounting structure of the above embodiment, and FIG. (A), (b) is the front view and side view which show the whole said humanoid robot.

  As shown in FIGS. 6 (a) and 6 (b), the humanoid robot has two legs 2 below the body 1, and the legs 2 are in an inverted pendulum dynamic balance 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 fuselage 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 from side to side. The electrical equipment mounting structure of this embodiment is connected to the upper half 1a of the fuselage. In this embodiment, as shown in FIGS. 1 to 4, the frame of the upper half 1a of the fuselage includes a fuselage outer shell 5, a tower bar 6 as a front reinforcing member, and a rear reinforcing member. The two pipe frames 7 are arranged inside the upper half cover 8 of the front and rear split type as shown in FIG.

  The fuselage outer shell 5 is formed by casting an aluminum alloy so as to be substantially T-shaped when viewed from above, and includes a front central opening 5a occupying most of the front part, and a left and right side from the rear part. It has L-shaped rear left and right openings 5b, 5c as viewed from above across the section.

  The tower bar 6 is cut from a thick plate made of an aluminum alloy. The tower bar 6 has bolt holes at both ends and two cooling fans 9 that are directed to the middle and are fed rearward. It is mounted with a single cooling fan 9 in a direction to feed air sandwiched downward, and extends in the left-right direction across the front central opening 5a of the fuselage outer shell 5, with both ends at the front center. Removably fixed to the front part of the fuselage outer shell 5 on both sides of the opening 5a with a bolt to reinforce the front part of the fuselage outer shell 5.

  Each of the two pipe frames 7 is bent in a substantially L shape, and a fixed pipe 7a is fixed to the front end of the pipe frame 7 in a direction bent at a right angle. The bolts are fitted into cylindrical recesses formed on the left and right sides of the fuselage outer shell 5 and inserted into the fuselage shell 5 from the inside of the fuselage shell 5 to the left and right sides of the fuselage shell 5. Removably fixed.

  In addition, the two pipe frames 7 here have their rear end portions directed toward the rear portion of the fuselage outer shell 5, and the rear end portions of these pipe frames 7 are each reduced in diameter by tightening bolts. The two pipe frames 7 reinforce the rear part of the fuselage outer shell 5 by being detachably fixed to the lower end of the rear part of the fuselage outer shell 5 via the clamp 11.

  In the electrical equipment mounting structure of this embodiment, the speaker panel 13 is mounted on the upper side of the tower bar 6 of the fuselage outer shell 5 with respect to the fuselage frame having such a configuration, as shown in FIGS. Four motor driver units 14 each including three or five motor driver boards are accommodated in the shell 5, and a wireless LAN unit 15 is mounted on the side of the rear part of the fuselage outer shell 5. A posture sensor unit 16 in which a triaxial gyro and a triaxial acceleration sensor are integrated is housed in the rear part of the shell 5, and a rear driver unit 17 is mounted between the front part and the rear part of the fuselage outer shell 5, Further, two computer units 18 on which a large number of computer boards for a visual control system and a motion calculation system are combined are mounted on both sides of the rear part of the body shell 5.

  FIG. 5 shows the configuration of the motor driver unit 14 in which five motor driver boards 14a are combined. Here, each motor driver board 14a has its printed board as shown in FIG. 5 (a). A heat-dissipating plate 14b having a U-shaped cross section made of a metal plate with good thermal conductivity such as an aluminum alloy or a copper plate is arranged on the top, and an FET or the like mounted by soldering on a printed board of each motor driver board 14a. The plurality of heat generating elements 14c are closely fixed to the heat radiating plate 14b by small screws and radiate heat there, and the heat radiating plate 14b efficiently dissipates heat from each heat generating element 14c by a wide heat radiating area. As shown in FIG. 5 (b), the five motor driver boards 14a are integrally coupled to each other by spacers 14d and machine screws 14e, and then a wiring connector (not shown) mounted on each motor driver board 14a is wired. By coupling to the connector 14g mounted on the circuit board 14f, each is connected to the circuit board 14f, and the small screw 14e is tightened to the female screw provided on a part of the spacer 14d via the circuit board 14f. Thus, as shown in FIG. 5C, the wiring board 14f is integrally fixed.

  Thus, in the electrical equipment mounting structure of this embodiment, many of the connections between the boards in each unit including the motor driver unit 14 can be made by joining connectors mounted on each board or on each board. The connector mounted on the board is mainly coupled to the connector mounted on the wiring board, and the reliability of the connection between the boards is improved. Further, each printed circuit board and the heat radiation plate 14b having a U-shaped cross section are firmly mounted on the printed circuit board by soldering and a plurality of exothermic elements 14c fixed to the heat radiation plate 14b by a small screw 14e. Since they are coupled, the rigidity of each printed circuit board can be secured even when a multilayer printed circuit board or the like is used, and the unit can ensure high rigidity and operate stably against impact or the like.

  On the other hand, in the electrical equipment mounting structure of this embodiment, as shown in FIGS. 1 to 4, the frame 12 of the lower half 1b of the fuselage is cast by aluminum alloy so as to form a substantially inverted T shape when viewed from the front. The left and right side portions, which are formed and correspond to the T-shaped arm portions, are places where two battery units 19 are mounted, and each of these battery units 19 also includes a plurality of battery cells as electrical equipment collected together with brackets. And integrated.

  According to the electrical equipment mounting structure of the humanoid robot of this embodiment, the units 14 to 18 of the control system electrical equipment are centrally mounted in the upper half 1a of the body 1 of the humanoid robot, and the lower half 1b of the fuselage. Since the two battery units 19 are centrally mounted, it is possible to eliminate the need for a backpack, which can eliminate the restrictions on the walking performance and the whole body movement function of the humanoid robot by the backpack. The degree of freedom of appearance design can also be increased.

  In addition, it is possible to eliminate the need for mounting electrical equipment on the legs 2 and arms 3 that require exercise performance, and it is possible to avoid an increase in inertial mass including mounting brackets, so that the exercise performance of the legs 2 and arms 3 can be reduced. Furthermore, it is possible to install the cooling fan 9 on the body 1 collectively for the electrical equipment that generates heat, and to eliminate the need to provide a space for installing the cooling fan on the legs 2 and the arms 3.

  And since the control system electrical equipment which is united by units 14 to 18 for each function is centrally mounted in the body 1 of the humanoid robot, the labor at the time of assembly and maintenance can be reduced and those operations can be performed. Sometimes it is possible to reduce the possibility of secondary problems such as wire breakage and poor contact, and it is not necessary to force the wires such as power supply lines and signal lines, so it can be expected due to the influence of noise etc. It is possible to eliminate the possibility that no malfunction occurs.

  Furthermore, according to the electrical equipment mounting structure of the humanoid robot of this embodiment, the frame of the upper half 1a of the body 1 is divided into the front center opening 5a and the rear left and right openings 5b extending from the rear to the left and right sides, A fuselage outer shell 5 having 5c, and extending across the respective openings 5a to 5c of the fuselage outer shell 5, both ends thereof being detachably coupled to the fuselage outer shell 5, It has a tower bar 6 and two pipe frames 7 to be reinforced, and units 14 to 18 of the control system electrical equipment are mounted inside and on the side of the fuselage outer shell 5. A sufficient mounting space for the equipment can be secured, and the tower bar 6 and the two pipe frames 7 can be attached and detached to ensure the rigidity of the fuselage frame and the good mounting characteristics (ease of mounting work) and detachability of the electrical equipment. Can be secured

  Further, according to the electrical equipment mounting structure of the humanoid robot of this embodiment, the unit of the control system electrical equipment has a plurality of boards connected to each other by coupling connectors mounted on the boards. Therefore, since it is not necessary to separately provide wiring between the substrates constituting the unit, the unit can be gathered more compactly.

  As mentioned above, although demonstrated based on the example of illustration, this invention is not limited to the said example, For example, the electrical equipment mounting structure of this invention is as a structure which mounts control system electrical equipment on the whole body of a humanoid robot. Also good. Further, the battery may be distributed and mounted in the cells.

  Thus, according to the electrical equipment mounting structure of the humanoid robot of the present invention, the backpack can be made unnecessary, the restriction on the walking performance and the whole body movement function of the humanoid robot by the backpack can be eliminated, and the humanoid robot The degree of freedom of the exterior design can be increased, and it is possible to eliminate the need for mounting electrical equipment on legs and arms that require exercise performance, and it is possible to avoid an increase in inertial mass including mounting brackets, etc. The performance of the legs and arms can be improved, and the cooling means can be installed on the body of the electrical equipment that generates heat, eliminating the need to provide space for the cooling means on the legs and arms, In addition, the labor at the time of assembly and maintenance can be reduced, and the possibility of secondary problems such as disconnection of wiring and poor contact at the time of those operations can be reduced. To, defects that can not be expected by the influence of noise or the like can be eliminated can occur.

It is a disassembled perspective view which shows the external appearance of one Example of the electrical equipment mounting structure of the humanoid robot of this invention. It is a perspective view of the assembly state which shows the external appearance of the electrical equipment mounting structure of the humanoid robot of the said Example. (A), (b) is the top view and front view which show the electrical equipment mounting structure of the said Example. (A), (b) is the side view and rear view which looked at the electrical equipment mounting structure of the said Example seen from the left hand side of the said humanoid robot. (A), (b), (c) is a perspective view which respectively shows the driver board in the electrical equipment mounting structure of the said Example, the assembly method of a driver unit, and the assembled driver unit. (A), (b) is the front view and side view which show the whole said humanoid robot.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Body 1a Upper half of body 1b Lower half of body 2 Leg 3 Arm 4 Head 5 Body outer shell 5a Front central opening 5b Rear left opening 5c Rear right opening 6 Tower bar 7 Pipe frame 7a Fixed pipe 8 Upper body Half cover 9 Cooling fan 11 Clamp 12 Lower body frame 13 Speaker panel 14 Motor driver unit 14a Motor driver board 14b Heat release plate 14c Heat generating element 14d Spacer 14e Small screw 14f Wiring board 14g Connector 15 Wireless LAN unit 16 Posture Sensor unit 17 Rear driver unit 18 Computer unit 19 Battery unit

Claims (2)

Front central opening that forms the upper half of the humanoid robot by unitizing control system electrical equipment, including electrical equipment that controls the operation of the legs and arms of the humanoid robot, into functions. And a fuselage outer shell having rear left and right openings extending from the rear to the left and right sides, extending across the front central opening and removably coupled at both ends to the fuselage outer shell. A tower bar that reinforces the body shell , and a rear end toward the rear part of the fuselage outer shell is removably fixed to the rear part of the fuselage shell and is attached to the left and right sides of the fuselage shell. A motor driver unit is housed inside the fuselage outer shell of a frame composed of two pipe frames that reinforce the rear portion, a wireless LAN unit is mounted beside the rear portion of the fuselage outer shell, The attitude sensor unit is housed in the rear part. A rear driver unit is mounted between the front and rear of the fuselage outer shell, a computer unit is mounted on both sides of the rear of the fuselage outer shell, and concentrated on the upper half of the trunk of the humanoid robot. A plurality of electrical equipment units
A battery unit in which a plurality of battery cells are integrated and integrated, with the left and right sides of the frame of the lower half of the humanoid robot as the mounting location, and a battery unit that is centrally mounted in the lower half of the humanoid robot,
Installation wherein mounted on the tower bar, the direction of air to the air for orientation and backward without vertically inclined rearward obliquely downward, together for the electrical equipment that generates heat is concentrated mounted to the fuselage upper half An electrical equipment mounting structure of a humanoid robot having a plurality of cooling means.   2. The humanoid robot electrical equipment mounting structure according to claim 1, wherein the unitized control system electrical equipment has a plurality of boards connected to each other by coupling connectors mounted on each board.

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