JP6122743B2 - robot - Google Patents

Description

  The present invention relates to a robot, and more specifically to a robot that removes air mixed in a fluid pressure cylinder or the like that can bend and stretch a finger mechanism connected to a hand.

  A base body, a hand coupled to the base body, a plurality of finger mechanisms coupled to the hand, and a first body that is disposed on the base body or the hand and is connected to a reservoir in which a working fluid is stored and is movable to the inside. The first fluid pressure (master) cylinder in which the piston is accommodated and the hand or finger mechanism are arranged, and the second piston is accommodated in the first fluid pressure cylinder via the fluid pressure transmission pipe so as to be movable inside. The second fluid pressure (slave) cylinder is configured to transmit the fluid pressure generated by the movement of the first piston to the second fluid pressure cylinder through the fluid pressure transmission pipe and move the second piston. As a robot (movable humanoid type) equipped with a fluid pressure transmission device capable of bending and stretching the mechanism, for example, a technique described in Patent Document 1 can be cited.

  In the technique described in Patent Document 1, it is determined whether or not air is mixed in any of the first fluid pressure cylinder, the second fluid pressure cylinder, and the fluid pressure transmission pipe, and it is determined that the air is mixed. The first piston of the first fluid pressure cylinder is alternately moved in the forward direction and the backward direction, and the second piston corresponding to the backward direction of the first piston is moved upward in the direction of gravity. By controlling the attitude of the two-fluid pressure cylinder, the mixed air is discharged to the upper space of the working fluid stored in the reservoir.

JP2013-96514A

  By the way, the robot hand and finger mechanism described above are manufactured by imitating human hands and require complex movements. Therefore, the fluid pressure transmission device that bends and stretches the finger mechanism depends on the number of finger mechanisms and joints. Multiple sets are used accordingly. In addition, since the second fluid pressure cylinder provided in the fluid pressure transmission device is accommodated in a hand or finger mechanism having a large space constraint, a plurality of second fluid pressure cylinders are mutually connected in the finger mechanism or hand. Arranged at different positions and angles (orientations).

  Accordingly, in a plurality of sets of fluid pressure transmission devices (such as the first fluid pressure cylinder and the second fluid pressure cylinder), it is assumed that a part or all of the air is mixed, so that a plurality of sets of fluid pressure It is necessary to specify a fluid pressure transmission device in which air is mixed from among the pressure transmission devices.

  Furthermore, when there are two or more sets of the specified fluid pressure transmission devices and the installation directions (directions) of the second fluid pressure cylinders provided on them are different from each other, a hand or the like according to the installation direction of each second fluid pressure cylinder It is necessary to remove air while appropriately switching the posture.

  However, the technique described in Patent Document 1 does not disclose anything about specifying a fluid pressure transmission device in which air is mixed from among a plurality of sets of fluid pressure transmission devices, and the specified fluid pressure transmission device. No measures were disclosed for the case where the installation directions (directions) of the second fluid pressure cylinders provided in are different.

  Accordingly, the object of the present invention is to solve the above-mentioned problems, and there are two or more sets of fluid pressure transmission devices mixed with air, and the installation direction of the second fluid pressure cylinders provided in the two or more sets of fluid pressure transmission devices ( It is an object of the present invention to provide a robot that specifies a fluid pressure transmission device in which air is mixed and reliably removes air from all the specified fluid pressure transmission devices even when the orientations are different.

In order to solve the above-mentioned problem, in claim 1, a base, a hand connected to the base, a plurality of finger mechanisms connected to the hand, and a plurality of sets of fluid pressure transmission devices And the plurality of sets of fluid pressure transmission devices are respectively disposed on the base body or the hand, and are connected to a reservoir in which a working fluid is stored, and a first fluid in which a first piston is accommodated movably inside A pressure cylinder, and a second fluid pressure cylinder which is disposed in the hand or finger mechanism and is connected to the first fluid pressure cylinder via a fluid pressure transmission pipe and in which a second piston is accommodated movably. And transmitting the fluid pressure generated by the movement of the first piston to the second fluid pressure cylinder via the fluid pressure transmission tube to move the second piston to bend and stretch the finger mechanism. In the above-described robot, it is determined whether or not air is mixed in any one of the first fluid pressure cylinder, the second fluid pressure cylinder, and the fluid pressure transmission pipe in the plurality of sets of fluid pressure transmission devices. In addition, when it is determined that air has entered any one of the parts, air mixing that identifies a fluid pressure transmission apparatus that includes a part that is determined to have the air mixed among the plurality of sets of fluid pressure transmission apparatuses An apparatus specifying means, a forward direction in which the fluid pressure transmitted from the first piston to the second fluid pressure cylinder increases in the fluid pressure transmitting apparatus specified by the air mixing apparatus specifying means, It is alternately moved in the reverse direction opposite to the forward direction and discharged to the upper space of the working fluid stored in the reservoir, and corresponds to the reverse direction of the first piston. And an air removing means for removing by moving direction of the second piston to change the posture of the finger mechanism or hand so that upward in the gravity direction, the air removing means, the identified fluid pressure transmission Determining priority for removing air for the device, and changing the posture of the finger mechanism or hand according to the determined priority to remove the mixed air in the identified fluid pressure transmission device; It was constructed as that determine the priority based on the orientation with respect to the gravity direction of the second fluid pressure cylinder for a particular fluid pressure transmission device.

  According to the first aspect, the first fluid pressure cylinder is disposed on the base body or the hand, and is connected to a reservoir in which the working fluid is stored, and the first piston is accommodated therein so as to be movable therein, and the hand or hand. And a second fluid pressure cylinder that is connected to the first fluid pressure cylinder via a fluid pressure transmission pipe and in which a second piston is accommodated movably. A robot having a plurality of sets of fluid pressure transmission devices that transmit and receive a fluid pressure generated by the movement of one piston to a second fluid pressure cylinder through a fluid pressure transmission pipe and move the second piston to bend and stretch the finger mechanism. And determining whether or not air is mixed in any one of the first fluid pressure cylinder, the second fluid pressure cylinder, and the fluid pressure transmission pipe in the plurality of sets of fluid pressure transmission devices. When it is determined that air is mixed in, a fluid pressure transmission device including a portion determined to be mixed with air is identified from among a plurality of sets of fluid pressure transmission devices, and mixed in the identified fluid pressure transmission device The first piston is moved alternately in the forward direction and the backward direction to be discharged into the upper space of the working fluid stored in the reservoir, and the movement direction of the second piston corresponding to the backward direction of the first piston Since it is configured to be removed by changing the posture of the finger mechanism or the hand so that it is upward in the direction of gravity, there are two or more sets of fluid pressure transmission devices mixed with air, and more than two sets of fluid pressure transmission Even if the installation directions (directions) of the second fluid pressure cylinders provided in the device are different from each other, the fluid pressure transmission device mixed with air is specified and all specified It is possible to reliably remove the air from the fluid pressure transmission device.

In addition , the priority order for removing air is determined for the identified fluid pressure transmission device, and air mixed in the identified fluid pressure transmission device is changed by changing the posture of the finger mechanism or hand according to the determined priority order. Since it is configured to be removed, air can be more reliably removed from all the specified fluid pressure transmission devices in addition to the effects described above.

  That is, in the technique described in Patent Document 1, as described above, the posture of the second fluid pressure cylinder is controlled so that the moving direction of the second piston corresponding to the backward direction of the first piston is upward in the direction of gravity. The air is removed by moving the first piston of the first fluid pressure cylinder alternately in the forward direction and the backward direction, but even if these series of operations are performed, for example, the air (bubbles) is extremely small When the fluid pressure transmission pipe is bent in a complicated manner due to the layout, the air does not move smoothly in the pipe, and the air discharged from the second fluid pressure cylinder is above the working fluid stored in the reservoir. It may remain in the middle (fluid pressure transmission pipe or first fluid pressure cylinder) without going to the space.

  In addition, when the posture of the hand or the like is sequentially switched while air remains, the positional relationship between the second fluid pressure cylinder and the fluid pressure transmission pipe changes, for example, higher in the gravity direction than the second fluid pressure cylinder. There is a possibility that the fluid pressure transmission pipe that has been positioned will be lower than the second fluid pressure cylinder by switching the posture of the hand or the like, and air may flow backward in the pipe.

  Therefore, even when the posture of the hand or the like is sequentially switched, there is a problem that if the switching order is not set appropriately, the air cannot be completely removed or it takes a long time to remove the air. Therefore, as described above, the priority order for removing air is determined for the specified fluid pressure transmission device, and the posture of the hand or the like is changed according to the determined priority order. Air mixed in the transmission device can be more reliably removed.

Further , since the priority order is determined based on the direction of the specified fluid pressure transmission device with respect to the direction of gravity of the second fluid pressure cylinder, in addition to the effect of claim 2, the priority order for removing air, that is, The order of changing the posture of the hand or the like can be set more appropriately, and air can be more reliably removed from all the specified fluid pressure transmission devices.

It is the schematic which shows typically the fluid pressure transmission apparatus used for the robot which concerns on the Example of this invention. It is a side view of the robot which concerns on the Example of this invention. FIG. 3 is a partial cross-sectional perspective view of the robot shown in FIG. 2 when viewed from the right front of the robot with the arm or the like removed from the upper body. FIG. 3 is an enlarged plan view of the hand shown in FIG. 2. It is side surface sectional drawing which shows the structure of the finger | toe finger mechanism among the finger mechanisms of the hand shown in FIG. FIG. 5 is a cross-sectional plan view illustrating a configuration of a thumb mechanism among the finger mechanisms of the hand illustrated in FIG. 4. FIG. 5 is an explanatory diagram schematically illustrating the arrangement of a second fluid pressure cylinder that bends and stretches the index finger mechanism, the middle finger mechanism, the ring finger mechanism, and the little finger mechanism via the DIP joint, the PIP joint, and the MP1 joint shown in FIG. 4. FIG. 5 is an explanatory diagram schematically illustrating the arrangement of a second fluid pressure cylinder that causes the index finger mechanism and the middle finger mechanism shown in FIG. 4 to approach or separate from each other. FIG. 5 is an explanatory diagram schematically illustrating the arrangement of a second fluid pressure cylinder that bends and stretches the thumb mechanism via the IP joint, the MP joint, the CM1 joint, and the CM2 joint shown in FIG. 4. It is explanatory drawing explaining the hand of the state in which the fingertip side of the index finger mechanism, middle finger mechanism, ring finger mechanism, and little finger mechanism shown in FIG. 3 is a flowchart showing the operation of the ECU shown in FIG. FIG. 12 is a sub-routine flowchart showing the air mixing determination process of FIG. 11. FIG. FIG. 13 is a characteristic diagram illustrating a change in the hydraulic pressure in the first fluid pressure cylinder with respect to the movement amount of the piston of the first fluid pressure cylinder, explaining the air mixing determination process in the flowchart of FIG. 12. 12 is a sub-routine flowchart showing the air removal process of FIG. 11. It is explanatory drawing for demonstrating attitude | position changes, such as a finger mechanism and a hand, when performing the air removal process of FIG. FIG. 16 is an explanatory view similar to FIG. 15 for explaining a posture change of a finger mechanism or a hand when performing the air removal process of FIG. 14. FIG. 16 is an explanatory view similar to FIG. 15 for explaining a posture change of a finger mechanism or a hand when performing the air removal process of FIG. 14. FIG. 16 is an explanatory view similar to FIG. 15 for explaining a posture change of a finger mechanism or a hand when performing the air removal process of FIG. 14. FIG. 16 is an explanatory view similar to FIG. 15 for explaining a posture change of a finger mechanism or a hand when performing the air removal process of FIG. 14. FIG. 16 is an explanatory view similar to FIG. 15 for explaining a posture change of a finger mechanism or a hand when performing the air removal process of FIG. 14.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for implementing a robot according to the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is a schematic view schematically showing a fluid pressure transmission device used in a robot according to an embodiment of the present invention, and FIG. 2 is a side view of the robot according to the embodiment of the present invention.

  A fluid pressure transmission device (denoted by reference numeral 10 in FIG. 1) is a device that bends and stretches a finger mechanism connected to a robot hand. For a robot, the fluid pressure transmission device 10 depends on the number of finger mechanisms and joints. A plurality of sets are installed (in FIG. 1, only one set of the fluid pressure transmission device 10 is shown for convenience of understanding).

  As shown in FIG. 1, the fluid pressure transmission device 10 includes a first fluid pressure (master) cylinder 12 and a second fluid pressure (slave) cylinder 14. The first fluid pressure cylinder 12 is connected to a reservoir 16 in which incompressible hydraulic oil (working fluid) is stored via a fluid path 20 and is supplied with the stored hydraulic oil. Thus, the first and second fluid pressure cylinders 12 and 14 are configured as hydraulic cylinders.

  The first fluid pressure cylinder 12 and the second fluid pressure cylinder 14 are connected via a fluid pressure transmission pipe 22. A first piston 24 is movably accommodated in the first fluid pressure cylinder 12, and a second piston 26 is movably accommodated in the second fluid pressure cylinder 14. The second piston 26 is connected to an appropriate driven member (specifically, a metacarpal segment, a proximal phalanx, a distal phalanx, etc. of a finger mechanism, which will be described later) 30 via a rod. Further, it is rotated through an appropriate linear / rotation conversion means (not shown).

  The first piston 24 accommodated in the first fluid pressure cylinder 12 is connected to the actuator 32, and is moved in the first fluid pressure cylinder 12 by the actuator 32. The actuator 32 is composed of, for example, an electric motor connected to the first piston 24 via a ball screw mechanism.

  The fluid pressure generated by the movement of the first piston 24 in the first fluid pressure cylinder 12 is transmitted to the second fluid pressure cylinder 14 via the fluid pressure transmission pipe 22 to move the second piston 26.

  That is, when the first piston 24 is moved in the forward direction, the hydraulic oil in the first fluid pressure cylinder 12 is pressed (pressurized) by the first piston 24, and the second fluid pressure is transmitted via the fluid pressure transmission pipe 22. The second piston 26 is supplied to the cylinder 14 and moved in the forward direction (corresponding to (corresponding to) the forward direction of the first piston 24) to move the driven member 30 forward, or bend and stretch (via linear / rotational conversion means). Bend and stretch).

  On the other hand, when the first piston 24 is moved in the reverse direction opposite to the forward movement direction, the hydraulic oil in the first fluid pressure cylinder 12 is sucked (depressurized) by the first piston 24 and is stored in the second fluid pressure cylinder 14. The hydraulic oil is sucked into the first fluid pressure cylinder 12 via the fluid pressure transmission pipe 22, and thus the second piston 26 is moved in the retracting direction (corresponding to (corresponding to) the retracting direction of the first piston 24), and the driven member 30 is retracted or bent (stretched / bent) via a linear / rotational conversion means.

  Thus, in this specification, the moving direction of the first piston 24 in the first fluid pressure cylinder 12 means the direction in which the forward direction increases the hydraulic pressure (fluid pressure) to be transmitted to the second fluid pressure cylinder 14. The reverse direction means the reverse direction opposite to the forward direction.

  In the vicinity of the actuator 32, a movement amount detection means 34 comprising a rotary encoder that detects the movement amount of the first piston 24 through the operation of the actuator 32 is provided, and the first fluid pressure cylinder 12 includes the first fluid pressure cylinder 12. There is provided pressure detecting means 36 comprising a pressure sensor for detecting internal oil pressure (fluid pressure).

  Outputs of the movement amount detection means 34 and the pressure detection means 36 are sent to an ECU (Electronic Control Unit) installed in the storage unit of the robot described later.

  The robot will be described on the assumption of the fluid pressure transmission device 10 described above. The robot (denoted by reference numeral 100) is configured as a legged mobile robot having two left and right leg portions 102 as shown in FIG. Since a plurality of sets of fluid pressure transmission devices 10 are installed in the robot 100, when describing each fluid pressure transmission device 10 and the members constituting it, the same reference numerals as those in FIG. Description will be made with a2, a3,.

  The leg part 102 is connected to the lower part of the upper body (base body) 104 and includes a thigh link 106, a lower leg link 110, and a foot part 112, respectively. The thigh link 106 is connected to the upper body 104 via a hip joint. The hip joint has a rotation axis around the Z axis (yaw axis), a rotation axis around the Y axis (pitch axis; front and rear direction of the robot 100), and a rotation axis around the X axis (roll axis; left and right direction of the robot 100). Three electric motors having the same are arranged.

  The thigh link 106 and the lower leg link 110 are connected via a knee joint, and the lower leg link 110 and the foot 112 are connected via an ankle joint. An electric motor having a rotation axis around the Y axis is arranged at the knee joint, and an electric motor having rotation axes around the Y axis and the X axis is arranged at the ankle joint.

  A head 114 is connected to the upper part of the upper body 104, and two left and right arms (links, bases) 116 are connected to the sides. Hands (end effectors) 120 are connected to the tips of the left and right arm portions 116, respectively.

  The left and right arm portions 116 include an upper arm link 122 and a lower arm link 124, respectively. The upper arm link 122 is connected to the upper body 104 via a shoulder joint 126. The upper arm link 122 and the lower arm link 124 are connected via an elbow joint 130, and the lower arm link 124 and the hand 120 are connected via a wrist joint 132.

  The shoulder joint 126 has three electric motors having a rotation axis around the Y axis, a rotation axis around the X axis, and a rotation axis around the Z axis, and the elbow joint 130 has an electric motor having a rotation axis around the Y axis. The wrist joint 132 is provided with three electric motors having a rotation axis around the Z axis, a rotation axis around the Y axis, and a rotation axis around the X axis.

  A storage unit 134 is provided on the back of the base 104, and an ECU 40, a battery (not shown), and the like are accommodated therein. The robot 100 is covered with a cover for protecting the internal structure. The ECU 40 includes a microcomputer having a CPU, an input / output circuit, a ROM, a RAM, and the like (not shown). The ECU 40 moves the robot 100 by controlling the operation of the electric motor of the leg 102 and the electric motor of the arm unit 116. To control the operation.

  In addition, the ECU 40 supplies air (air) to any one of the first fluid pressure cylinder 12, the second fluid pressure cylinder 14, and the fluid pressure transmission pipe 22 based on the outputs of the movement amount detection means 34 and the pressure detection means 36. ) Functions as air removal means for removing mixed air when it is determined by the air mixing determination means and the air mixing determination means.

  Specifically, when the ECU 40 functions as air mixing determination means, the hydraulic pressure in the first fluid pressure cylinder 12 detected by the pressure detection means 36 and the first fluid pressure cylinder 12 detected by the movement amount detection means 34. On the basis of the movement amount of the first piston 24, it is determined whether or not air has entered any of the first fluid pressure cylinder 12, the second fluid pressure cylinder 14, and the fluid pressure transmission pipe 22.

  When the ECU 40 functions as an air removing unit and it is determined that air is mixed, the second fluid pressure cylinder 14 is lower in the direction of gravity than the first fluid pressure cylinder 12 (hereinafter simply referred to as “downward”). The posture of the second fluid pressure cylinder 14 is controlled so as to be positioned, and the moving direction of the second piston 26 corresponding to the backward direction of the first piston 24 is upward in the gravity direction (hereinafter simply referred to as “upward”). Thus, the attitude of the second fluid pressure cylinder 14 is controlled.

  By controlling the posture of the second fluid pressure cylinder 14 as described above, the air mixed in the second fluid pressure cylinder 14 is discharged to the fluid pressure transmission tube 22 side by buoyancy, and the air flows into the fluid pressure transmission tube 22. If present, the air is prevented from entering the second fluid pressure cylinder 14.

  Further, the ECU 40 alternately moves the first piston 24 in the first fluid pressure cylinder 12 in the forward direction and the backward direction, and discharges the mixed air to the upper space of the hydraulic oil stored in the reservoir 16 (discharge). Is performed via an air discharge passage (not shown) connecting the oil chamber of the first fluid pressure cylinder 12 and the upper portion of the reservoir 16 (the upper space of the hydraulic oil). Specifically, the moving speed of the first piston 24 in the backward direction is faster than that in the forward direction, and the mixed air is stored in the reservoir 16 by alternately moving in the forward direction and the backward direction. Drain into the space above the oil.

  FIG. 3 is a partial cross-sectional perspective view of the right arm portion 116 and the like shown in FIG. In FIG. 3, for the convenience of understanding, a cover or the like for protecting the internal structure is shown in a properly removed state.

  As shown in FIG. 3, 13 portions of the cylinder unit 12A in which the first fluid pressure cylinder 12, the actuator 32, the reservoir 16, and the like are integrated are provided in the vicinity of the shoulder joint 126 of the arm portion 116 (therefore, the fluid 13 sets of pressure transmission devices 10 are also provided). The 13 cylinder units 12A are composed of a first group arranged in parallel in two rows of two, and a second group arranged in parallel with two and three cylinder units.

  4 is an enlarged plan view of the hand 120 shown in FIG.

  The hand 120 is manufactured by imitating a human hand, and has five finger mechanisms 136 having a bending / extending function, specifically, a thumb mechanism 136A, an index finger mechanism 136B, a middle finger mechanism 136C, a ring finger mechanism 136D, and a little finger mechanism 136E. Prepare.

  The thumb mechanism 136A has an IP joint (joint interphalangeal joint) 136A1 and an MP joint (fingerfiddle metacarpophalangeal joint) 136A2 each consisting of a single axis of rotation that rotates the thumb mechanism 136A in the direction toward the palm of the hand in order from the fingertip side. And CM1 joint (phalangeal carpal joint) 136A3 and a CM2 joint (phalangeal carpal joint) comprising a single axis of rotation that intersects them and rotates the thumb mechanism 136A in the direction toward the palm of the hand, etc. ) 136A4.

  FIG. 5 is a side sectional view of the finger mechanism 136B among the finger mechanisms 136 shown in FIG.

  As shown in the figure, the index finger mechanism 136B is composed of a DIP joint (distal interphalangeal joint) 136F and a PIP joint (proximal), each consisting of a single axis of rotation that rotates the finger mechanism 136B in the direction toward the palm of the hand in order from the fingertip side. (Interphalangeal joint) 136G and MP1 joint (middle phalangeal joint) 136H, and a rotating shaft of one axis that intersects with them and rotates the finger mechanism 136B in a direction approaching / separating from another adjacent finger mechanism The MP2 joint (metacarpal joint) 136I is provided. Although not shown, the other middle finger mechanism 136C, ring finger mechanism 136D, and little finger mechanism 136E also have the same structure.

  Returning to the description of FIG. 4, two second fluid pressure (slave) cylinders 14 a 1, 14 a 2, 14 a 4, 14 a 5 are provided on the base 120 A of the fingertip side and the rear hand 120 of the MP1 joint 136 H of each finger mechanism 136. 14a7-14a10 are arranged. These second fluid pressure cylinders 14a1, etc. are connected to the first fluid pressure cylinders 12a1, 12a2, 12a4, 12a5, 12a7 via fluid pressure transmission tubes 22a1, 22a2, 22a4, 22a5, 22a7-22a10 (only four are shown in FIG. 4). The working fluid pressure (hydraulic pressure) is supplied from ˜12a10, or the working fluid pressure is discharged to the first fluid pressure cylinder 12a1 or the like.

  The two second hydraulic cylinders 14a1 and 14a2 in the finger mechanism 136B will be described with reference to FIG. Explaining from the base 120A side, the cylinder main body 14a21 of the second fluid pressure cylinder 14a2 is fixed to the base 120A, and the rod 26a22 attached to the second piston 26a2 is connected to the middle finger phalanx (the driven member 30).

  The cylinder body 14a11 of the second fluid pressure cylinder 14a1 on the fingertip side is fixed to the metacarpal phalanx, and the rod 26a12 attached to the second piston 26a1 includes a proximal phalanx at the tip and a distal phalanx (fingertip; driven member 30). ) Through a connecting member 26a13 and a link member 26a14.

  In this configuration, when the working fluid pressure is supplied to the second fluid pressure cylinder 14a2 on the base 120A side via the fluid pressure transmission pipe 22a2 as the first fluid pressure cylinder 12a2 (not shown) moves in the forward direction, The piston 26a2 also moves correspondingly in the forward direction, and bends the portion on the tip side from the metacarpophalangeal joint around the MPI joint 136H.

  Further, the second fluid pressure cylinder on the fingertip side is provided via a fluid pressure transmission pipe 22a1 (not shown) in which the working fluid pressure is arranged around the MP1 joint 136H as the first fluid pressure cylinder 12a1 moves in the forward direction. When supplied to 14a1, the second piston 26a1 also moves in the forward direction, bending the proximal phalanx around the PIP joint 136G and bending the distal phalanx via the connecting member 26a13 and the link member 26a14.

  On the other hand, as the first fluid pressure cylinders 12a1 and 12a2 move in the backward direction, the working fluid pressure is transferred from the second fluid pressure cylinders 14a1 and 14a2 to the first fluid pressure cylinders 12a1 and 12a2 via the fluid pressure transmission pipes 22a1 and 22a2. When it is ejected, the finger mechanism 136B operates to extend in the reverse direction. The operation around the MP2 joint 136I is performed by a third second fluid pressure cylinder 14a3 (see FIG. 4) (not shown).

  Returning to FIG. 4, the second fluid pressure cylinders 14a4 and 14a5 having the same structure as the second fluid pressure cylinders 14a1 and 14a2 are fixed to the fingertip side and the base 120A side of the middle finger mechanism 136C, respectively. The operation of the middle finger mechanism 136C around the MP2 joint 136I is performed by the second fluid pressure cylinder 14a6.

  The other finger mechanism, that is, the ring finger mechanism 136D and the little finger mechanism 136E do not have the third second fluid pressure cylinders 14a3 and 14a6, and the proximal phalanx is connected to the PIP joint on the fingertip side. The second fluid pressure cylinders 14a7 and 14a9 that bend around the 136G and bend the distal phalanx via the connecting member and the link member are located on the base 120A side from the middle finger phalanx to the tip side around the MPI joint 136H. The second fluid pressure cylinders 14a8 and 14a10 to be bent are fixed.

  Next, the thumb mechanism 136A will be described with reference to FIG. 6 is a cross-sectional plan view showing the configuration of the thumb mechanism 136A of the finger mechanism 136 shown in FIG.

  As shown in the figure, the thumb mechanism 136A includes a second fluid pressure cylinder 14a11 for rotating the rotation shaft 136A21 of the MP joint 136A2 and a second fluid pressure cylinder 14a12 for rotating the rotation shaft 136A31 of the CM1 joint 136A3.

  The cylinder body 14a121 of the second fluid pressure cylinder 14a12 is used as a rotation shaft of the CM2 joint 136A4, and is disposed on the base 120A of the hand 120, specifically, is rotatably supported. The cylinder body 14a111 of the second fluid pressure cylinder 14a11 is rotatably connected to the second fluid pressure cylinder 14a12 via the rotation shaft 136A31 of the CM1 joint 136A3.

  The fluid pressure transmission pipe 22a11 that supplies the working fluid pressure to the second fluid pressure cylinder 14a11 is accommodated in the rotation shaft 136A31 of the CM1 joint 136A3. The rod 26a112 attached to the second piston 26a11 of the second fluid pressure cylinder 14a11 is fixed to the proximal phalanx and distal phalanx (fingertip, driven member 30) at the tip via a connecting member 26a113 and a link member 26a114.

  In this configuration, when the working fluid pressure is supplied to the second fluid pressure cylinder 14a11 via the fluid pressure transmission pipe 22a11 as the first fluid pressure cylinder 12a11 (not shown) moves in the forward direction, the second piston 26a11 is also moved to it. Correspondingly, it moves in the forward direction and bends the distal end portion from the proximal phalanx around the MP joint 136A2.

  Further, the fluid pressure transmission pipe 22a12 that supplies the working fluid pressure to the second fluid pressure cylinder 14a12 is disposed in the vicinity of the upper non-thumb mechanism 136B to 136E in FIG.

  When the working fluid pressure is supplied to the second fluid pressure cylinder 14a12 through the fluid pressure transmission pipe 22a12 as the first fluid pressure cylinder 12a12 moves in the forward direction, the second piston 26a12 also moves in the forward direction (FIG. 6). The finger mechanism 136A is rotated around the CM1 joint 136A3, and thus the thumb mechanism 136A is rotated.

  Further, as shown in FIG. 4, the CM2 joint 136A4 is connected to the third second fluid pressure cylinder 14a13 arranged in the lateral direction, and when the second fluid pressure cylinder 14a13 is supplied with the working fluid pressure, In step 4, the finger mechanism 136A is bent in the lateral direction and bent to the palm side or the like.

  The finger mechanism 136 and the hand 120 are provided with 13 second fluid pressure cylinders 14a1 to 14a13 and 13 fluid pressure transmission pipes 22a1 to 22a13 corresponding thereto (only 8 are shown in FIG. 4).

  Thus, in the finger mechanism 136 of the hand 120, the joint bends and extends (bends) in response to the supply and discharge of hydraulic fluid (working fluid pressure) from the first fluid pressure cylinder 12 to the second fluid pressure cylinder 14. For example, an operation such as gripping an object or pointing in an appropriate direction can be performed.

  Incidentally, as described above, the finger mechanism 136 and the hand 120 are provided with the 13 second fluid pressure cylinders 14 a 1 to 14 a 13, and these 13 second fluid pressure cylinders 14 a 1 and the like are provided on the finger mechanism 136 and the hand 120. FIG. 7 to FIG. 9 show the orientation in which they are arranged.

  FIG. 7 shows the second fluid pressure cylinders 14a1, 14a2, 14a4, 14a5 that bend and extend the finger mechanism 136B, the middle finger mechanism 136C, the ring finger mechanism 136D, and the little finger mechanism 136E through the DIP joint 136F, the PIP joint 136G, and the MP1 joint 136H. FIG. 8 is an explanatory diagram for explaining the arrangement of the second fluid pressure cylinders 14a3 and 14a6 for bringing the index finger mechanism 136B and the middle finger mechanism 136C close to or away from each other, and FIG. 9 is an IP joint. It is explanatory drawing explaining arrangement | positioning of three 2nd hydraulic cylinders 14a11-14a13 which bend and extend the thumb mechanism 136A via 136A1, MP joint 136A2, CM1 joint 136A3, and CM2 joint 136A4.

  As shown in FIG. 7, the eight second fluid pressure cylinders 14a1, 14a2, 14a4, 14a5, and 14a7 to 14a10 are all connected to the fluid pressure transmission pipe 22a1 and the like (hereinafter simply referred to as “connection portions”). (Arms 116 side, more specifically, wrist joint 132 side of the lower arm link 124).

  As shown in FIG. 8, the second fluid pressure cylinder 14a3 has a connecting portion on the side of the little ball of the palm (right side in the drawing), while the second fluid pressure cylinder 14a6 has a connecting portion on the opposite side (left side in the drawing). Placed in.

  As shown in FIG. 9, the second fluid pressure cylinder 14a11 is arranged so that the connecting portion is on the base 120A side of the thumb mechanism 136A, while the second fluid pressure cylinder 14a12 is arranged so that the connecting portion is on the finger mechanism 136B or middle finger mechanism 136C side. Is done. Further, the second fluid pressure cylinder 14a13 is arranged so that the connecting portion is on the side of the palm of the palm.

  As described above, the 13 second fluid pressure cylinders 14a1 and the like provided in the finger mechanism 136 or the hand 120 are installed in different positions and directions due to space restrictions. Accordingly, for example, air may be mixed into a plurality (two or more) of second fluid pressure cylinders 14 having different directions. In such a case, the posture of all the second fluid pressure cylinders 14 in which air is mixed is considered. If this is not properly controlled, a second fluid pressure cylinder 14 that cannot remove air may result.

  FIG. 10 is an explanatory diagram for explaining a hand in which the fingertip side of the index finger mechanism 136B, the middle finger mechanism 136C, the ring finger mechanism 136D, and the little finger mechanism 136E is downward in the direction of gravity.

  As shown in the figure, the second fluid pressure cylinders 14a2, 14a5, 14a8, and 14a10 are connected when the fingertip side of the non-thumb mechanism, that is, the index finger mechanism 136B, the middle finger mechanism 136C, the ring finger mechanism 136D, and the little finger mechanism 136E is downward. Since the portion is upward, the mixed air escapes to the fluid pressure transmission pipes 22a2, 22a5, 22a8, and 22a10 by buoyancy as indicated by arrows. However, since the connecting portions of the second fluid pressure cylinders 14a3 and 14a11 are downward (arrows), the mixed air moves to the back of the second fluid pressure cylinders 14a3 and 14a11 due to buoyancy. Therefore, when the hand 120 is in such a posture, it is difficult to remove air from the second fluid pressure cylinders 14a3 and 14a11.

  Therefore, in this embodiment, for each of the 13 sets of fluid pressure transmission devices 10a1 to 10a13, the first fluid pressure cylinder 12a1 and the like are based on the outputs of the movement amount detection means 34a1 and the pressure detection means 36a1 and the like. Air has entered any part of the second fluid pressure cylinder 14a1 or the like and the fluid pressure transmission pipe 22a1 or the like (the first fluid pressure cylinder 12a1 or the like, the second fluid pressure cylinder 14a1 or the like, or the fluid pressure transmission pipe 22a1 or the like). In addition, the fluid pressure transmission device 10 including a portion where air is mixed is identified from among the 13 sets of fluid pressure transmission devices 10a1 and the like, and the identified fluid pressure transmission device 10 (the first fluid pressure cylinder 12 thereof) is identified. Etc.) air was removed.

  In the air mixing determination described above, any part of the first fluid pressure cylinder 12, the second fluid pressure cylinder 14, or the fluid pressure transmission pipe 22, specifically, the first fluid pressure cylinder 12 or the second fluid pressure cylinder 14 is used. Alternatively, since it cannot be determined where in the fluid pressure transmission pipe 22 the air is mixed, when it is determined that the air is mixed in any part, the fluid pressure transmission device 10 is positioned on the distal end side. In other words, it is assumed that air is mixed in the second fluid pressure cylinder 14 in the position where it is most difficult to remove air, and the air removal operation including the posture control of the second fluid pressure cylinder 14 is performed. .

  Moreover, while determining the priority which removes air about the identified fluid pressure transmission apparatus 10, the fluid pressure transmission apparatus 10 identified by changing the attitude | position of the finger mechanism 136 or the hand 120 according to the determined priority, etc. The air mixed in was removed sequentially.

  FIG. 11 is a flowchart showing the operation of the robot 100 according to this embodiment, that is, the operation of the ECU 40. The illustrated program is executed when the robot 100 is activated.

  In the following description, it is determined in S (step) 10 whether or not air has entered the first fluid pressure cylinder 12 or the like. This determination is made for all (13) fluid pressure transmission devices 10a1 to 10a13, such as the first fluid pressure cylinders 12a1 to 12a13.

  FIG. 12 is a subroutine flowchart showing the processing.

  As will be described below, a pressure change is detected in S100. That is, the actuator (electric motor) 32 is operated to detect the angular displacement [rad] (corresponding to the movement amount of the first piston 24) of the actuator 32 obtained from the output of the movement amount detection means 34, and the pressure detection means 36. The hydraulic pressure [Mpa] in the first fluid pressure cylinder 12 is detected from the output of.

  Next, in S102, it is determined whether or not the quotient (pressure change) obtained by dividing the detected hydraulic pressure by the detected angular displacement is below a threshold value (for example, 1.2 [Mpa / rad]). If yes, the process proceeds to S104, and it is determined that there is air mixing. If not, the process proceeds to S106, where it is determined that there is no air mixing.

  FIG. 13 is a characteristic diagram showing a change in the hydraulic pressure in the first fluid pressure cylinder 12 with respect to the movement amount of the first piston 24. In the figure, the solid line shows no air mixing, and the broken line shows air mixing.

  As shown in the figure, when air is mixed into the first fluid pressure cylinder 12 or the like, the response of the change in the hydraulic pressure with respect to the movement amount of the first piston 24 is lower than when the air is not mixed. Therefore, by setting an appropriate threshold value in the process of S102 and comparing the detected value with it, it is possible to accurately determine the presence or absence of air contamination. For example, the threshold value is selected and set to a value that does not hinder the operation of the hand 120 of the robot 100.

  In the process of S102, a temporal change in the hydraulic pressure when the first piston 24 is moved by a predetermined amount may be detected and compared with a threshold value set as appropriate.

  Returning to the explanation of the flow chart of FIG. 11, the process then proceeds to S12, where it is determined whether or not it is determined that no air is mixed in the first fluid pressure cylinders 12a1 to 12a13 of all the fluid pressure transmission devices 10a1 to 10a13. If NO, the process proceeds to S14, and it is determined whether or not the number of times of air mixing determination exceeds a specified number (for example, twice).

  If affirmative in S14, that is, if it is determined that the number of times of air mixing determination exceeds the specified number of times, air has not been removed even though the air removal operation has been performed the specified number of times, and some abnormality has occurred. For this reason, the process proceeds to S16, for example, a warning that there is an abnormality is notified. On the other hand, when the result in S14 is negative, the program proceeds to S18 to perform air removal processing.

  FIG. 14 is a sub-routine flowchart showing the air removal process, and FIGS. 15 to 20 are explanatory views for explaining the posture change of the finger mechanism 136, the hand 120, etc. when the air removal process is performed.

  In the following, in S200, there is a possibility that air has entered the second fluid pressure cylinder 14a12 that bends and stretches the thumb mechanism 136A via the CM1 internode 136A3, or more precisely, the second that constitutes the fluid pressure transmission device 10a12. It is determined whether air has entered any of the fluid pressure cylinder 14a12, the fluid pressure transmission pipe 22a12, or the first fluid pressure cylinder 12a12.

  When the result in S200 is negative, the process of S202 and S204 is skipped and the process proceeds to S206. When the result is affirmative, the process proceeds to S202 and it is considered that air has entered the second fluid pressure cylinder 14a12 and the second fluid pressure cylinder 14a12. Change the posture. Specifically, the posture of the second fluid pressure cylinder 14a12 is changed so that the connection portion of the second fluid pressure cylinder 14a12 is upward, that is, the finger mechanism 136 is set so that the posture of the second fluid pressure cylinder 14a12 is so. Alternatively, the posture of the hand 120 is changed.

  More specifically, as shown in FIGS. 15A and 15B, the posture of the finger mechanism 136 or the hand 120 is set so that the palm of the hand 120 faces slightly outward and slightly upward and the fingertip side of the little finger mechanism 136E is obliquely upward. change. Note that the posture of the hand 120 is changed by bending or extending the lower arm link 124, the wrist joint 132, or the like.

  Next, in S204, the air mixed in any of the second fluid pressure cylinder 14a12, the fluid pressure transmission pipe 22a12, or the first fluid pressure cylinder 12a12 is removed.

  That is, the actuator 32a12 of the fluid pressure transmission device 10a12 is operated to move the first piston 24a12 in the first fluid pressure cylinder 12a12 alternately in the forward direction and the backward direction an appropriate number of times, and the mixed air is passed through the air discharge passage. The hydraulic oil stored in the reservoir 16a12 is discharged to the upper space through Further, at this time, air discharge is promoted by alternately moving the first piston 24a12 in the forward direction and the backward direction while making the moving speed in the backward direction faster than that in the forward direction.

  Next, the process proceeds to S206, in which there is a possibility that air has entered the second fluid pressure cylinder 14a3 that operates the finger mechanism 136B via the MP2 node 136I, or more precisely, the second fluid that constitutes the fluid pressure transmission device 10a3. It is determined whether air has entered any of the pressure cylinder 14a3, the fluid pressure transmission pipe 22a3, or the first fluid pressure cylinder 12a3.

  When the result in S206 is negative, the process of S208 and S210 is skipped and the process proceeds to S212. When the result is affirmative, the process proceeds to S208 and it is considered that air has entered the second fluid pressure cylinder 14a3 and the second fluid pressure cylinder 14a3. Change the posture. Specifically, the posture of the second fluid pressure cylinder 14a3 is changed so that the connection portion of the second fluid pressure cylinder 14a3 is upward, that is, the finger mechanism 136 so that the posture of the second fluid pressure cylinder 14a3 is so. Alternatively, the posture of the hand 120 is changed.

  More specifically, the postures of the finger mechanism 136 and the hand 120 are changed so that the palm of the hand 120 faces outward and the little finger mechanism 136E is upward as shown in FIGS.

  Next, in S210, the air mixed in any of the second fluid pressure cylinder 14a3, the fluid pressure transmission pipe 22a3, or the first fluid pressure cylinder 12a3 is removed by the same process as S204.

  Next, in S212, there is a possibility that air has entered the second fluid pressure cylinder 14a6 that operates the middle finger mechanism 136C via the MP2 internode 136I, or more precisely, the second fluid that constitutes the fluid pressure transmission device 10a6. It is determined whether air has entered any of the pressure cylinder 14a6, the fluid pressure transmission pipe 22a6, or the first fluid pressure cylinder 12a6.

  When the result in S212 is negative, the process of S214 and S216 is skipped and the process proceeds to S218. When the result is affirmative, the process proceeds to S214 and it is considered that air has entered the second fluid pressure cylinder 14a6 and the second fluid pressure cylinder 14a6. Change the posture. Specifically, the posture of the second fluid pressure cylinder 14a6 is changed so that the connecting portion of the second fluid pressure cylinder 14a6 is upward, that is, the finger mechanism 136 so that the posture of the second fluid pressure cylinder 14a6 is so. Alternatively, the posture of the hand 120 is changed.

  More specifically, as shown in FIGS. 17A and 17B, the posture of the finger mechanism 136 or the hand 120 so that the palm of the hand 120 faces inward (the left and right palms face each other) and the finger mechanism 136B is upward. To change.

  Next, in S216, the air mixed in any of the second fluid pressure cylinder 14a6, the fluid pressure transmission pipe 22a6, or the first fluid pressure cylinder 12a6 is removed by the same process as in S204.

  Next, in S218, there is a possibility that air has entered the second fluid pressure cylinder 14a13 that operates the thumb mechanism 136A via the CM2 internode 136A4, or more precisely, the second fluid that constitutes the fluid pressure transmission device 10a13. It is determined whether air has entered any of the pressure cylinder 14a13, the fluid pressure transmission pipe 22a13, or the first fluid pressure cylinder 12a13.

  When the result in S218 is negative, the processing of S220 and S222 is skipped and the process proceeds to S224. When the result is affirmative, the process proceeds to S220 and it is considered that air has mixed into the second fluid pressure cylinder 14a13 and the second fluid pressure cylinder 14a13. Change the posture. Specifically, the posture of the second fluid pressure cylinder 14a13 is changed so that the connection portion of the second fluid pressure cylinder 14a13 is upward, that is, the finger mechanism 136 is such that the posture of the second fluid pressure cylinder 14a13 is so. Alternatively, the posture of the hand 120 is changed.

  More specifically, as shown in FIGS. 18 (a) and 18 (b), the palm of the hand 120 is directed outward (however, the palm faces slightly lower than in the case of FIG. 16), and the little finger mechanism 136E is directed upward. As described above, the posture of the finger mechanism 136 or the hand 120 is changed.

  Next, in S222, the air mixed in any of the second fluid pressure cylinder 14a13, the fluid pressure transmission pipe 22a13, or the first fluid pressure cylinder 12a13 is removed by the same process as in S204.

  Next, in S224, there is a possibility that air has entered the second fluid pressure cylinder 14a11 that bends and stretches the thumb mechanism 136A via the IP joint 136A1 and the MP joint 136A2, or more precisely, the fluid pressure transmission device 10a11 is installed. It is determined whether or not air is mixed into any of the second fluid pressure cylinder 14a11, the fluid pressure transmission pipe 22a11, or the first fluid pressure cylinder 12a11 that is configured.

  When the result in S224 is negative, the processing of S226 and S228 is skipped and the process proceeds to S230. When the result is affirmative, the process proceeds to S226 and it is considered that air has entered the second fluid pressure cylinder 14a11 and the second fluid pressure cylinder 14a11. Change the posture. Specifically, the posture of the second fluid pressure cylinder 14a11 is changed so that the connection portion of the second fluid pressure cylinder 14a11 is upward, that is, the finger mechanism 136 is set so that the posture of the second fluid pressure cylinder 14a11 is so. Alternatively, the posture of the hand 120 is changed.

  More specifically, as shown in FIGS. 19A and 19B, the finger mechanism is such that the palm of the hand 120 faces downward (however, the palm faces slightly outward) and the fingertip side of the thumb mechanism 136A is downward. The posture of 136 or the hand 120 is changed.

  Next, in S228, the air mixed in any of the second fluid pressure cylinder 14a11, the fluid pressure transmission pipe 22a11, or the first fluid pressure cylinder 12a11 is removed by the same process as in S204.

  Next, in S230, the postures of the finger mechanism 136 and the hand 120 are changed to the basic posture. The basic posture is eight second hydraulic cylinders 14a1, 14a2, and 14a4 that bend and extend the finger mechanism 136B, middle finger mechanism 136C, ring finger mechanism 136D, and little finger mechanism 136E via the DIP joint 136F, PIP joint 136G, and MP1 joint 136H. , 14a5, 14a7 to 14a10 means the posture of the finger mechanism 136 or the hand 120 such that the connecting portion is on the upper side.

  More specifically, as shown in FIGS. 20A and 20B, the palm of the hand 120 faces inward (the left and right palms face each other), and the finger mechanism 136B, the middle finger mechanism 136C, the ring finger mechanism 136D, and the little finger mechanism 136E. The postures of the finger mechanism 136 and the hand 120 are changed so that the fingertip side is downward.

  Next, in S232, the second fluid pressure cylinders 14a1, 14a2, 14a4, 14a5, 14a7-14a10, the fluid pressure transmission tubes 22a1, 22a2, 22a4, 22a5, 22a7-22a10 or the first fluid pressure cylinders 12a1, 12a2, 12a4, 12a5. , 12a7 to 12a10 are removed by the same process as S204.

  Returning to the explanation of the flowchart of FIG. 11, when the air removal process described above is completed, the process returns to S10 again, and air is mixed into the first fluid pressure cylinders 12a1 to 12a13 of all the fluid pressure transmission devices 10a1 to 10a13. Repeat the same process until no more.

  As described above, in this embodiment, in the air mixing determination (S10), it is determined that air is mixed in any part of the first fluid pressure cylinder 12, the second fluid pressure cylinder 14, or the fluid pressure transmission pipe 22. When the operation is performed, there is a possibility that air is mixed in the second fluid pressure cylinder 14, in other words, it is assumed that air is mixed in the second fluid pressure cylinder 14 and the posture of the second fluid pressure cylinder 14 When the air removal operation including the control is performed (S200, S202, S204, etc.) and air is removed from the first fluid pressure cylinders 12 of the two or more fluid pressure transmission devices 10 in which air is mixed, FIG. As shown in the flow chart, the air was removed according to a predetermined priority order.

  The priority for removing air is determined based on the installation direction (orientation) of the second fluid pressure cylinder 14a1 etc. provided in each fluid pressure transmission device 10a1 etc. This will be described in detail. Since the 13 second fluid pressure cylinders 14a1 and the like have different installation locations and installation directions as described above, the fluid pressure transmission pipes 22a1 and the like connected thereto also have their installation directions (arrangements). Etc. are different (for example, there is a fluid pressure transmission tube 22 installed so as to extend substantially straight, and there is a fluid pressure transmission tube 22 installed while being bent many times (see FIG. 4)).

  Therefore, depending on the installation direction of the fluid pressure transmission pipe 22 together with the installation direction of the second fluid pressure cylinder 14 and the like, the difficulty (or ease of removal) of air differs for each fluid pressure transmission device 10 (for example, air is Since air travels in the tube by buoyancy, air cannot smoothly travel through the tube when the fluid pressure transmission tube 22 is bent many times. Therefore, the priority order for removing air is determined based on the difficulty of air removal due to the installation direction of the second fluid pressure cylinder 14 as described above (in consideration of the difficulty of removal).

  That is, the air removal operation is performed by controlling the posture of the second fluid pressure cylinder 14 and alternately moving the first piston 24 of the first fluid pressure cylinder 12 in the forward direction and the backward direction. However, if the fluid pressure transmission pipe 22 is bent in a complicated manner or the air (bubbles) is extremely small as described above, the air does not move smoothly in the pipe, as described above. The air discharged from the fluid pressure cylinder 14 may remain in the middle (the fluid pressure transmission pipe 22 and the first fluid pressure cylinder 12) without going to the space above the working fluid stored in the reservoir 16.

  When the postures of the finger mechanism 136 and the hand 120 are sequentially switched while air remains in the middle, the positional relationship between the second fluid pressure cylinder 14 and the fluid pressure transmission pipe 22 changes. For example, the second fluid pressure cylinder 14, the fluid pressure transmission pipe 22 located above the gravitational direction from the position 14 is lower than the second fluid pressure cylinder 14 by switching the posture of the hand 120 and the like, and there is a possibility that air flows backward in the pipe. is there.

  Therefore, when the postures of the finger mechanism 136 and the hand 120 are sequentially switched, as shown in the flow chart of FIG. 14 and FIG. 15, the air remaining in the fluid pressure transmission pipe 22 and the like does not flow backward (the remaining air The order of changing the posture of the finger mechanism 136 and the hand 120 (progressing toward the reservoir 16 side) is determined, and this is determined as the priority order. As a result, even when air is mixed into the plurality of second fluid pressure cylinders 14 and the like having different directions, the mixed air can be reliably removed.

  As described above, in the embodiment of the present invention, the base body (upper body 104, arm portion 116), the hand 120 connected to the base body, and the plurality of finger mechanisms 136 (136A) connected to the hand. , 136B, 136C, 136D, 136E) and a plurality of sets of fluid pressure transmission devices 10 (10a1 to 10a13), and the plurality of sets of fluid pressure transmission devices are respectively disposed on the base body or the hand and operated. A first fluid pressure cylinder 12 (12a1 to 12a13) which is connected to a reservoir 16 (16a1 to 16a13) in which fluid is stored and accommodates a first piston 24 (24a1 to 24a13) movably inside; It is arranged on the finger mechanism and connected to the first fluid pressure cylinder via the fluid pressure transmission pipe 22 (22a1 to 22a13) and transferred to the inside. The second fluid pressure cylinder 14 (14a1 to 14a13) in which the second piston 26 (26a1 to 26a13) is freely accommodated, and the fluid pressure generated by the movement of the first piston via the fluid pressure transmission pipe. In the robot 100 which is transmitted to the second fluid pressure cylinder and moves the second piston to bend and stretch the finger mechanism, the first fluid pressure cylinder and the plurality of fluid pressure transmission devices It is determined whether or not air has entered any part of the second fluid pressure cylinder and the fluid pressure transmission pipe (the first fluid pressure cylinder 12, the second fluid pressure cylinder 14, or the fluid pressure transmission pipe 22). When it is determined that air is mixed into any of the parts, the part of the plurality of sets of fluid pressure transmission devices that is determined to be mixed with air is included. An air mixing device specifying means (ECU 40, S10, S100 to S106) for specifying a fluid pressure transmitting device, and the mixed air in the fluid pressure transmitting device specified by the air mixing device specifying means, the first piston The fluid pressure transmitted to the second fluid pressure cylinder is alternately moved in a forward direction in which the fluid pressure increases and in a reverse direction opposite to the forward direction to be discharged into the upper space of the working fluid stored in the reservoir, and The finger so that the moving direction of the second piston corresponding to the retreating direction of one piston is upward in the direction of gravity (so that the connecting portion of the second fluid pressure cylinder 14 to the fluid pressure transmission pipe 22 is upward). Since air removal means (ECU 40, S18, S200 to S232) for removal by changing the posture of the mechanism or hand is provided, Even if there are two or more sets of fluid pressure transmission devices 10 mixed with a, and the installation directions (directions) of the second fluid pressure cylinders 14 provided in the two or more sets of fluid pressure transmission devices 10 are different, While specifying the fluid pressure transmission device 10 in which air is mixed, it is possible to reliably remove air from all the specified fluid pressure transmission devices 10.

  Further, the air removing means determines the priority order for removing air with respect to the identified fluid pressure transmission device and changes the posture of the finger mechanism or hand according to the determined priority order. Since the mixed air is removed in the fluid pressure transmission device (ECU 40, S200 to S232), the air can be more reliably removed from all the identified fluid pressure transmission devices 10.

  Further, the air removal means is configured to determine the priority order based on the orientation of the second fluid pressure cylinder of the identified fluid pressure transmission device with respect to the gravity direction (ECU 40, S200 to S232). Can be set more appropriately, that is, the change order of the posture of the hand 120 or the like, and air can be more reliably removed from all the identified fluid pressure transmission devices 10.

  In the embodiment, the mobile robot 100 has been described as an example. However, the present invention is not limited to this. For example, a fixed industrial robot may be used. In addition, specific numerical values (number of first fluid pressure cylinders 12, threshold value for detecting pressure change, specified number of times, etc.) used in the embodiments are merely examples and are not limited.

  In the embodiment, the priority for removing air, that is, the posture changing order of the hand 120 and the like is determined so that the air remaining in the fluid pressure transmission pipe 22 and the like does not flow backward to the second fluid pressure cylinder 14 side. However, when there are a plurality of posture change orders such as the hand 120 that can prevent the backflow of air, the posture change order that minimizes the movement of the hand 120 etc. from among the plurality of posture change orders, That is, an order in which the posture is switched with a minimum operation may be determined as the priority order. Thereby, useless movements of the finger mechanism 136, the hand 120, the arm portion 116, and the like can be suppressed, and air can be removed more efficiently and in a short time.

  10 (10a1 to 10a13) Fluid pressure transmission device, 12 (12a1 to 12a13) First fluid pressure (master) cylinder, 14 (14a1 to 14a13) Second fluid pressure (slave) cylinder, 16 (16a1 to 16a13) Reservoir, 22 (22a1 to 22a13) Fluid pressure transmission pipe, 24 (24a1 to 24a13) First piston, 26 (26a1 to 26a13) Second piston, 40 ECU (electronic control unit; air mixing device specifying means, air removing means), 100 robot 104 Upper body (base body) 116 Arm part (base body) 120 hand 136 (136A, 136B, 136C, 136D, 136E) Finger mechanism

Claims (1)

A base, a hand connected to the base, a plurality of finger mechanisms connected to the hand, and a plurality of sets of fluid pressure transmission devices, wherein the plurality of sets of fluid pressure transmission devices are respectively the base or A first fluid pressure cylinder disposed in the hand, connected to a reservoir in which the working fluid is stored, and in which a first piston is accommodated movably, and disposed in the hand or finger mechanism; A second fluid pressure cylinder connected to the first fluid pressure cylinder via a fluid pressure transmission pipe and having a second piston accommodated therein so as to be movable therein, and the fluid pressure generated by the movement of the first piston is In the robot in which the finger mechanism is bent and stretched by moving the second piston by transmitting to the second fluid pressure cylinder through a fluid pressure transmission pipe, the plurality of sets of fluid pressure transmission It is determined whether or not air has entered any one of the first fluid pressure cylinder, the second fluid pressure cylinder, and the fluid pressure transmission pipe, and air has entered any of the parts. The air mixing device specifying means for specifying the fluid pressure transmitting device including the portion determined to be mixed in the air among the plurality of sets of fluid pressure transmitting devices, and the air mixing device specifying means In the specified fluid pressure transmission device, the mixed air is alternately moved in the forward direction in which the fluid pressure transmitted to the second fluid pressure cylinder increases in the first piston and in the reverse direction opposite to the forward direction. The working fluid stored in the reservoir is discharged into the upper space, and the moving direction of the second piston corresponding to the retracting direction of the first piston is upward in the direction of gravity. And an air removing means for removing by changing the posture of the finger mechanism or hand so,
The air removing means determines a priority order for removing air for the identified fluid pressure transmission device, and changes the posture of the finger mechanism or hand according to the determined priority order, thereby identifying the specified fluid. The robot removes the mixed air in the pressure transmission device, and determines the priority based on the direction of the second fluid pressure cylinder of the identified fluid pressure transmission device with respect to the gravity direction .