JP4921010B2 - Cooling structure for walking robot - Google Patents

Description

  The present invention includes an internal structure having a frame having a shape corresponding to the function of the robot, and an exterior of a soft material that covers the internal structure to make the external shape of the robot an arbitrary shape and is deformed by being pushed by hand. , A cooling structure for a walking robot.

  Conventional normal walking robots have a shell-like frame that contains a drive mechanism, control circuit, etc. covered with a thin exterior made of a hard material, or the shell-like frame itself forms an exoskeleton. It also served as an exterior and maintained its shape and rigidity.

  By the way, if a hard cover is attached to the shell-shaped frame as described above or the frame itself also serves as an exterior, the degree of freedom of the outer shape is reduced. For this reason, internal structures with a so-called endoskeleton-like frame with a shape that places a drive mechanism at the required position corresponding to the function of the robot regardless of the outer shape required for the robot in recent years are made of soft materials. A walking robot has been produced that is covered with a completed exterior and whose external shape resembles that of a living organism.

  As such a walking robot having an endoskeleton-like frame, for example, a dinosaur type manufactured by the applicant of the present application, which is shown in a perspective view of the exterior 1 in FIG. 5A and the internal structure 2 in FIG. 5B, respectively. FIG. 6 is an exploded perspective view of the exterior 1 of the dinosaur-type robot, and FIG. 7 is a longitudinal sectional view of the exterior 1 and the internal structure 2 of the dinosaur-type robot. FIG. 8 is a cross-sectional view of the exterior 1 and the internal structure 2 of the dinosaur-type robot.

  As shown in FIG. 5B, this dinosaur type robot has an internal structure 2 having a so-called endoskeleton-like frame having a shape in which a drive mechanism is arranged at a required position corresponding to the function of the biped walking robot. It is covered with a dinosaur-type exterior 1 as shown in FIG. 5 (a), and the exterior 1 here has a head Z, left and right body parts B, and a tail part T as shown in FIG. It is constructed so as to cover the internal structure 2 by being joined, and is configured by providing a silicon outer skin on the outer surface of the meat part made of urethane foam as a soft material forming the external shape of the exterior 1 Has been.

  In addition, as shown in FIGS. 5B and 7, the internal structure 2 here includes a chest frame 3 a, a torso frame 3 b, a neck frame 3 c, a head frame 3 d, and a lower jaw as a frame 3. Frame 3e, left and right front leg frame 3f, left and right rear leg frame upper part 3g, left and right rear leg frame lower part 3h, left and right ankle frame 3i, left and right foot frame 3j, tail frame base 3k, and tail frame middle part 3l And a tail frame tip 3m.

As shown in FIGS. 7 and 8, the internal structure 2 further includes a chest frame yaw axis motor 4a and a neck frame yaw axis motor as motors 4 for driving joints connecting the frames 3 by belt transmission or the like. 4b, neck frame pitch axis motor 4c, head frame pitch axis motor 4d, head frame roll axis motor 4f, lower jaw frame pitch axis motor 4e, left and right front leg frame pitch axis motor 4g, and left and right rear leg frames Upper yaw axis motor 4h, left and right rear leg frame upper roll axis motor 4i, left and right rear leg frame upper pitch axis motor 4j, left and right rear leg frame lower pitch axis (knee pitch axis) motor 4k, and left and right ankle frame pitch axis Motor 41, left and right foot frame pitch axis motor 4m, left and right foot frame roll axis motor 4n, tail frame A base yaw axis motor 4o, a tail frame intermediate part pitch axis motor 4p, a tail frame tip part yaw axis motor 4q, a central control unit (CPU) for controlling the operation of these motors 4, a motor driver, etc. The control device 5 is provided in the body frame 3b. The yaw axis motor is a motor that drives a joint around the yaw axis, which is a rotation axis extending in the vertical direction of the robot, and the pitch axis motor is a rotation axis extending in the left-right direction of the robot. The motor that drives the joint around the pitch axis and the roll axis motor are motors that drive the joint around the roll axis, which is a rotation axis extending in the front-rear direction of the robot.
http://www.nedo.go.jp/expo2005/robot/dinosaur/

  By the way, the walking robot having an endoskeleton-like frame as described above has a high density of heating elements such as the motor 4 and the control device 5, and these heating elements are in large quantities during operation of the walking robot. Therefore, it is necessary to sufficiently dissipate heat from these heating elements. Further, the walking robot having an endoskeleton-like frame has a flesh formed of foamed urethane foam so that the exterior 1 faithfully reproduces the outer shape of a living organism and follows the movement of the frame. Since the meat portion becomes a heat insulating material and heat is easily generated inside, it is necessary to secure a cooling ventilation path.

  However, in the walking robot having the endoskeleton-like frame, most of the motor 4 is attached to the outside of the frame 3, while the exterior 1 is made of foamed urethane foam. Since the robot deforms under the influence of the change in the posture of the robot, it is difficult to always ensure a stable ventilation path for cooling the heating elements such as the motor 4 and the control device 5 in the gap between the exterior 1 and the internal structure 2. However, depending on the posture change of the robot, there is a problem that the ventilation path and its intake / exhaust port are narrowed or closed, so that the heating element such as the motor 4 or the control device 5 can be hardly or completely cooled.

An object of the present invention is to advantageously solve the above-described problems, and a cooling structure for a walking robot according to the present invention deforms an internal structure having an endoskeleton-like frame by deforming an attitude and deforms the internal structure. it is difficult to always stably ensure ventilation path in the gap between the structures, covered by a soft material exterior, the walking robot that the outer shape into a desired shape, the shape corresponding to the function of the robot forming a frame, in each part frame are articulated, the provided internals vent route for cooling a heating element of, narrow the exterior is also deformed by the posture change of the robot The vent passage and the intake / exhaust port which do not turn or close are used.

Is a according to the walking robot cooling structure of the present invention, constitutes the shape of the frame corresponding to the function of the robot, in each part frame are articulated, the heating elements of the internal structure and a cooling ventilating route, the exterior is a ventilation channel and intake and exhaust ports which is not or close narrowed be modified by posture change of the robot treasure, into a desired shape the outer shape of the robot over the internals Even if the exterior of the soft material to be deformed due to the posture change of the robot, the cooling ventilation path of the heating element will not be narrowed or closed.

  Therefore, according to the cooling structure for a walking robot of the present invention, it is possible to always stably secure a ventilation path and a suction / exhaust port for cooling a heating element such as a motor for driving a joint and a control device for controlling the joint, These heating elements can be reliably cooled.

  In the walking robot cooling structure of the present invention, the heating element may be disposed in the ventilation path in the frame, and in this way, the cooling air flowing through the ventilation path is used. The heating element can be directly cooled, and the cooling efficiency of the heating element can be increased.

  In the walking robot cooling structure of the present invention, the heating element may be at least one of a joint driving motor of the robot and a control device of the robot. In this way, the robot is in operation. It is possible to effectively cool the joint drive motor and the control device that generate a large amount of heat.

Further, in the cooling structure for a walking robot according to the present invention, an electric fan may be provided in the ventilation path in the frame, and in this way, cooling air is forced to flow in the ventilation path. It is possible to increase the cooling efficiency of the heating element.
Further, in the cooling structure for a walking robot according to the present invention, the ventilation path provided in the frame in the left and right rear legs of the robot is provided in the portion other than the left and right rear legs of the robot. Since the heat of the air in the ventilation path in the left and right rear legs does not enter the trunk, the cooling efficiency of the control devices and the like in the trunk can be further increased.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Here, FIGS. 1 and 2 apply the cooling structure for a walking robot of the present invention to the dinosaur robot shown in FIGS. 5A and 5B as an example of a walking robot having an endoskeleton-like frame. 2 is a longitudinal sectional view and a transverse sectional view showing the first embodiment, in which the same parts as those in the prior art are indicated by the same reference numerals.

  That is, the dinosaur type robot having the cooling structure of the first embodiment has a shape in which a drive mechanism is arranged at a necessary position corresponding to the function of the biped walking type robot as in the conventional examples shown in FIGS. The inner structure 2 having a so-called endoskeleton-like frame is covered with a dinosaur-type exterior 1 as shown in FIG. 5 (a), and the exterior 1 here also has a head portion as shown in FIG. H, the left and right body parts B, and the tail part T are joined with a zipper (not shown) so as to cover the internal structure 2, and made of foamed urethane foam as a soft material that forms the external shape of the exterior 1. A silicon outer skin is provided on the outer surface of the meat part.

  The internal structure 2 here also includes a chest frame 3a, a torso frame 3b, a neck frame 3c, a head frame 3d, a lower jaw frame 3e, left and right front leg frames 3f, and left and right rear legs as frames 3. It has a frame upper portion 3g, left and right rear leg frame lower portions 3h, left and right ankle frames 3i, left and right foot frames 3j, a tail frame base portion 3k, a tail frame intermediate portion 3l, and a tail frame tip portion 3m.

  As in the conventional example, the internal structure 2 further includes a chest frame yaw axis motor 4a, a neck frame yaw axis motor 4b, a neck part as motors 4 for driving joints connecting the frames 3 by belt transmission or the like. Frame pitch axis motor 4c, head frame pitch axis motor 4d, head frame roll axis motor 4f, lower jaw frame pitch axis motor 4e, left and right front leg frame pitch axis motor 4g, left and right rear leg frame upper yaw axis motor 4h, left and right rear leg frame upper roll axis motor 4i, left and right rear leg frame upper pitch axis motor 4j, left and right rear leg frame lower pitch axis (knee pitch axis) motor 4k, left and right ankle frame pitch axis motor 4l, Left and right foot frame pitch axis motor 4m, left and right foot frame roll axis motor 4n, tail frame base Y A control device such as a central control unit (CPU) or a motor driver that has a shaft motor 4o, a tail frame intermediate portion pitch shaft motor 4p, and a tail frame tip portion yaw shaft motor 4q, and controls the operation of these motors 4. 5 is provided in the body frame 3b.

  Thus, in the cooling structure of the first embodiment, as shown in FIGS. 1 and 2, the torso frame passes from the left and right ankle frames 3i through the left and right rear leg frame lower parts 3h and the left and right rear leg frame upper parts 3g. A cooling air ventilation path 6 is provided which reaches the upper part in 3b and extends from the upper part in the trunk frame 3b to the head frame 3d through the upper part in the chest frame 3a and the lower side of the neck frame 3c. In addition, heat from the left and right rear leg frame upper yaw shaft motor 4h and the left and right rear leg frame upper roll shaft motor 4i is discharged to a portion in the trunk frame 3b of the cooling air ventilation path 6, Heat from the control device 5 is also discharged, and a chest frame yaw axis motor 4a and a neck frame yaw axis motor are provided in the portion of the cooling air ventilation path 6 inside the chest frame 3a. Heat from b is discharged, and the cooling air ventilation path 6 further extends to the rear part in the body frame 3b to discharge heat from the motors 4o, 4p, 4q in the rear part including the tail T. At the same time, it extends to the lower part of the chest frame 3a in order to discharge heat from the left and right front leg frame pitch axis motor 4g. Between the left and right foot frames 3j and the lower ends of the left and right rear legs of the exterior 1, an air inlet 6a to the ventilation path 6 is provided inconspicuously, and the head H of the exterior 1 is always at a minimum. An exhaust port 6b from the ventilation path 6 is provided at a port opened to a predetermined extent.

  Furthermore, conventionally, the left and right rear leg frame upper pitch axis motor 4j, the left and right rear leg frame lower pitch axis (knee pitch axis) motor 4k, the left and right ankle frame pitch axis motor 41, and the left and right foot frame pitch axis motor 4m 1 and 2, the left and right rear leg frame upper pitch axis motor 4j and the left and right rear leg frame lower pitch axis are provided in the cooling structure of the first embodiment. A (knee pitch axis) motor 4k is disposed in the ventilation path 6 in the left and right rear leg frame upper part 3g or a part of the motor, and the left and right ankle frame pitch axis motor 4l is in the ventilation path 6 in the left and right rear leg frame lower part 3h. The entire left and right foot frame pitch axis motor 4m is arranged in the left and right ankle frame 3i together with the left and right foot frame roll axis motor 4n. It is arranged in its entirety motor care path 6.

  In the cooling structure of the first embodiment, the electric fan 7 is connected to, for example, the ventilation path 6 in the left and right rear leg frame upper part 3g, the ventilation path 6 in the left and right rear leg frame lower part 3h, and the ventilation in the left and right ankle frame 3i. The left and right rear leg frame upper part 3g, the left and right rear leg frame lower part 3h and the left and right left and right rear legs in the right and left rear legs are arranged in the path 6, the ventilation path 6 in the trunk frame 3b, and the ventilation path 6 in the chest frame 3a, respectively. Combined with the rising action of the warm air in the ventilation path 6 in the ankle frame 3i, a flow of cooling air is generated in the ventilation path 6 from the intake port 6a to the exhaust port 6b as indicated by an arrow in the figure. Yes.

  According to the cooling structure of the first embodiment, the cooling air passage 6 for the plurality of motors 4 and the control device 5 as the heating elements of the internal structure 2 is provided in the frame 3 having a shape corresponding to the function of the robot. Even if the exterior 1 of the soft material that covers the internal structure 2 and makes the external shape of the robot an arbitrary shape is deformed due to a change in the posture of the robot, a cooling ventilation path for the motor 4 and the control device 5 is provided. 6 and intake / exhaust ports 6a and 6b are not narrowed or closed.

  Therefore, according to the walking robot cooling structure of the first embodiment, the cooling passage 6 and the intake / exhaust ports 6a and 6b of the motor 4 and the control device 5 can be always secured stably, and the motor 4 In addition, the control device 5 can be reliably cooled.

  Further, according to the walking robot cooling structure of the first embodiment, since at least a part of each of the multiple motors 4 is disposed in the ventilation path 6 in the frame 3, the flow through the ventilation path 6 is performed. A large number of motors 4 can be directly cooled with the cooling air to be cooled, and the cooling efficiency of the motors 4 can be increased.

  Furthermore, according to the walking robot cooling structure of the first embodiment, the joint driving motor 4 that generates a large amount of heat during operation of the robot is disposed in the ventilation path 6 in the frame 3. The drive motor 4 can be effectively cooled.

  Furthermore, according to the walking robot cooling structure of the first embodiment, since the electric fan 7 is appropriately provided in the ventilation path 6 in the frame 3, the cooling air is forcibly passed through the ventilation path 6. The cooling efficiency of the motor 4 and the control device 5 can be increased.

  FIG. 3 is a cross-sectional view showing a second embodiment in which the cooling structure for a walking robot of the present invention is applied to a dinosaur-type robot having an endoskeleton-like frame similar to the previous embodiment. In the cooling structure of the example, the left and right rear leg frame upper part 3g in the left and right rear legs, the left and right rear leg frame lower part 3h, and the exhaust port 6b of the ventilation path 6 in the left and right ankle frame 3i are directed outward of the left and right rear leg upper parts of the exterior 1. The wrinkle-shaped part is formed of a hard material into a slit shape, and the ventilation path 6 in the left and right rear legs is independent from the trunk part, the tail part, and the ventilation path 6 in the head part. Although the air inlet 6a of the ventilation path 6 in the head is not shown, it is different from the first embodiment only in that it is separately provided at the lower part of the tail, and otherwise the same as the first embodiment. It is configured.

  FIG. 4 is a cross-sectional view showing a third embodiment in which the cooling structure for a walking robot of the present invention is applied to a dinosaur type robot having an endoskeleton-like frame similar to the previous embodiment. In the cooling structure of the example, the left and right rear leg frame upper part 3g in the left and right rear legs, the left and right rear leg frame lower part 3h, and the exhaust port 6b of the ventilation path 6 in the left and right ankle frame 3i The air passage 6 in the left and right rear legs is independent from the body, tail and head, and the air passage 6 in the left and right rear legs. Although the air inlet 6a of the ventilation path 6 in the head is not shown, it is different from the first embodiment only in that it is separately provided at the lower part of the tail, and otherwise the same as the first embodiment. It is configured.

  According to the cooling structures of the second and third embodiments, the same operational effects as those of the first embodiment can be obtained. Moreover, according to the cooling structures of the second and third embodiments, Since the heat of the air in the ventilation path 6 in the left and right rear legs does not enter the fuselage, the cooling efficiency of the control device 5 and the like in the fuselage can be further increased.

  Although the present invention has been described based on the illustrated example, the present invention is not limited to the above-described example. For example, the ventilation path 6 in the trunk frame 3b is vertically expanded and the control device 5 is disposed therein. May be. Further, the electric fan 7 may be omitted, and the cooling air may be passed through the ventilation path 6 only by the warming air rising action. Further, the heating element may be not only the joint drive motor 4 and the control device 5 for controlling the joint drive motor but also other internal structures. The walking robot to which the cooling structure of the present invention is applied is not limited to the dinosaur type, and may be a human type or an animal type.

  Thus, according to the walking robot cooling structure of the present invention, it is possible to always stably and stably secure a ventilation path and intake / exhaust ports for cooling a heating element such as a motor for driving a joint and a control device for controlling the joint. These heating elements can be reliably cooled.

A longitudinal sectional view showing a first embodiment in which the cooling structure for a walking robot according to the present invention is applied to the dinosaur robot shown in FIGS. 5A and 5B as an example of a walking robot having an endoskeleton-like frame. It is. It is a cross-sectional view showing the cooling structure of the first embodiment. It is a cross-sectional view showing a second embodiment in which the cooling structure for walking robot of the present invention is applied to the dinosaur robot. It is a cross-sectional view showing a third embodiment in which the cooling structure for walking robot of the present invention is applied to the dinosaur robot. (A), (b) is a perspective view which respectively shows the conventional exterior and internal structure of a dinosaur type robot as an example of the walking type robot with an endoskeleton frame. It is a disassembled perspective view which shows the exterior of the said dinosaur type | mold robot. It is a longitudinal cross-sectional view which shows the exterior and internal structure of the said dinosaur type | mold robot. It is a cross-sectional view showing the exterior and internal structure of the dinosaur robot.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Exterior 2 Internal structure 3 Frame 3a Chest frame 3b Torso frame 3c Neck frame 3d Head frame 3e Mandible frame 3f Left and right front leg frame 3g Left and right rear leg frame upper part 3h Left and right rear leg frame lower part 3i Left and right ankle frame 3j Left and right foot frame 3k Tail frame base 3l tail frame middle 3m tail frame tip 4 motor 4a chest frame yaw axis motor 4b neck frame yaw axis motor 4c neck frame pitch axis motor 4d head frame pitch axis motor 4e lower jaw frame pitch axis motor 4f head frame Roll shaft motor 4g Left and right front leg frame pitch axis motor 4h Left and right rear leg frame upper yaw axis motor 4i Left and right rear leg frame upper roll axis motor 4j Left and right rear leg frame upper pitch axis motor 4k Left and right rear leg frame lower pin 4l Left and right ankle frame pitch axis motor 4m Left and right foot frame pitch axis motor 4n Left and right foot frame roll axis motor 4o Tail frame base yaw axis motor 4p Tail frame middle part pitch axis motor 4q Tail frame tip part yaw Axis motor 5 Control device 6 Ventilation path 6a Intake port 6b Exhaust port 7 Electric fan H Head B Body part T Tail part

Claims (4)

An internal structure with an internal skeleton-like frame is covered with a soft material exterior , which is difficult to ensure a stable ventilation path in the gap between the internal structure and the internal structure, and the external shape is arbitrary. In a walking robot with the shape of
B constituting the frame of a shape corresponding to the function of bots, in each part frame are articulated, provided with a vent route for cooling the heating element of the inner structure, the outer is the A cooling structure for a walking robot, characterized in that the ventilation path and intake / exhaust port do not narrow or close even when deformed due to a change in the posture of the robot .   The walking according to claim 1, wherein the heating element is at least one of a motor for driving the joint of the robot and a control device for controlling the operation of the robot, and is disposed in the ventilation path. Type robot cooling structure.   The cooling structure for a walking robot according to claim 1 or 2, wherein an electric fan for forcibly allowing cooling air to flow through the ventilation path is provided in the ventilation path. The ventilation path provided in each part frame in the left and right rear legs of the robot is independent of the ventilation path provided in a portion other than the left and right rear legs of the robot. Item 4. The cooling structure for a walking robot according to any one of Items 1 to 3.

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