JP5303723B2 - Legs for humanoid walking robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To attain a slim proportion like a human's leg, especially a female leg in a leg for a human type walking robot. <P>SOLUTION: A motor 13a arranged on an upper part of a lower thigh 8 and a linear drive mechanism 13b are driving-bonded by a belt type transmission mechanism 13d, a motor 14a arranged on a lower part of the lower thigh 8 and a middle shaft 14b extending in a right/left direction of the lower thigh 8 are driving-bonded by a pair of bevel gears 14c, and a leg 9 is supported on a joint member 11c supported on the lower thigh 8 rockably around an axis P4 rockably around an axis R3. A coaxial type speed reducer 14d is arranged on the axis R3, its output element is bonded to the leg 9, and a portion removed from the portion on the axis P4 of the joint member 11c and the output element 13f of the linear drive mechanism 13b are connected by a link member 13h. The middle shaft 14e turnably supported at a position on the axis P4 of the joint member 11c and the middle shaft 14b are driving-bonded by a belt type transmission mechanism 14h, and an input element of the coaxial type speed reducer 14d and the middle shaft 14e are driving-bonded by a pair of bevel gears 14i. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a leg used for a humanoid walking robot, and more particularly to a leg for a humanoid walking robot that realizes a proportion (ratio of thickness to length) close to a human leg. In this specification, “front” and “rear” of the robot mean “front” and “rear” when viewed from the robot itself, and “left” and “right” of the robot refer to the robot itself. When viewed, it means “left” and “right”.

  As a humanoid walking robot, for example, the one described in Patent Document 1 has been known, and in order to secure the walking function, such a humanoid walking robot has a pitch axis line and a roll at the ankle joint of the leg and the foot with respect to the lower leg. In addition to having two drive mechanisms that swing around the axis, the lower leg has two motors that respectively drive the pitch axis and roll axis drive mechanisms.

  In general, in a joint of a humanoid walking robot, the drive mechanism has a coaxial reduction gear on the joint axis whose input / output elements are located on the same axis, such as a product name harmonic drive, and the coaxial reduction gear The power transmission between the input element and the output element of the motor is performed by a parallel shaft type transmission mechanism in which two axes are arranged in parallel, such as a belt type transmission mechanism. Also in the ankle joint of the robot, the above two drive mechanisms each have a harmonic drive, and power transmission between these harmonic drives and the two motors is performed by a belt type transmission mechanism.

  In the ankle joint of a humanoid walking robot, the roll axis and the pitch axis are arranged so as to be orthogonal to each other in the vicinity of the center of the ankle, and rotation is input from the motor to the coaxial reduction gear on these axes. Normally, the ankle joint of the leg of the humanoid walking robot described in Patent Document 1 also inputs rotation from two motors on the pitch axis, and the rotation from the roll axis motor is near the center of the ankle. The rotation is converted to rotation on the roll axis via a bevel gear set as a cross axis transmission mechanism in which the two axes are arranged so as to intersect with each other, and transmitted to the harmonic drive for the roll axis.

JP 2007-326218 A

  By the way, in recent years, as a humanoid walking robot, especially a humanoid walking robot used for work facing people such as venues and product guidance, its proportion (ratio of thickness to length) is proportional to human proportions, especially women A thing close to a proportion is required, and this is no exception for the proportion of the legs of the humanoid walking robot.

  However, as described above, the two driving mechanisms of the ankle joints of the legs of the humanoid walking robot each have a coaxial reduction gear, and the power transmission between the coaxial reduction gear and the two motors is a belt type. When the transmission mechanism is used, the pitch axis extends horizontally, so it is necessary to place the two motors sideways so that their axes extend horizontally and above and below the lower leg. In such a motor arrangement, when using a motor with an output that can guarantee the walking function, the entire lower leg is widened to the left and right, and the proportion of the thickness with respect to the length is large. In particular, it has been difficult to achieve a slim proportion close to that of women.

  Moreover, when the rotation from the roll shaft motor is input on the pitch axis as described above and is input to the roll shaft coaxial reduction device via the bevel gear set, the roll shaft coaxial reduction device is Because the bevel gear set located near the center of the ankle is driven back and forth in the ankle's front and rear, the ankle is inevitably widened in the front and back, resulting in a thick proportion with a large ratio of thickness to length. In particular, it was difficult to achieve a slim proportion close to the legs of women.

  Therefore, an object of the present invention is to realize a slim proportion close to a human leg, particularly a female leg, in which the ratio of the thickness to the length is smaller than that of a conventional leg for a humanoid walking robot.

  The present invention advantageously solves the above problems, and the humanoid walking robot leg of the present invention swings the legs of the humanoid walking robot around the pitch axis and the roll axis perpendicular to the lower leg at the ankle joint. In the first aspect, the first motor and the screw-type linear drive mechanism are arranged on the upper part of the lower leg so that their axes extend along the longitudinal direction of the lower leg. The output element of the first motor and the input element of the screw-type linear drive mechanism are drive-coupled by a first parallel shaft type transmission mechanism, and the second motor is connected to the lower leg of the lower leg at the axis thereof. The first intermediate shaft is rotatably supported so that its axis extends in parallel with one of the pitch axis and the roll axis of the ankle joint. Then, the second mode The output element and the first intermediate shaft are drive-coupled by a first cross-axis type transmission mechanism, and a joint member is supported on the lower leg so as to be swingable around the one axis line. The foot is supported so as to be swingable around the other axis of the pitch axis and roll axis of the ankle joint, and a coaxial speed reducer is disposed on the other axis, and its output element is coupled to the foot. A portion of the joint member that is off the one axis and an output element of the screw type linear drive mechanism are connected by a link member, and a second intermediate position is provided at a position on the one axis of the joint member. A shaft is rotatably supported, and the first intermediate shaft and the second intermediate shaft are drive-coupled by a second parallel shaft transmission mechanism, and the input element of the coaxial reduction gear and the second intermediate shaft are coupled. Drive the intermediate shaft with the second cross shaft transmission mechanism It is characterized by bound.

  Further, the leg for the humanoid walking robot of the present invention swings the foot of the humanoid walking robot around the pitch axis and the roll axis perpendicular to each other with respect to the lower leg at the ankle joint. In the second aspect, The first motor and the first coaxial speed reducer are arranged on the upper part of the lower leg so that their axes are parallel to each other and extend parallel to one of the pitch axis and the roll axis of the ankle joint. Then, the output element of the first motor and the input element of the first coaxial type speed reducer are drive-coupled by a first parallel shaft type transmission mechanism, and a second motor is attached to the lower part of the lower leg. The second intermediate shaft is disposed so as to extend along the longitudinal direction of the lower leg, and the first intermediate shaft is rotatably supported so that the first axial line extends in parallel with the one axial line. Motor output element and the first intermediate shaft Are coupled by the first cross-axis type transmission mechanism, the joint member is supported on the lower leg so as to be swingable around the one axis, the foot is supported on the joint member, and the pitch axis of the ankle joint and A roll axis is supported so as to be swingable around the other axis, a second coaxial type speed reducer is disposed on the other axis, an output element thereof is coupled to the foot, and the one of the joint members A portion of the joint member and an arm provided on the output element of the first coaxial speed reducer are connected by a link member, and a second intermediate shaft is disposed at a position on the one axis line of the joint member. A third intermediate parallel to the second intermediate shaft at a position where the joint member is rotatably supported and is disengaged from the one axial line to the side opposite to the second coaxial reduction gear. A shaft rotatably supporting the second intermediate shaft and the second Are coupled to the first intermediate shaft and the second intermediate shaft by a third parallel shaft type transmission mechanism, and the second parallel shaft type transmission mechanism is coupled to the second shaft. The input element of the coaxial reduction gear and the third intermediate shaft are drive-coupled by a second cross-axis transmission mechanism.

  The leg for the humanoid walking robot of the present invention swings the foot of the humanoid walking robot around the pitch axis and the roll axis perpendicular to each other with respect to the lower leg at the ankle joint. In the third aspect in which the lower leg part and the ankle joint part of the second aspect are combined, the first motor and the screw-type linear drive mechanism are disposed on the upper part of the lower leg, and their axes are in the longitudinal direction of the lower leg. The output element of the first motor and the input element of the screw-type linear drive mechanism are drive-coupled by a first parallel shaft type transmission mechanism, and are attached to the lower part of the lower leg. The second motor is arranged such that its axis extends along the longitudinal direction of the lower leg, and the first intermediate shaft is arranged with one of the pitch axis and the roll axis of the ankle joint. To extend in parallel The output element of the second motor and the first intermediate shaft are drive-coupled by a first cross-axis transmission mechanism, and a joint member is attached to the lower leg about the one axis. The foot is supported on the joint member so as to be swingable around the other axis of the pitch axis and the roll axis of the ankle joint, and a coaxial speed reducer is provided on the other axis. Arranging and connecting the output element to the foot, connecting a portion of the joint member that is off the one axis and the output element of the screw type linear drive mechanism by a link member; The second intermediate shaft is rotatably supported at a position on the one axis, and the first intermediate shaft is disengaged from the one axis on the side opposite to the coaxial reduction gear. Rotate the third intermediate shaft parallel to the two intermediate shafts The second intermediate shaft and the third intermediate shaft are drive-coupled by a second parallel shaft type transmission mechanism, and the first intermediate shaft and the second intermediate shaft are connected to the third intermediate shaft. The parallel shaft type transmission mechanism is coupled by driving, and the input element of the coaxial reduction gear and the third intermediate shaft are coupled by driving by the second cross axis transmission mechanism.

  In the first aspect of the leg for the humanoid walking robot of the present invention described above, the screw type linear drive mechanism in which the output element of the first motor arranged at the upper part of the lower leg is also arranged at the upper part of the lower leg. And the output element of the screw-type linear drive mechanism is driven forward and backward to drive the lower leg around one of the pitch axis and roll axis of the ankle joint. The part of the joint member supported so as to be swingable is pushed and pulled through the link member to swing the joint member around the one axis, whereby the joint member A foot supported so as to be swingable around the other axis of the pitch axis and roll axis of the ankle joint is swung around the one axis. Further, the output element of the second motor arranged at the lower part of the lower leg drives the first intermediate shaft, which is also rotatably supported by the lower part of the lower leg, via the first cross axis transmission mechanism, The first intermediate shaft that is rotationally driven by the motor drives the second intermediate shaft that is rotatably supported at a position on the one axis line of the joint member via the second parallel shaft type transmission mechanism, The second intermediate shaft that is rotationally driven by the rotation of the input element of the coaxial reduction gear that is disposed on the other axis and has the output element coupled to the foot is rotated via the second cross-axis transmission mechanism. Drive to swing the foot around the other axis.

  Furthermore, in this first aspect, the first motor and the screw type linear drive mechanism are arranged on the upper part of the lower leg so that their axes extend along the longitudinal direction of the lower leg, Since the output element of the screw type linear drive mechanism does not protrude in the direction perpendicular to the longitudinal direction of the lower leg, the upper part of the lower leg is configured to be thinner than when the first motor is disposed sideways, and the lower part of the lower leg is The second motor is arranged such that its axis extends along the longitudinal direction of the lower leg, and the output element of the second motor is connected to the first intermediate shaft which is also arranged at the lower part of the lower leg. Since it is drive-coupled by the first cross axis type transmission mechanism, the lower part of the lower leg is also configured to be narrower than when the second motor is disposed sideways.

  Therefore, according to the first aspect of the leg for the humanoid walking robot of the present invention, the foot can be swung around the pitch axis and the roll axis orthogonal to each other at the ankle joint, and from the upper part to the lower part of the lower leg. In addition, a slim proportion close to a human leg, particularly a female leg, with a small ratio of thickness to length can be realized.

  In the above-described second aspect of the leg for the humanoid walking robot of the present invention, the output element of the first motor arranged on the upper part of the lower leg is the same as the first element arranged on the upper part of the lower leg. The input element of the coaxial speed reducer is driven via the first parallel shaft type transmission mechanism, whereby the arm provided on the output element of the first coaxial speed reducer is swung, and the ankle joint is moved to the lower leg. A portion of the joint member that is swingably supported around one of the pitch axis and the roll axis is pushed and pulled through the link member, and the pitch axis of the ankle joint is pushed to the joint member. Further, the foot supported so as to be swingable around the other axis of the roll axes is swung around the one axis. Further, the output element of the second motor arranged at the lower part of the lower leg drives the first intermediate shaft, which is also rotatably supported by the lower part of the lower leg, via the first cross axis transmission mechanism, The first intermediate shaft that is rotationally driven by the motor drives the second intermediate shaft that is rotatably supported at a position on the one axis of the joint member via the third parallel shaft type transmission mechanism, The second intermediate shaft that is rotationally driven by the second intermediate shaft supported in parallel with the second intermediate shaft at a position deviated from the one axis of the joint member becomes the second parallel shaft transmission mechanism. The third intermediate shaft, which is driven through the rotary shaft, is rotated on the other axis, and the input element of the second coaxial speed reducer in which the output element is coupled to the foot is the second. Rotating drive through the cross axis type transmission mechanism, the foot is swung around the other axis.

  Further, in this second aspect, the second motor is arranged at the lower part of the lower leg such that its axis extends along the longitudinal direction of the lower leg, and the output element of the second motor is Also, this is driven and coupled to the first intermediate shaft arranged at the lower part of the lower leg by the first cross-axis type transmission mechanism, so that the lower part of the lower leg is made thinner than when the second motor is arranged laterally. In addition, a second intermediate shaft is disposed at a position on the one axis of the joint member, and from the one axis to the side opposite to the second coaxial speed reducer side. A third intermediate shaft, which is transmitted from the second intermediate shaft by the second parallel shaft type transmission mechanism, is disposed at a position deviated from the second intermediate shaft, and the third intermediate shaft is disposed on the other axis. Because it is transmitted to the input element of the two coaxial type reduction gears via the second cross axis type transmission mechanism, The second cross-axis type transmission mechanism is disengaged from the vicinity of the center of the ankle joint to the side opposite to the second coaxial speed reducer, and the second coaxial speed reducer is directed toward the center of the ankle joint. In order to retract, the ankle is configured to be thinner than when the second cross-axis transmission mechanism is disposed near the center of the ankle joint.

  Therefore, according to the second aspect of the leg for the humanoid walking robot of the present invention, the foot can be swung around the pitch axis and the roll axis orthogonal to each other at the ankle joint, and from the lower part of the lower leg to the ankle. In addition, a slim proportion close to a human leg, particularly a female leg, with a small ratio of thickness to length can be realized.

  And in the 3rd aspect of the leg for humanoid walking robots of this invention mentioned above, the screw type straight line in which the output element of the 1st motor arrange | positioned at the upper part of the lower leg is similarly arrange | positioned at the upper part of the lower leg. The input element of the drive mechanism is driven through the first parallel shaft type transmission mechanism, whereby the output element of the screw type linear drive mechanism is driven forward and backward, and one of the pitch axis line and the roll axis line of the ankle joint is driven on the lower leg. A portion of the joint member supported so as to be swingable around the axis is pushed and pulled through the link member, and the joint member is rotated around the other axis of the ankle joint pitch axis and roll axis. The foot supported so as to be able to swing is swung around the one axis. Further, the output element of the second motor arranged at the lower part of the lower leg drives the first intermediate shaft, which is also rotatably supported by the lower part of the lower leg, via the first cross axis transmission mechanism, The first intermediate shaft that is rotationally driven by the motor drives the second intermediate shaft that is rotatably supported at a position on the one axis of the joint member via the third parallel shaft type transmission mechanism, The second intermediate shaft that is rotationally driven by the second intermediate shaft supported in parallel with the second intermediate shaft at a position deviated from the one axis of the joint member becomes the second parallel shaft transmission mechanism. A third intermediate shaft driven by rotation and thereby driven in rotation is arranged on the other axis, and the output element is coupled to the foot with the input element of the coaxial speed reducer as the second cross axis It is rotationally driven through a mold transmission mechanism to swing the foot around the other axis.

  Furthermore, in this third aspect, the first motor and the screw-type linear drive mechanism are arranged on the upper part of the lower leg so that their axes extend along the longitudinal direction of the lower leg, Since the output element of the screw type linear drive mechanism does not protrude in the direction perpendicular to the longitudinal direction of the lower leg, the upper part of the lower leg is configured to be thinner than when the first motor is disposed sideways, and the lower part of the lower leg is The second motor is arranged such that its axis extends along the longitudinal direction of the lower leg, and the output element of the second motor is connected to the first intermediate shaft which is also arranged at the lower part of the lower leg. Since it is drive-coupled by the first cross-axis type transmission mechanism, the lower part of the lower leg is configured to be narrower than when the second motor is disposed sideways, and in addition, the joint member is positioned at the position on the one axis. A second intermediate shaft is disposed and the joint A third intermediate shaft that is transmitted from the second intermediate shaft by the second parallel shaft type transmission mechanism is disposed at a position that deviates from the one axis line to the side opposite to the side of the coaxial reduction gear. Since the third intermediate shaft is transmitted to the input element of the coaxial type reduction gear disposed on the other axis via the second cross-axis type transmission mechanism, the second cross-axis type transmission is performed. The mechanism is disengaged from the vicinity of the center of the ankle joint to the opposite side of the coaxial reduction gear, and the coaxial reduction gear is retracted toward the center of the ankle joint accordingly, so the second cross-axis transmission mechanism is connected to the ankle joint. The ankle is made narrower than the case where it is arranged near the center.

  Therefore, according to the third aspect of the leg for the humanoid walking robot of the present invention, the foot can be swung around the pitch axis and the roll axis orthogonal to each other at the ankle joint, and from the upper part of the lower leg to the ankle. In addition, a slim proportion close to a human leg, particularly a female leg, with a small ratio of thickness to length can be realized.

  In the leg for the humanoid walking robot of the present invention, the lower leg frame rotatably supports the screw shaft of the screw type linear drive mechanism, and prevents the nut from being screwed into the screw shaft. However, the movement of the nut may be guided. In this way, since the lower leg frame also serves as the frame of the screw type linear drive mechanism, the upper part of the lower leg can be configured to be slimmer.

  In the leg for a humanoid walking robot according to the present invention, the one axis may be a pitch axis, and the other axis may be a roll axis. In this way, the link member that connects the output element of the screw-type linear drive mechanism and the joint member is located on the front side or the rear side of the lower limb to drive the pitch axis of the ankle joint, so that the cross-sectional shape is A proportion close to that of a human leg, particularly a female leg, can be realized.

(A), (b), (c) and (d) are humanoids comprising the legs of the first embodiment of the present invention, realized based on the third aspect of the humanoid walking robot legs of the present invention. It is the top view which shows the lower body of a walking robot, a bottom view, a front view, and a side view. (A) And (b) is the rear view and perspective view which show the lower body of the said humanoid walking robot. (A), (b), and (c) are a front view, a side view, and a rear view showing the lower leg of the humanoid walking robot according to the first embodiment, from the lower leg to the foot, provided on the lower body of the humanoid walking robot. It is. (A), (b), and (c) are the AA line, BB line, and CC in FIG. 3 which show from the leg to leg of the leg for the humanoid walking robot of the first embodiment. It is sectional drawing which each follows a line. (A) And (b) is the perspective view and perspective view which show from the leg of the leg for humanoid walking robots of the said 1st Example to a leg | foot. (A), (b), (c), and (d) are humanoids comprising the legs of the second embodiment of the present invention, realized based on the first aspect of the humanoid walking robot legs of the present invention. It is the top view which shows the lower body of a walking robot, a bottom view, a front view, and a side view. (A) And (b) is the rear view and perspective view which show the lower body of the said humanoid walking robot. (A), (b) and (c) are a front view, a side view, and a rear view showing the leg of the humanoid walking robot according to the second embodiment, from the lower leg to the foot, provided on the lower body of the humanoid walking robot. It is. (A), (b) and (c) are the DD line, EE line, and FF in FIG. 8 which show from the leg to leg of the humanoid walking robot leg of the second embodiment. It is sectional drawing which each follows a line. (A) And (b) is the perspective view and perspective view which show from leg to leg for the humanoid walking robot of the second embodiment. (A), (b), (c), and (d) are humanoids comprising the legs of the third embodiment of the present invention, realized based on the second aspect of the humanoid walking robot legs of the present invention. It is the top view which shows the lower body of a walking robot, a bottom view, a front view, and a side view. (A) And (b) is the rear view and perspective view which show the lower body of the said humanoid walking robot. (A), (b), and (c) are a front view, a side view, and a rear view showing the lower half of the humanoid walking robot from the lower leg to the foot of the humanoid walking robot according to the third embodiment. It is. (A), (b) and (c) are the GG line, HH line and II in FIG. 13 which show from the leg to leg of the leg for the humanoid walking robot of the third embodiment. It is sectional drawing which each follows a line. (A) And (b) is the perspective view and perspective view which show from leg to leg for the humanoid walking robot of the third embodiment.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. 1 (a), (b), (c) and (d) show the leg portion of the first aspect of the leg for the humanoid walking robot according to the present invention and the ankle joint portion of the second aspect. A plan view, a bottom view, a front view and a side view showing the lower half of the humanoid walking robot having the legs of the first embodiment of the present invention realized based on the third mode in combination with ) And (b) are a rear view and a perspective view showing the lower half of the humanoid walking robot.

  This humanoid walking robot is a female type whose face and body shape are similar to a human woman, is 158cm tall and weighs 43kg including battery, and has a proportion (relative to length) that is very close to the average body type of Japanese adolescent women. Thickness ratio). The lower body of the lower part of the humanoid walking robot is composed of an upper body (not shown), that is, a waist joint 1 connected to the chest, the head, and the left and right arms via the chest, and a waist frame 2 that supports the waist joint 1. And two hip joints 4 provided on the left and right sides of the waist frame 2 and two legs 5 respectively connected to the waist frame 2 via the hip joints 4. Each of them constitutes the leg of the first embodiment.

  Here, the hip joint 1 and the two hip joints 4 are respectively configured using the same joint unit 6, and the joint unit 6 is coupled to the upper base 6a and the lower surface of the upper base 6a, respectively. The front bracket 6b, the rear bracket 6c, and the front and rear brackets 6b and 6c are connected in a cross shape to rotatably support the waist roll axis R1 or the crotch roll axis R2 extending in the front-rear direction of the humanoid walking robot. A member 6d, a left bracket 6e and a right bracket 6f for supporting the connecting member 6d so as to be rotatable about a waist pitch axis P1 or a crotch pitch axis P2 extending in the left-right direction of the humanoid walking robot, and an upper base 6a And the connecting member 6d are arranged in such a direction that the axis extends in the front-rear direction of the humanoid walking robot. The roll shaft motor 6g held by the rear bracket 6c is connected to the output shaft of the roll shaft motor 6g and connected to the output element by a belt-type transmission mechanism as a parallel shaft transmission mechanism. A brand name harmonic drive 6h as a coaxial reduction gear coupled to the member 6d, and a pitch axis motor (not shown) disposed in the connecting member 6d in a direction in which the axis extends in the left-right direction of the humanoid walking robot. And a brand name harmonic drive 6i as a coaxial speed reducer provided on the left bracket 6e, the input element being coupled to the output shaft of the pitch axis motor and the output element being coupled to the connecting member 6d. ing.

  Further, the upper base 6a of the joint unit 6 constituting the waist joint 1 supports the lower end portion of the chest of the upper body (not shown) so as to be rotatable around the waist yaw axis Y1 extending in the vertical direction of the humanoid walking robot. In addition, it is coupled to an output element of a product name harmonic drive as a coaxial type reduction gear disposed at a position on the waist yaw axis Y1 at the lower part of the chest, and the input element of the harmonic drive is provided at the lower part of the chest The left and right brackets 6e and 6f of the joint unit 6 constituting the lumbar joint 1 are connected to the output shaft of the lumbar yaw axis motor by a belt type transmission mechanism as a parallel shaft type transmission mechanism. Is bound to. As a result, the waist joint 1 moves the upper body with respect to the waist frame 2 around the waist yaw axis Y1 and the waist roll axis R1 by the operation of the waist yaw axis motor and the roll axis motor and pitch axis motor of the joint unit 6. And it can be rotated around the waist pitch axis P1 with three degrees of freedom.

  On the other hand, the upper base 6a of the joint unit 6 constituting each hip joint 4 supports the lower end portion of the waist frame 2 so as to be rotatable around the hip yaw axis Y2 extending in the vertical direction of the humanoid walking robot, It is coupled to an output element of a product name harmonic drive as a coaxial type speed reducer arranged at a position on the crotch yaw axis Y2 at the lower part of the waist frame 2, and the input element of the harmonic drive is connected to the center part of the waist frame 2 The left and right brackets 6e and 6f of the joint unit 6 constituting each hip joint 4 are coupled to the output shaft of a crotch yaw axis motor (not shown) provided by a belt type transmission mechanism (not shown) as a parallel shaft type transmission mechanism. Is coupled to the upper end surface of the thigh frame 7 of the leg 5 of this embodiment. As a result, each hip joint 4 causes each leg 5 to move around the crotch yaw axis Y2 and the crotch roll axis by operating the crotch yaw axis motor and the roll axis motor and pitch axis motor of the joint unit 6. It can be rotated around R2 and crotch pitch axis P2 with three degrees of freedom.

  Each of the two legs 5 includes a lower leg frame 8 and a foot 9 in addition to the above-described thigh frame 7, a knee joint 10 connecting the thigh frame 7 and the lower leg frame 8, and a lower leg frame 8. An ankle joint 11 connecting the foot 9 and a gear box 12 inserted between the crus frame 8 and the ankle joint 11 are provided. The thigh frame 7, the crus frame 8, the foot 9, and the knee joint 10 are provided. The ankle joint 11 and the gear box 12 are configured such that the thigh frames 7 are inclined inwardly downward and symmetrical to each other, and the legs 9 are respectively outward from the inside from the ankle joint 11. The two legs 5 are identical to each other except that they are more widely spread and symmetrical.

  Here, the thigh frame 7 and the crus frame 8 are formed in a substantially rectangular tube shape in combination with a cover for the purpose of wiring the motor and the like inside in addition to slimming and weight reduction. The joint 10 is connected to the upper end surface of the left bracket 10a and the right bracket 10b connected to the lower end surface of the thigh frame 7 and the upper end surface of the lower leg frame 8, and the left and right brackets 10a and 10b are connected to this humanoid via a hollow shaft (not shown). The left and right sides of the humanoid walking robot are disposed between an L-shaped lower bracket 10c that is rotatably supported around a knee pitch axis P3 extending in the left-right direction of the robot, and a lower end surface of the thigh frame 7 and the lower bracket 10c. Knee pitch axis motor 10d, which is arranged in the direction in which the axis extends in the direction and supported by the left and right brackets 10a, 10b, and the left bracket 10a. The input element is driven and coupled to the output shaft of the knee pitch axis motor 10d by a belt-type transmission mechanism as a parallel shaft type transmission mechanism, and the product name as a coaxial type speed reducer in which the output element is coupled to the lower bracket 10c. And a harmonic drive 10e. As a result, the knee joint 10 can rotate the lower leg frame 8 around the knee pitch axis P3 with one degree of freedom by the operation of the knee pitch axis motor 10d.

  3 (a), 3 (b) and 3 (c) are a front view, a side view and a rear view showing the legs of the humanoid walking robot leg of the first embodiment from the lower leg to the foot, and FIGS. b) and (c) are cross sections taken along lines AA, BB and CC, respectively, in FIG. 3, showing from the lower leg to the foot of the leg for the humanoid walking robot of the first embodiment. FIGS. 5A and 5B are a perspective view and a perspective view showing the leg of the humanoid walking robot according to the first embodiment from the lower leg to the foot, respectively.

  As shown in these drawings, the ankle joint 11 of the leg 5 of the first embodiment includes a left bracket 11a and a right bracket 11b respectively coupled to the lower end surface of the lower leg frame 8 via a gear box 12, and the left and right brackets 11a and 11b. A substantially spherical shell-like upper half and a substantially cylindrical lower half as joint members that support the brackets 11a, 11b so as to be rotatable around an ankle pitch axis P4 extending in the left-right direction of the humanoid walking robot. A connecting member 11c having a portion, a front bracket 11d and a rear bracket 11e that support the connecting member 11c so as to be rotatable around an ankle roll axis R3 extending in the front-rear direction of the humanoid walking robot, and an ankle pitch axis Three elastic bushes arranged at equal intervals in the circumferential direction around the support center axis C1 of the foot 9 passing through the intersection of P4 and the ankle roll axis R3 and orthogonal thereto And 1f, back and forth through a force sensor 11g while being elastically supported by the legs 9 via their elastic bushings 11f bracket 11d, and a ankle base 11h coupled to 11e.

  In addition, the ankle joint 11 of the leg 5 of the first embodiment has an ankle pitch axis drive system 13 and an ankle roll axis drive system 14, and the ankle pitch axis drive system 13 is located in the upper part of the crus frame 8. The ankle pitch shaft motor 13a and the screw-type linear drive mechanism 13b as the first motor are arranged side by side so that the axis extends along the longitudinal direction of the lower leg frame 8 and the ankle pitch. It has a belt-type transmission mechanism 13d as a first parallel shaft type transmission mechanism for drivingly coupling an output shaft as an output element of the shaft motor 13a and a screw shaft 13c as an input element of the screw-type linear drive mechanism 13b. ing. The ankle roll shaft drive system 14 includes an ankle roll shaft motor 14a as a second motor arranged in the lower part of the crus frame 8 so that the axis extends along the longitudinal direction of the crus frame 8. And is supported on the side of the gear box 12 fixed to the lower end surface of the lower leg frame 8 so as to be rotatable through the gear box 12 so that the axis extends parallel to the ankle pitch axis P4. As a first cross shaft type transmission mechanism that has one intermediate shaft 14b and that drives and couples the output shaft as the output element of the ankle roll shaft motor 14a and the first intermediate shaft 14b in the gear box 12. Bevel gear set 14c.

  Here, the screw type linear drive mechanism 13b includes a ball circulation nut 13e that is screwed onto the screw shaft 13c, and the ball circulation nut 13e that is fixed to the base end portion and extends along the longitudinal direction of the crus frame 8. At the same time, a hollow drive rod 13f as an output element supported by the crus frame 8 through a guide sleeve so as to be capable of moving forward and backward in the extending direction, and a ball circulation nut 13e and a base end portion of the drive rod 13f are fixed. A generally rectangular sliding member 13g that is in sliding contact with the inner surface of the crus frame 8 extending in the longitudinal direction of the crus frame 8 and prevents the ball circulating nut 13e from rotating around the screw shaft 13c. The drive rod 13f is moved forward and backward by the rotation of the screw shaft 13c.

  Further, the ankle pitch axis drive system 13 is a link that connects the portion of the connecting member 11c that is displaced rearward from above the ankle pitch axis P4 to the tip of the drive rod 13f of the screw linear drive mechanism 13b, behind the gear box 12. The ankle roll drive system 14 has a connecting rod 13h as a member. The ankle roll drive system 14 is disposed at the front portion of the connecting member 11c on the ankle roll axis R3, and the output element is coupled to the front bracket 11d. The harmonic drive 14d, the position of the connecting member 11c on the ankle pitch axis P4 and the position away from the ankle pitch axis P4 on the opposite side of the harmonic drive 14d from each other are rotatable and mutually. The second intermediate shaft 14e and the third intermediate shaft 14f supported in parallel, and the second intermediate shaft 14e and the third intermediate shaft 14f A spur gear set 14g as a second parallel shaft transmission mechanism for drivingly coupling the shaft 14f, and a third parallel shaft transmission mechanism for drivingly coupling the first intermediate shaft 14b and the second intermediate shaft 14e. Belt-type transmission mechanism 14h, and a bevel gear set 14i as a second cross-axis transmission mechanism for drivingly coupling the input element of the harmonic drive 14d and the third intermediate shaft 14f.

  In the above-described leg 5 of the first embodiment, the output shaft of the ankle pitch axis motor 13a disposed on the upper part of the lower leg frame 8 is the screw type linear drive mechanism which is also disposed on the upper part of the lower leg frame 8. The screw shaft 13c of 13b is driven via the belt-type transmission mechanism 13d, whereby the drive rod 13f of the screw-type linear drive mechanism 13b is driven forward and backward, and the lower leg frame 8 is moved around the ankle pitch axis P4 of the ankle joint 11. A portion of the connecting member 11c supported so as to be able to swing can be pushed and pulled through the connecting rod 13h from the ankle pitch axis P4 so that the connecting member 11c can swing around the ankle roll axis R3 of the ankle joint 11. The foot 9 supported by is pivoted around the ankle pitch axis P4.

  Further, the output shaft of the ankle roll shaft motor 14a disposed at the lower portion of the lower leg frame 8 is connected to the first intermediate shaft 14b rotatably supported by the gear box 12 fixed to the lower end of the lower leg frame 8 with the bevel gear. A belt-type second intermediate shaft 14e, which is driven through the set 14c and is rotatably supported by the first intermediate shaft 14b, is rotatably supported at a position on the ankle pitch axis P4 of the connecting member 11c. The second intermediate shaft 14e that is driven via the transmission mechanism 14h and is driven to rotate is supported in parallel with the second intermediate shaft 14e at a position off the ankle pitch axis P4 of the connecting member 11c. The third intermediate shaft 14f is driven via the spur gear set 14g, and the third intermediate shaft 14f that is rotationally driven thereby is disposed on the ankle roll axis R3 and the output element is coupled to the foot 9. The input elements over monic drive 14d, rotationally driven via a bevel gear assembly 14i, to swing the foot 9 around the ankle roll axis R3.

  Further, in the leg 5 of the first embodiment, an ankle pitch shaft motor 13a and a screw type linear drive mechanism 13b are provided on the upper part of the lower leg frame 8 and their axes extend along the longitudinal direction of the lower leg frame 8. Since the drive rod 13f, which is an output element of the screw type linear drive mechanism 13b, does not protrude in a direction perpendicular to the longitudinal direction of the crus frame 8, the ankle pitch axis motor 13a is turned sideways. The ankle roll shaft motor 14a is arranged at the lower part of the lower leg frame 8 so that its axis extends along the longitudinal direction of the lower leg frame 8. The output shaft of the ankle roll shaft motor 14a is connected to the first intermediate shaft 14b disposed in the gear box 12 fixed to the lower end of the lower leg frame 8 with the bevel gear set 14. Because it is driven coupled by slender also configured bottom of the lower leg than the case of arranging the ankle roll axis motor 14a sideways.

  In addition, in the leg 5 of the first embodiment, the second intermediate shaft 14c is arranged at a position on the ankle pitch axis P4 of the connecting member 11c, and on the ankle pitch axis P4 of the connecting member 11c. The third intermediate shaft 14f, which is transmitted from the second intermediate shaft 14c by the spur gear set 14g, is disposed at a position deviated rearward from the second intermediate shaft 14c, and the third intermediate shaft 14f is disposed on the ankle roll axis R3. Since the bevel gear set 14i is transmitted to the input element of the harmonic drive 14d via the bevel gear set 14i, the bevel gear set 14i is moved backward from the vicinity of the center of the ankle joint 11, and the harmonic drive 14d is retracted toward the center of the ankle joint 11 correspondingly. The ankle is configured to be thinner than when the bevel gear set 14 i is disposed near the center of the ankle joint 11.

  Therefore, according to the lower body of the humanoid walking robot having the legs 5 of the first embodiment, the upper body (not shown) with respect to the waist frame 2 at the waist joint 1 is placed around the waist yaw axis Y1, the waist roll axis R1, and the waist. It can be rotated around the pitch axis P1 with three degrees of freedom, and the two legs 5 with respect to the waist frame 2 at the hip joint 4 around the crotch yaw axis Y2, the crotch roll axis R2, and the crotch pitch axis P2, respectively. The lower leg frame 8 can be rotated with respect to the thigh frame 7 at the knee joint 10 with one degree of freedom around the knee pitch axis P3, and the ankle joint 11 can be rotated at the lower leg. Since the foot 9 can be swung with two degrees of freedom around the ankle pitch axis P4 and the ankle roll axis R3 with respect to the frame 8, a natural walking motion of the humanoid walking robot can be realized. Furthermore, the leg 5 has a small ratio of thickness to length from the upper leg to the ankle due to the thin upper and lower legs and the ankle, particularly from the upper leg to the ankle. Slim proportions close to the legs can be realized.

  Furthermore, according to the lower half of the humanoid walking robot having the legs 5 of the first embodiment, the lower leg frame 8 rotatably supports the screw shaft 13c of the screw type linear drive mechanism 13b and the screw shaft 13c. Since the movement of the ball circulation nut 13e is guided through the guide sleeve while preventing the circulation of the ball circulation nut 13e screwed to the lower leg frame 8, the lower leg frame 8 also serves as the frame of the screw linear drive mechanism 13b. The upper part of the lower leg can be made slimmer.

  In addition, according to the lower half of the humanoid walking robot having the legs 5 of the first embodiment, the lower leg frame 8 is supported by the connecting member 11c so as to be swingable around the ankle pitch axis P4, and the connecting member 11c. Is supported by the foot 9 so as to be swingable around the ankle roll axis R3, the drive rod 13f of the screw-type linear drive mechanism 13b and the connecting rod 13h for connecting the drive rod 13f and the connecting member 11c are the ankle joint. Since it is located on the rear side of the lower leg to drive the 11 pitch axes, a proportion close to that of a human leg, particularly a female leg, whose cross-sectional shape is elongated in the front-rear direction can be realized.

  6 (a), 6 (b), 6 (c) and 6 (d) include the leg of the second embodiment of the present invention realized based on the first aspect of the humanoid walking robot leg of the present invention. FIG. 7 is a plan view, a bottom view, a front view, and a side view showing the lower half of the humanoid walking robot, and FIGS. 7A and 7B are a rear view and a perspective view showing the lower half of the humanoid walking robot. Among them, the same parts as those in the previous embodiment are denoted by the same reference numerals.

  This humanoid walking robot is also of a female type, similar to the one having the leg 5 of the first embodiment, is 158 cm tall and has a weight of 43 kg including a battery, and is extremely suitable for the average figure of Japanese adolescent women. Has a close proportion (ratio of thickness to length). The lower body of the lower part of the humanoid walking robot is composed of an upper body (not shown), that is, a waist joint 1 connected to the chest, the head, and the left and right arms via the chest, and a waist frame 2 that supports the waist joint 1. And two hip joints 4 provided on the left and right sides of the waist frame 2 and two legs 5 respectively connected to the waist frame 2 via the hip joints 4. Each of them constitutes the leg of the second embodiment.

  Here, the hip joint 1 and the two hip joints 4 are respectively configured by using the same joint unit 6, and the joint unit 6 has the same configuration as in the first embodiment. Therefore, detailed description is omitted here. As a result, the waist joint 1 moves the upper body with respect to the waist frame 2 around the waist yaw axis Y1 and the waist roll axis R1 by the operation of the waist yaw axis motor and the roll axis motor and pitch axis motor of the joint unit 6. The hip joint 4 can be rotated around the waist pitch axis P1 with three degrees of freedom, and each hip joint 4 is operated by the hip yaw axis motor, the roll axis motor of the joint unit 6, and the pitch axis motor. 2, each leg 5 can be rotated around the crotch yaw axis Y2, the crotch roll axis R2 and the crotch pitch axis P2 with three degrees of freedom.

  Each of the two legs 5 includes a thigh frame 7, a crus frame 8, and a foot 9 as in the first embodiment, and connects the thigh frame 7 and the crus frame 8. 10, an ankle joint 11 connecting the crus frame 8 and the foot 9, and a gear box 12 interposed between the crus frame 8 and the ankle joint 11, and the thigh frame 7 and the crus frame 8. And the foot 9, the knee joint 10, the ankle joint 11, and the gear box 12 are configured such that the thigh frame 7 is inclined inwardly downward and symmetrical, and the foot 9 is ankle joint. The two legs 5 are the same as each other except that they are widened from 11 to the outside and are symmetrical to the outside.

  Here, the thigh frame 7 and the crus frame 8 are formed in a substantially rectangular tube shape in combination with a cover for the purpose of wiring the motor and the like inside in addition to slimming and weight reduction. The joint 10 is connected to the upper end surface of the left bracket 10a and the right bracket 10b connected to the lower end surface of the thigh frame 7 and the upper end surface of the lower leg frame 8, and the left and right brackets 10a and 10b are connected to this humanoid via a hollow shaft (not shown). The left and right sides of the humanoid walking robot are disposed between an L-shaped lower bracket 10c that is rotatably supported around a knee pitch axis P3 extending in the left-right direction of the robot, and a lower end surface of the thigh frame 7 and the lower bracket 10c. Knee pitch axis motor 10d, which is arranged in the direction in which the axis extends in the direction and supported by the left and right brackets 10a, 10b, and the left bracket 10a. The input element is driven and coupled to the output shaft of the knee pitch axis motor 10d by a belt-type transmission mechanism as a parallel shaft type transmission mechanism, and the product name as a coaxial type speed reducer in which the output element is coupled to the lower bracket 10c. And a harmonic drive 10e. As a result, the knee joint 10 can rotate the lower leg frame 8 around the knee pitch axis P3 with one degree of freedom by the operation of the knee pitch axis motor 10d.

  8 (a), (b) and (c) are a front view, a side view and a rear view showing the leg of the humanoid walking robot leg of the second embodiment from the lower leg to the foot, and FIG. b) and (c) are cross sections taken along lines DD, EE, and FF in FIG. 8, respectively, showing from the lower leg to the foot of the leg for the humanoid walking robot of the second embodiment. FIGS. 10A and 10B are a perspective view and a perspective view showing the leg of the humanoid walking robot according to the second embodiment from the lower leg to the foot.

  As shown in these drawings, the ankle joint 11 of the leg 5 of the second embodiment is also provided with a left bracket 11a and a right bracket 11b respectively coupled to the lower end surface of the crus frame 8 via a gear box 12, and A substantially spherical shell-like upper half and a substantially cylindrical lower half as joint members that support the brackets 11a, 11b so as to be rotatable around an ankle pitch axis P4 extending in the left-right direction of the humanoid walking robot. A connecting member 11c having a portion, a front bracket 11d and a rear bracket 11e that support the connecting member 11c so as to be rotatable around an ankle roll axis R3 extending in the front-rear direction of the humanoid walking robot, and an ankle pitch axis Three elastic bushes arranged at equal intervals in the circumferential direction around the support center axis C1 of the foot 9 passing through the intersection of P4 and the ankle roll axis R3 and orthogonal thereto And 1f, back and forth through a force sensor 11g while being elastically supported by the legs 9 via their elastic bushings 11f bracket 11d, and a ankle base 11h coupled to 11e.

  In addition, the ankle joint 11 of the leg 5 of the second embodiment has an ankle pitch axis drive system 13 similar to that in the first embodiment and an ankle roll axis drive system 14 different from that in the first embodiment. Yes. In other words, the ankle pitch axis drive system 13 is an ankle pitch as a first motor arranged in the front and back in the upper part of the lower leg frame 8 such that the axis extends along the longitudinal direction of the lower leg frame 8. The shaft motor 13a and the screw type linear drive mechanism 13b are provided, and an output shaft as an output element of the ankle pitch shaft motor 13a and a screw shaft 13c as an input element of the screw type linear drive mechanism 13b are drive-coupled. It has a belt-type transmission mechanism 13d as a first parallel shaft type transmission mechanism. The ankle roll shaft drive system 14 includes an ankle roll shaft motor 14a as a second motor arranged in the lower part of the crus frame 8 so that the axis extends along the longitudinal direction of the crus frame 8. And is supported on the side of the gear box 12 fixed to the lower end surface of the lower leg frame 8 so as to be rotatable through the gear box 12 so that the axis extends parallel to the ankle pitch axis P4. As a first cross shaft type transmission mechanism that has one intermediate shaft 14b and that drives and couples the output shaft as the output element of the ankle roll shaft motor 14a and the first intermediate shaft 14b in the gear box 12. Bevel gear set 14c.

  Here, the screw type linear drive mechanism 13b includes a ball circulation nut 13e that is screwed onto the screw shaft 13c, and the ball circulation nut 13e that is fixed to the base end portion and extends along the longitudinal direction of the crus frame 8. At the same time, a hollow drive rod 13f as an output element supported by the crus frame 8 through a guide sleeve so as to be capable of moving forward and backward in the extending direction, and a ball circulation nut 13e and a base end portion of the drive rod 13f are fixed. A generally rectangular sliding member 13g that is in sliding contact with the inner surface of the crus frame 8 extending in the longitudinal direction of the crus frame 8 and prevents the ball circulating nut 13e from rotating around the screw shaft 13c. The drive rod 13f is moved forward and backward by the rotation of the screw shaft 13c.

  Further, the ankle pitch axis drive system 13 is a link that connects the portion of the connecting member 11c that is displaced rearward from above the ankle pitch axis P4 to the tip of the drive rod 13f of the screw linear drive mechanism 13b, behind the gear box 12. The connecting rod 13h as a member has an ankle roll drive system 14 disposed on the ankle roll axis R3 at a front portion of the connecting member 11c at a position farther forward from the center of the ankle than in the first embodiment. In addition, a brand name harmonic drive 14d as a coaxial type reduction gear having an output element coupled to the front bracket 11d, a second intermediate shaft 14e rotatably supported at a position on the ankle pitch axis P4 of the connecting member 11c, A belt type transmission mechanism 14h as a second parallel shaft type transmission mechanism for drivingly coupling the first intermediate shaft 14b and the second intermediate shaft 14e; And a bevel gear pair 14i of the input element and the second intermediate shaft 14e of Kkudoraibu 14d as a second cross-shaft transmission mechanism for driving coupling.

  In the above-described leg 5 of the second embodiment, the output shaft of the ankle pitch axis motor 13a disposed on the upper part of the lower leg frame 8 is also a screw type linear drive mechanism which is also disposed on the upper part of the lower leg frame 8. The screw shaft 13c of 13b is driven via the belt-type transmission mechanism 13d, whereby the drive rod 13f of the screw-type linear drive mechanism 13b is driven forward and backward, and the lower leg frame 8 is moved around the ankle pitch axis P4 of the ankle joint 11. A portion of the connecting member 11c supported so as to be able to swing can be pushed and pulled through the connecting rod 13h from the ankle pitch axis P4 so that the connecting member 11c can swing around the ankle roll axis R3 of the ankle joint 11. The foot 9 supported by is pivoted around the ankle pitch axis P4.

  Further, the output shaft of the ankle roll shaft motor 14a disposed at the lower portion of the lower leg frame 8 is connected to the first intermediate shaft 14b rotatably supported by the gear box 12 fixed to the lower end of the lower leg frame 8 with the bevel gear. A belt-type second intermediate shaft 14e, which is driven through the set 14c and is rotatably supported by the first intermediate shaft 14b, is rotatably supported at a position on the ankle pitch axis P4 of the connecting member 11c. The second intermediate shaft 14e, which is driven via the transmission mechanism 14h and rotationally driven by it, is arranged on the ankle roll axis R3 and the input element of the harmonic drive 14d, whose output element is coupled to the foot 9, is connected to the bevel gear. The pair 9 is rotationally driven through the set 14i to swing the foot 9 around the ankle roll axis R3.

  Further, in the leg 5 of the second embodiment, an ankle pitch shaft motor 13a and a screw-type linear drive mechanism 13b are provided on the upper part of the crus frame 8, and their axes extend along the longitudinal direction of the crus frame 8. Since the drive rod 13f, which is an output element of the screw type linear drive mechanism 13b, does not protrude in a direction perpendicular to the longitudinal direction of the crus frame 8, the ankle pitch axis motor 13a is turned sideways. The ankle roll shaft motor 14a is arranged at the lower part of the lower leg frame 8 so that its axis extends along the longitudinal direction of the lower leg frame 8. The output shaft of the ankle roll shaft motor 14a is connected to the first intermediate shaft 14b disposed in the gear box 12 fixed to the lower end of the lower leg frame 8 with the bevel gear set 14. Because it is driven coupled by slender also configured bottom of the lower leg than the case of arranging the ankle roll axis motor 14a sideways.

  Therefore, according to the lower body of the humanoid walking robot having the legs 5 of the second embodiment, the upper body (not shown) with respect to the waist frame 2 at the waist joint 1 is placed around the waist yaw axis Y1, the waist roll axis R1, and the waist. It can be rotated around the pitch axis P1 with three degrees of freedom, and the two legs 5 with respect to the waist frame 2 at the hip joint 4 around the crotch yaw axis Y2, the crotch roll axis R2, and the crotch pitch axis P2, respectively. The lower leg frame 8 can be rotated with respect to the thigh frame 7 at the knee joint 10 with one degree of freedom around the knee pitch axis P3, and the ankle joint 11 can be rotated at the lower leg. Since the foot 9 can be swung with two degrees of freedom around the ankle pitch axis P4 and the ankle roll axis R3 with respect to the frame 8, a natural walking motion of the humanoid walking robot can be realized. In addition, the leg 5 has a small thickness ratio with respect to the length of the human leg, particularly the female leg, particularly from the upper part to the lower part of the lower leg due to the thin configuration of the upper and lower part of the lower leg. Close slim proportions can be realized.

  Furthermore, according to the lower half of the humanoid walking robot having the legs 5 of the second embodiment, the lower leg frame 8 rotatably supports the screw shaft 13c of the screw type linear drive mechanism 13b and the screw shaft 13c. Since the movement of the ball circulation nut 13e is guided through the guide sleeve while preventing the circulation of the ball circulation nut 13e screwed to the lower leg frame 8, the lower leg frame 8 also serves as the frame of the screw linear drive mechanism 13b. The upper part of the lower leg can be made slimmer.

  In addition, according to the lower half of the humanoid walking robot having the legs 5 of the second embodiment, the lower leg frame 8 is supported by the connecting member 11c so as to be swingable around the ankle pitch axis P4, and the connecting member 11c. Is supported by the foot 9 so as to be swingable around the ankle roll axis R3, the drive rod 13f of the screw-type linear drive mechanism 13b and the connecting rod 13h for connecting the drive rod 13f and the connecting member 11c are the ankle joint. Since it is located on the rear side of the lower leg to drive the 11 pitch axes, a proportion close to that of a human leg, particularly a female leg, whose cross-sectional shape is elongated in the front-rear direction can be realized.

  FIGS. 11 (a), (b), (c) and (d) comprise the legs of the third embodiment of the present invention realized on the basis of the second aspect of the legs for the humanoid walking robot of the present invention. FIGS. 12A and 12B are a plan view, a bottom view, a front view and a side view showing the lower body of the humanoid walking robot, and FIGS. 12A and 12B are a rear view and a perspective view showing the lower body of the humanoid walking robot. Among them, the same parts as those in the previous embodiment are denoted by the same reference numerals.

  This humanoid walking robot is also of a female type, similar to the one having the leg 5 of the first embodiment, is 158 cm tall and has a weight of 43 kg including a battery, and is extremely suitable for the average figure of Japanese adolescent women. Has a close proportion (ratio of thickness to length). The lower body of the lower part of the humanoid walking robot is composed of an upper body (not shown), that is, a waist joint 1 connected to the chest, the head, and the left and right arms via the chest, and a waist frame 2 that supports the waist joint 1. And two hip joints 4 provided on the left and right sides of the waist frame 2 and two legs 5 respectively connected to the waist frame 2 via the hip joints 4. Each of them constitutes the leg of the third embodiment.

  Here, the hip joint 1 and the two hip joints 4 are respectively configured by using the same joint unit 6, and the joint unit 6 has the same configuration as in the first embodiment. Therefore, detailed description is omitted here. As a result, the waist joint 1 moves the upper body with respect to the waist frame 2 around the waist yaw axis Y1 and the waist roll axis R1 by the operation of the waist yaw axis motor and the roll axis motor and pitch axis motor of the joint unit 6. The hip joint 4 can be rotated around the waist pitch axis P1 with three degrees of freedom, and each hip joint 4 is operated by the hip yaw axis motor, the roll axis motor of the joint unit 6, and the pitch axis motor. 2, each leg 5 can be rotated around the crotch yaw axis Y2, the crotch roll axis R2 and the crotch pitch axis P2 with three degrees of freedom.

  Each of the two legs 5 includes a thigh frame 7, a crus frame 8, and a foot 9 as in the first embodiment, and connects the thigh frame 7 and the crus frame 8. 10, an ankle joint 11 connecting the lower leg frame 8 and the foot 9, and a gear box 12 inserted between the lower leg frame 8 and the ankle joint 11, and further the first and second embodiments. Unlike the thigh frame 8 and the knee joint 10, a tether frame 15 is inserted between the thigh frame 7, the thigh frame 8, the foot 9, the knee joint 10, the ankle joint 11, and the gear box 12. The structure with the frame 15 is that the thigh frames 7 are inclined inwardly downward and symmetrical to each other, and the feet 9 are symmetrically extended from the ankle joint 11 to the outside rather than the inside. Have The two legs 5 are identical to each other.

  Here, in addition to slimming and weight reduction, the thigh frame 7 is combined with a cover and the crus frame 8 itself is formed in a substantially rectangular tube shape for routing the wiring of the motor and the like inside. The connecting frame 15 includes a left side wall member 15a and a right side wall member 15b extending in parallel with each other, and the knee joint 10 includes a left bracket 10a and a right bracket coupled to a lower end surface of the thigh frame 7. 10b and the left and right brackets 10a and 10b coupled to the upper end surface of the connecting frame 15 are rotatably supported around a knee pitch axis P3 extending in the left-right direction of the humanoid walking robot via a hollow shaft (not shown). Between the L-shaped lower bracket 10c, the lower end surface of the thigh frame 7 and the lower bracket 10c, an axis is formed in the left-right direction of the humanoid walking robot. The knee pitch shaft motor 10d is disposed in the extending direction and is supported by the left and right brackets 10a and 10b, and the belt pitch transmission mechanism as the parallel shaft transmission mechanism provided on the left bracket 10a. It has a product name harmonic drive 10e as a coaxial type reduction gear which is drivingly coupled to the output shaft of the shaft motor 10d and whose output element is coupled to the lower bracket 10c. As a result, the knee joint 10 can rotate the connecting frame 15 and thus the lower leg frame 8 around the knee pitch axis P3 with one degree of freedom with respect to the thigh frame 7 by the operation of the knee pitch axis motor 10d.

  FIGS. 13A, 13B and 13C are a front view, a side view and a rear view showing the legs of the humanoid walking robot leg of the third embodiment from the lower leg to the foot, and FIGS. b) and (c) are cross sections taken along lines G-G, H-H and II, respectively, in FIG. 13, showing the legs of the humanoid walking robot according to the third embodiment from the lower leg to the foot. FIGS. 15A and 15B are a perspective view and a perspective view showing the legs of the humanoid walking robot according to the third embodiment from the lower leg to the foot, respectively.

  As shown in these drawings, the ankle joint 11 of the leg 5 of the third embodiment is also provided with a left bracket 11a and a right bracket 11b respectively coupled to the lower end surface of the lower leg frame 8 via a gear box 12, and A substantially spherical shell-like upper half and a substantially cylindrical lower half as joint members that support the brackets 11a, 11b so as to be rotatable around an ankle pitch axis P4 extending in the left-right direction of the humanoid walking robot. A connecting member 11c having a portion, a front bracket 11d and a rear bracket 11e that support the connecting member 11c so as to be rotatable around an ankle roll axis R3 extending in the front-rear direction of the humanoid walking robot, and an ankle pitch axis Three elastic bushes arranged at equal intervals in the circumferential direction around the support center axis C1 of the foot 9 passing through the intersection of P4 and the ankle roll axis R3 and orthogonal thereto And 1f, back and forth through a force sensor 11g while being elastically supported by the legs 9 via their elastic bushings 11f bracket 11d, and a ankle base 11h coupled to 11e.

  In addition, the ankle joint 11 of the leg 5 of the third embodiment has an ankle pitch axis drive system 13 different from that in the first embodiment and an ankle roll axis drive system 14 similar to that in the first embodiment. Yes. In other words, the ankle pitch shaft drive system 13 has a product name harmonic drive 13i as a first coaxial type speed reducer and the first coaxial reducer arranged on the connection frame 15 so that the axis extends along the left and right direction. As a first parallel shaft type transmission mechanism having an ankle pitch axis motor 13a as one motor and drivingly coupling an output shaft as an output element of the ankle pitch axis motor 13a and an input element of a harmonic drive 13i The harmonic drive 13i penetrates the right side wall member 15b of the connecting frame 15 and is supported by the right side wall member 15b. The ankle pitch shaft motor 13a is connected to the connecting frame 15 by the belt type transmission mechanism 13d. The left and right side wall members 15a and 15b are passed through and supported by the right side wall member 15b. Further, the ankle pitch axis drive system 13 is disposed between the left and right side wall members 15a and 15b, the base is coupled to the output element of the harmonic drive 13i, and the tip is protruded rearward of the left and right side wall members 15a and 15b. It has an arm 13j.

  The ankle roll shaft drive system 14 has an ankle roll shaft motor 14a as a second motor disposed in the crus frame 8 so that the axis extends along the longitudinal direction of the crus frame 8. The first side of the gear box 12 fixed to the lower end surface of the lower leg frame 8 is rotatably supported through the gear box 12 so that the axis extends parallel to the ankle pitch axis P4. A bevel gear as a first cross shaft type transmission mechanism having an intermediate shaft 14b and drivingly coupling an output shaft as an output element of the ankle roll shaft motor 14a and the first intermediate shaft 14b in the gear box 12 It has a set 14c.

  Further, the ankle pitch shaft drive system 13 has a connecting rod 13h as a link member for connecting a portion of the connecting member 11c that is detached rearward from the ankle pitch axis P4 to the tip of the drive arm 13j, behind the gear box 12. The ankle roll drive system 14 is disposed at the front portion of the connecting member 11c on the ankle roll axis R3, and has an output element as a second coaxial type speed reducer coupled to the front bracket 11d. The drive 14d and the position of the connecting member 11c on the ankle pitch axis P4 and the position away from the ankle pitch axis P4 to the rear side opposite to the harmonic drive 14d are rotatably supported in parallel with each other. The second intermediate shaft 14e and the third intermediate shaft 14f are connected to the second intermediate shaft 14e and the third intermediate shaft 14f. A spur gear set 14g as a second parallel shaft type transmission mechanism and a belt type transmission mechanism 14h as a third parallel shaft type transmission mechanism for drivingly coupling the first intermediate shaft 14b and the second intermediate shaft 14e. And a bevel gear set 14i as a second cross shaft type transmission mechanism for drivingly coupling the input element of the harmonic drive 14d and the third intermediate shaft 14f.

  In the leg 5 of the third embodiment described above, the output shaft of the ankle pitch shaft motor 13a disposed on the connection frame 15 is connected to the input element of the harmonic drive 13i also disposed on the connection frame 15. The drive arm 13j, which is driven through the transmission mechanism 13d and coupled to the output element of the harmonic drive 13i, is driven to swing, so that the lower leg frame 8 can swing around the ankle pitch axis P4 of the ankle joint 11. A portion of the supported connecting member 11c that is off the ankle pitch axis P4 is pushed and pulled through the connecting rod 13h, and is supported by the connecting member 11c so as to be swingable around the ankle roll axis R3 of the ankle joint 11. The foot 9 is swung around the ankle pitch axis P4.

  Further, the output shaft of the ankle roll shaft motor 14a disposed on the lower leg frame 8 is connected to the first intermediate shaft 14b rotatably supported by the gear box 12 fixed to the lower end of the lower leg frame 8, and the bevel gear set 14c. The first intermediate shaft 14b, which is driven through the rotation of the first intermediate shaft 14b, is rotatably supported at a position on the ankle pitch axis P4 of the connecting member 11c. The second intermediate shaft 14e driven through 14h and driven to rotate by the third intermediate shaft 14e is supported in parallel with the second intermediate shaft 14e at a position off the ankle pitch axis P4 of the connecting member 11c. The intermediate shaft 14f is driven via the spur gear set 14g, and the third intermediate shaft 14f that is rotationally driven by the intermediate shaft 14f is disposed on the ankle roll axis R3 and the output element is coupled to the foot 9. The input element of Kkudoraibu 14d, rotationally driven via a bevel gear assembly 14i, to swing the foot 9 around the ankle roll axis R3.

  Furthermore, in the leg 5 of the third embodiment, the ankle roll shaft motor 14a is arranged on the lower leg frame 8 so that the axis thereof extends along the longitudinal direction of the lower leg frame 8, and the ankle Since the output shaft of the roll shaft motor 14a is drivingly coupled to the first intermediate shaft 14b disposed in the gear box 12 fixed to the lower end of the lower leg frame 8 by the bevel gear set 14c, the ankle roll shaft motor 14a is connected. The lower part of the lower leg is configured to be thinner than when the is placed sideways.

  In addition, in the leg 5 of the third embodiment, the second intermediate shaft 14c is disposed at a position on the ankle pitch axis P4 of the connecting member 11c, and on the ankle pitch axis P4 of the connecting member 11c. The third intermediate shaft 14f, which is transmitted from the second intermediate shaft 14c by the spur gear set 14g, is disposed at a position deviated rearward from the second intermediate shaft 14c, and the third intermediate shaft 14f is disposed on the ankle roll axis R3. Since the bevel gear set 14i is transmitted to the input element of the harmonic drive 14d via the bevel gear set 14i, the bevel gear set 14i is moved backward from the vicinity of the center of the ankle joint 11, and the harmonic drive 14d is retracted toward the center of the ankle joint 11 correspondingly. The ankle is configured to be thinner than when the bevel gear set 14 i is disposed near the center of the ankle joint 11.

  Therefore, according to the lower body of the humanoid walking robot having the legs 5 of the third embodiment, the upper body (not shown) with respect to the waist frame 2 at the waist joint 1 is placed around the waist yaw axis Y1, the waist roll axis R1, and the waist. It can be rotated around the pitch axis P1 with three degrees of freedom, and the two legs 5 with respect to the waist frame 2 at the hip joint 4 around the crotch yaw axis Y2, the crotch roll axis R2, and the crotch pitch axis P2, respectively. The lower leg frame 8 can be rotated with respect to the thigh frame 7 at the knee joint 10 with one degree of freedom around the knee pitch axis P3, and the ankle joint 11 can be rotated at the lower leg. Since the foot 9 can be swung with two degrees of freedom around the ankle pitch axis P4 and the ankle roll axis R3 with respect to the frame 8, a natural walking motion of the humanoid walking robot can be realized. In addition, the leg 5 has a small ratio of thickness to length from the thigh to the ankle, particularly from the lower leg to the ankle due to the thin structure of the lower leg and the ankle described above. A slim proportion close to that can be realized.

  Furthermore, according to the lower half of the humanoid walking robot having the legs 5 of the third embodiment, the lower leg frame 8 is supported by the connecting member 11c so as to be swingable around the ankle pitch axis P4, and the connecting member 11c is Since the foot 9 is supported so as to be swingable around the ankle roll axis R3, the drive arm 13j coupled to the output element of the harmonic drive 13i, and the coupling rod 13h coupling the drive arm 13j and the coupling member 11c, Since it is located on the rear side of the lower leg to drive the pitch axis of the ankle joint 11, a proportion close to that of a human leg, particularly a female leg, whose cross-sectional shape is elongated in the front-rear direction can be realized.

  Although the present invention has been described above based on the illustrated examples, the present invention is not limited to the above-described embodiments, and can be appropriately changed within the scope of the claims. The humanoid walking robot with legs may be of a male type that is similar to a human male in terms of face and body shape, not a female type, and the degree of freedom of each joint of the above humanoid walking robot will interfere with walking motion. You may increase / decrease suitably in the range which does not have. The configuration of the present invention is to change the arm of the humanoid robot, particularly the forearm (or lower arm) and the arm of the humanoid robot by changing the foot to the hand, the ankle joint to the wrist joint, and the lower leg to the forearm (or lower arm). It can be easily applied to the wrist.

  Thus, according to the first aspect of the leg for the humanoid walking robot of the present invention, the foot can be swung around the pitch axis and the roll axis that are orthogonal to each other at the ankle joint, and from the upper part to the lower part of the lower leg. Thus, a slim proportion close to a human leg, particularly a female leg, with a small ratio of thickness to length can be realized.

  According to the second aspect of the leg for a humanoid walking robot of the present invention, the foot can be swung around the pitch axis and the roll axis perpendicular to each other at the ankle joint, and from the lower part of the lower leg to the ankle. Thus, a slim proportion close to a human leg, particularly a female leg, with a small ratio of thickness to length can be realized.

  According to the third aspect of the leg for the humanoid walking robot of the present invention, the foot can be swung around the pitch axis and the roll axis perpendicular to each other at the ankle joint, and from the upper part of the lower leg to the ankle. Thus, a slim proportion close to a human leg, particularly a female leg, with a small ratio of thickness to length can be realized.

DESCRIPTION OF SYMBOLS 1 Waist joint 2 Waist frame 4 Hip joint 5 Leg 6 Joint unit 6a Upper base 6b Front bracket 6c Rear bracket 6d Connecting member 6e Left bracket 6f Right bracket 6g Roll shaft motor 6h, 6i Harmonic drive 7 Thigh frame 8 Lower thigh frame 9 Foot 10 Knee joint 10a Left bracket 10b Right bracket 10c Lower bracket 10d Knee pitch shaft motor 10e Harmonic drive 11 Ankle joint 11a Left bracket 11b Right bracket 11c Connecting member 11d Front bracket 11e Rear bracket 11f Elastic bush 11g Force sensor 11h Ankle base 12 Gear Box 13 Ankle pitch shaft drive system 13a Ankle pitch shaft motor 13b Screw type linear drive mechanism 13c Screw shaft 13d Belt type transmission mechanism 13e Ball circulation type 13f Drive rod 13g Sliding member 13h Connecting rod 13i Harmonic drive 13j Drive arm 14 Ankle roll shaft drive system 14a Ankle roll shaft motor 14b First intermediate shaft 14c Bevel gear set 14d Harmonic drive 14e Second intermediate shaft 14f First Intermediate shaft 3g 14g spur gear set 14h belt-type transmission mechanism 14i bevel gear set 15 connecting frame 15a left side wall member 15b right side wall member P1 waist pitch axis R1 waist roll axis Y1 waist yaw axis P2 crotch pitch axis R2 crotch roll axis Y2 crotch yaw axis P3 Knee pitch axis P4 Ankle pitch axis R3 Ankle roll axis

Claims (5)

In the legs of a humanoid walking robot that swings the legs of the humanoid walking robot around the pitch axis and roll axis perpendicular to the lower leg at the ankle joint,
The first motor and the screw type linear drive mechanism are arranged on the upper part of the lower leg so that their axes extend along the longitudinal direction of the lower leg, and the output element of the first motor and the screw type The input element of the linear drive mechanism is drivingly coupled by the first parallel shaft type transmission mechanism,
A second motor is arranged at the lower part of the lower leg such that its axis extends along the longitudinal direction of the lower leg, and the first intermediate axis is arranged between the pitch axis and the roll axis of the ankle joint. The first motor is coupled to the output element of the second motor and the first intermediate shaft by a first cross-axis transmission mechanism, rotatably supported so as to extend parallel to one of the axes,
The joint member is supported on the lower leg so as to be swingable around the one axis, and the foot is supported on the joint member so as to be swingable around the other axis of the pitch axis and the roll axis of the ankle joint. And
A coaxial speed reducer is disposed on the other axis and its output element is coupled to the foot,
A portion of the joint member that is off the one axis and an output element of the screw-type linear drive mechanism are connected by a link member,
A second intermediate shaft is rotatably supported at a position on the one axis line of the joint member, and the first intermediate shaft and the second intermediate shaft are supported by a second parallel shaft transmission mechanism. Drive coupled,
A leg for a humanoid walking robot, wherein an input element of the coaxial reduction gear and the second intermediate shaft are drivingly coupled by a second cross-axis transmission mechanism. In the legs of a humanoid walking robot that swings the legs of the humanoid walking robot around the pitch axis and roll axis perpendicular to the lower leg at the ankle joint,
The first motor and the first coaxial speed reducer are arranged on the upper part of the lower leg so that their axes are parallel to each other and extend parallel to one of the pitch axis and the roll axis of the ankle joint. Then, the output element of the first motor and the input element of the first coaxial reduction gear are drivingly coupled by a first parallel shaft type transmission mechanism,
A second motor is arranged at the lower part of the lower leg such that its axis extends along the longitudinal direction of the lower leg, and the first intermediate axis extends parallel to the one axis. The output element of the second motor and the first intermediate shaft are drive-coupled by a first cross-axis transmission mechanism,
The joint member is supported on the lower leg so as to be swingable around the one axis, and the foot is supported on the joint member so as to be swingable around the other axis of the pitch axis and the roll axis of the ankle joint. And
Placing a second coaxial reducer on the other axis and coupling its output element to the foot;
A portion of the joint member deviated from the one axis and an arm provided on an output element of the first coaxial speed reducer are connected by a link member,
A second intermediate shaft is rotatably supported at a position on the one axis of the joint member, and opposite to the second coaxial speed reducer side from the one axis of the joint member. A third intermediate shaft is rotatably supported in parallel with the second intermediate shaft at a position deviated to the side, and the second intermediate shaft and the third intermediate shaft are connected to a second parallel shaft type transmission mechanism. Driven by
The first intermediate shaft and the second intermediate shaft are drive-coupled by a third parallel shaft type transmission mechanism, and the input element of the second coaxial type reduction gear and the third intermediate shaft are connected to each other. A leg for a humanoid walking robot, characterized in that it is drive-coupled by two cross-axis transmission mechanisms. In the legs of a humanoid walking robot that swings the legs of the humanoid walking robot around the pitch axis and roll axis perpendicular to the lower leg at the ankle joint,
The first motor and the screw type linear drive mechanism are arranged on the upper part of the lower leg so that their axes extend along the longitudinal direction of the lower leg, and the output element of the first motor and the screw type The input element of the linear drive mechanism is drivingly coupled by the first parallel shaft type transmission mechanism,
A second motor is arranged at the lower part of the lower leg such that its axis extends along the longitudinal direction of the lower leg, and the first intermediate axis is arranged between the pitch axis and the roll axis of the ankle joint. The first motor is coupled to the output element of the second motor and the first intermediate shaft by a first cross-axis transmission mechanism, rotatably supported so as to extend parallel to one of the axes,
The joint member is supported on the lower leg so as to be swingable around the one axis, and the foot is supported on the joint member so as to be swingable around the other axis of the pitch axis and the roll axis of the ankle joint. And
A coaxial speed reducer is disposed on the other axis and its output element is coupled to the foot,
A portion of the joint member that is off the one axis and an output element of the screw-type linear drive mechanism are connected by a link member,
A second intermediate shaft is rotatably supported at a position on the one axis of the joint member, and is disengaged from the one axis on the opposite side to the coaxial reduction gear. A third intermediate shaft is rotatably supported at a position parallel to the second intermediate shaft, and the second intermediate shaft and the third intermediate shaft are driven and coupled by a second parallel shaft type transmission mechanism. And
The first intermediate shaft and the second intermediate shaft are drive-coupled by a third parallel shaft type transmission mechanism, and the input element of the coaxial reduction gear and the third intermediate shaft are connected at a second intersection. A leg for a humanoid walking robot, characterized by being driven and coupled by an axial transmission mechanism.   The lower leg frame rotatably supports a screw of the screw-type linear drive mechanism and guides the movement of the nut while preventing rotation of the nut screwed into the screw. Item 4. The humanoid walking robot leg according to Item 1 or 3.   The leg for a humanoid walking robot according to any one of claims 1 to 4, wherein the one axis is a pitch axis and the other axis is a roll axis.

Images