JP6442457B2 - Robot structure - Google Patents

Description

The present invention is a head about an axis extending in the horizontal direction related to the structure of the rotatable robot.

Structure of the conventional robot shown in Patent Document 1, by operating the head driving air cylinder, is configured to be rotatable back and forth the head with respect to the barrel.

Japanese Patent Laid-Open No. 6-233871

However, the structure of the conventional robot shown in Patent Document 1, because it only rotates around the operation of the head, when in contact with the human Gallo bot, the impression close to human respect robot There was a problem that it was difficult to get a sense of familiarity.

The present invention has been made in order to solve such a problem, it also to be rotatable in the horizontal direction but the head only vertical, when in contact with the robot, to the robot for the purpose of more that sense of closeness received a close impression humans is to provide a structure Yu black bot Te.

In order to achieve this object, the structure of the robot according to the present invention is such that the head is pivotally supported by the base member so as to be rotatable about the first axis extending in the horizontal direction and the second axis extending in the vertical direction. The base member is pivotally supported by a head support frame so as to be pivotable, and a first drive device for rotating the head relative to the base member around the first axis is configured as follows. It is positioned at a position separated in a horizontal direction perpendicular to the axis, and is fixed to the base member via a first bracket, and the base member is rotated around the second axis with respect to the head support frame. A second drive device for relative rotation is fixed to the head support frame via a second bracket , the first drive device is composed of an electric motor, and the electric motor and the head have a link mechanism. The link mechanism is connected to the electric motor. The link member is moved in a direction along the longitudinal direction by the rotational driving force of the electric motor to generate a pressing force by the link member, and the pressing force Is transmitted from the link member to the head via a spring member, so that the head rotates around the first axis .

Structure of robot according to the invention described in 請 Motomeko 2, in the structure of the robot according to claim 1, further comprising a body portion and a leg portion, the barrel, constituting the outer surface of the body portion The leg portion rolls on the ground in a state where it is in contact with the ground and supporting the gravity of the robot by contacting the ground with the hollow leg shell portion constituting the outer surface portion of the leg portion. The head support frame is disposed in a space surrounded by the shell portion and the leg shell portion, and the inner side surfaces thereof are substantially parallel to each other with an interval in the left-right direction. A pair of left and right first side surfaces and a first upper surface connecting the upper ends of the first side surfaces, wherein the base member is rotatable about the second axis. A pair of left and right upper limbs are supported on each outer surface of the pair of left and right first side surface portions. And it is characterized in that they are.

A robot structure according to a third aspect of the present invention is the robot structure according to the second aspect, wherein the pair of left and right first side surface portions and the first upper surface portion are configured by separate members, The base member is pivotally supported by the first upper surface portion.
A robot structure according to a fourth aspect of the present invention is the robot structure according to the second or third aspect , wherein the leg portion further includes a leg frame disposed inside the leg shell portion. The head support frame includes a pair of left and right second side surfaces whose inner side surfaces are substantially parallel to each other with a gap in the left and right direction and whose lower end portions are supported by the leg frame, and these second side surfaces. And a second upper surface portion that connects the lower end portions of the pair of left and right first side surface portions.

According to a fifth aspect of the present invention, there is provided the robot according to the fourth aspect, wherein the distance between the outer surfaces in the left-right direction of the pair of left and right first side surfaces is the second pair of left and right second sides. The distance between the outer side surfaces in the left-right direction of the side surface portion and the width of the second upper surface portion are set to be smaller than the width in the left-right direction. And a pair of left and right third drive devices for individually rotating the pair of left and right upper limbs around the pair of left and right third axes with respect to the pair of left and right first side surfaces, respectively. It is arranged on the outer side in the left-right direction of the side surface part and directly above the second upper surface part.

Structure of robot according to the invention described in claim 6, claim in 2 and structure of a robot according to any one of claims 5, wherein the second of said head driving force is transmitted to the drive unit A driving force transmission mechanism for rotating the portion around the second axis is disposed in a space formed between the pair of left and right first side portions.
A robot structure according to a seventh aspect of the present invention is the robot structure according to any one of the first to sixth aspects, wherein the base members are spaced apart from each other in the horizontal direction. Are provided with a pair of base member side surface portions facing substantially parallel to each other and a base member lower surface portion connecting lower end portions of these base member side surface portions, and the head portion constitutes an outer surface portion of the head portion. A hollow scalp portion; a head main frame that supports the head shell portion; and a head sub frame that supports the head main frame, the head sub frame being spaced apart in the horizontal direction. A pair of head sub-frame side portions facing substantially parallel to each other, and connecting surface portions that connect corresponding side edges of these head sub-frame side portions; The continuous surface portion is in contact with the surface portion of the connecting surface portion. The pair of head sub-frames in a state where the pair of head sub-frame side surfaces and the pair of base member side surface portions are superposed so that the inner side surfaces thereof are substantially parallel to each other. The side surface portions are pivotally supported by the pair of base member side surface portions so as to be rotatable around the first axis.

According to the first aspect of the present invention, the base member is pivotally supported on the upper portion of the head support frame so as to be rotatable around the second axis extending in the vertical direction, and the second base member is supported with respect to the head support frame. The second drive device is configured to relatively rotate around the axis. For this reason, the head can be configured to be able to rotate not only in the vertical direction but also in the horizontal direction with respect to the head support frame. A sense of familiarity is received.
According to the first aspect of the present invention, the first driving device is fixed to the base member via the first bracket. For this reason, when the head rotates about the first axis with respect to the base member, the first drive device does not move by being rotated by the head. In addition, the inertial force when the head rotates can be reduced. As a result, the head can be smoothly rotated around the first axis by the first driving device, and the driving force required for the first driving device can be reduced.
According to the first aspect of the present invention, the second driving device is fixed to the head support frame via the second bracket. For this reason, when the base member rotates around the second axis with the head relative to the head support frame, the second drive device does not move with the base member and the head. Accordingly, the inertial force when the base member and the head turn around the second axis can be reduced. As a result, the base member and the head can be smoothly rotated around the second axis by the second driving device, and the driving force required for the second driving device can be reduced.

Further, according to the first aspect of the invention, the first driving device comprises an electric motor, the electric motor and the head is connected via a link mechanism, the link member of the link mechanism by the rotation power of the electric motor Moving in the direction along the longitudinal direction, a pressing force is generated by the link member, and the pressing force by the link member is transmitted from the link member to the head via the spring member, so that the head is rotated around the first axis. Is configured to rotate. For this reason, when the rotational driving force of the electric motor is transmitted from the link member to the head, it is buffered and transmitted by the spring member. As a result, there is no possibility of damaging each member to which the rotational driving force of the electric motor is transmitted, and there is no possibility of the head swinging shockingly.
According to the invention 請 Motomeko 2, wherein the head in the first axis is rotatably supported on the rotatable base member, the base member axis to the first upper surface portion to be rotatable in the second axis A pair of left and right upper limbs are respectively supported by outer side surfaces of the pair of left and right first side surface portions. For this reason, after completing the design of the robot structure according to the present invention, when designing a new robot structure having a height different from that of the robot, the height of the shell part of the trunk part is changed. According to the change, it is possible to design a structure of a robot with different heights by a simple design change by appropriately changing the vertical lengths of the pair of left and right first side portions. As a result, the burden of new design can be reduced.
According to the third aspect of the present invention, the first upper surface portion and the first side portion of the pair are mutually configured in a separate member, a group member is pivotally supported by the first top surface portion. For this reason, regarding the structure of the robot according to the present invention, when two or more types of robots having different heights are manufactured, the base member and each member of the first upper surface portion are shared between the two or more types of robots. Therefore, the manufacturing cost can be reduced accordingly.

According to the fourth aspect of the present invention, the head support frame is a pair of left and right second side portions whose inner side surfaces face each other substantially in parallel in the left-right direction and whose lower end portions are supported by the leg frame. And a second upper surface portion that connects the upper end portions of the second side surface portions and connects the lower end portions of the pair of left and right first side surface portions. For this reason, not only can the vertical length of the pair of left and right first side portions be changed, but also the vertical length of the pair of left and right second side portions can be changed as appropriate. The degree of freedom in designing the design increases.
According to the fifth aspect of the present invention, the distance between the pair of left and right first side surfaces is set to be smaller than the distance between the pair of left and right second side surfaces and the width of the second upper surface, and A pair of left and right first side portions is fixed to the central portion, and a pair of left and right third driving devices is formed in a space formed laterally outward of the pair of left and right first side portions and immediately above the second upper surface portion. Are arranged respectively. For this reason, the base member that supports the head and the first drive device is firmly supported by the second upper surface portion and the pair of left and right second side portions via the first upper surface portion and the pair of left and right first side portions. At the same time, the third driving devices can be arranged in a space surrounded by the shell portion and the leg shell portion without causing the shell portion and the leg shell portion to unnaturally protrude outward.

According to the sixth aspect of the present invention, the driving force transmission mechanism for transmitting the driving force of the second driving device and rotating the base member around the second axis is provided between the pair of left and right first side portions. It is arranged in the formed space. For this reason, when the driving force transmission mechanism is disposed in a space surrounded by the shell portion and the leg shell portion, the dead space can be effectively utilized, and the shell portion and the leg shell portion can be moved outward. It is not necessary to make it protrude unnaturally toward.
According to the seventh aspect of the present invention, the surface portion of the central portion of the head main frame that supports the skull portion is connected to the surface portion of the connecting surface portion that connects the corresponding side edges of the pair of head sub-frame side portions. The head main frame is fixed to the head sub-frame in the contact state. For this reason, the skull portion is firmly supported by the head sub-frame through the head main frame.
According to the seventh aspect of the present invention, a pair of head side sub-frame side surfaces and a pair of base member side surface portions are superposed so that their inner side surfaces are substantially parallel to each other. The head sub-frame side surface is pivotally supported by the pair of base member side surfaces so as to be rotatable about the first axis. For this reason, it is possible to meet the conflicting demands between the weight reduction of the constituent members constituting the shaft support structure and the strong shaft support.

Engagement Carlo bot to the embodiment of the present invention, the Atamakara portion is a front view showing through the Dogara portion and Ashikara unit. Engagement Carlo bot to the embodiment of the present invention, the Atamakara portion, a right side view showing remove the right upper extremity as well as transmitting the Dogara portion and Ashikara unit. It is a figure which expands and shows a part of figure shown in FIG. Engagement Carlo bot to the embodiment of the present invention, the Atamakara portion, a left side view showing remove the Dogara portion and Ashikara unit. Engagement Carlo bot to the embodiment of the present invention, the Atamakara section, a rear view showing remove the Dogara portion and Ashikara unit. Engagement Carlo bot to the embodiment of the present invention, the Atamakara unit, Dogara portion is a plan view showing remove the Ashikara part and wheels. Engagement Carlo bot to the embodiment of the present invention, showing its Atamakara part, Dogara unit, Ashikara portion, the leg portion frame, a state seen obliquely from the rear and remove the wheel and other part of the component It is a perspective view.

It is a figure which expands and shows a part of figure shown in FIG. It is a figure which expands and shows a part of figure shown in FIG. It is a figure which expands and shows a part of figure shown in FIG. It is a figure which expands and shows the other part of the figure shown in FIG. It is a figure which expands and shows a part of figure shown in FIG. It is a figure which expands and shows the other part of the figure shown in FIG. It is a top view which shows the state which looked at the leg part frame to which the wheel etc. were attached from upper direction. It is a top view which shows the state which looked at the leg part to which the electric motor which drives a wheel, a wheel cover, etc. were attached from upper direction. It is sectional drawing which fractures | ruptures and shows a leg part by the virtual plane of the perpendicular direction which passes the center. It is a block diagram showing a schematic configuration of the various devices related to onboard controller and control device in engagement Carlo bot to the embodiment of the present invention. It is a figure for demonstrating the modification of embodiment of this invention.

Hereinafter, embodiments according to the present invention will be described in detail with reference to FIGS. Those indicated by reference numeral 1 in FIGS. 1 and 2 is a robot according to this embodiment, generally a human humanoid robot that mimics figure. Figure 1 shows a state viewed robot 1 from the front, Fig. 1, 5, 6, 7, 8, 14 and 15, the leftward direction robot 1 indicated by the arrow L shown, the direction indicated by an arrow R indicates rightward of the robot 1. Further, in FIG. 2, 3 and 4, the direction indicated by an arrow F denotes the front of the robot 1. After-Before using for the following description Delo each component bot 1, left and right and upper and lower words, in a state assembled to each component Gallo bot 1, viewed robot 1 from the front The direction of each constituent member at the time is assumed.

Robot 1, and a head portion 3 and the body 5 and the leg portion 7. The head 3 includes a hollow skull portion 9 that constitutes an outer surface portion of the head portion 3, and a head frame 11 that supports the skull portion 9. The body portion 5 includes a hollow shell portion 13 that constitutes an outer surface portion of the body portion 5. The leg portion 7 includes a hollow leg shell portion 15 constituting an outer surface portion of the leg portion 7, a disc-like leg frame 17 disposed inside the leg shell portion 15, and a fifth electric motor described later. Motors 157a, 157b, 157c, 157d and wheels 163 are provided. As shown in FIG. 16, the leg shell portion 15 is in contact with the lower surface of the leg frame 17, and the male screw members 19 are inserted through the plurality of through holes formed in the leg shell portion 15, respectively. Each male screw member 19 is fastened and fixed by being screwed into a plurality of female screw holes 20 drilled and cut in the part frame 17. A plurality of female screw members (not shown) are attached to the lower edge of the shell portion 13 at positions separated from each other, and through holes (not shown) are provided at the positions of the leg shell portions 15 corresponding to the plurality of female screw members. Z) are drilled. In the state where the lower edge part of the shell part 13 is joined to the upper edge part of the leg shell part 15 while aligning the front and rear, left and right of the shell part 13 and the leg shell part 15, Male thread members (not shown) are respectively inserted into the through holes, and these male thread members are screwed to the respective female thread members of the corresponding shell parts 13 so that the shell parts 13 are fastened to the leg shell parts 15. Fixed. A head support frame 23 that supports the head 3 via a base member 21 is disposed in a space surrounded by the shell portion 13 and the leg shell portion 15.

  The head frame 11 includes a head main frame 25 that supports the head shell portion 9, and a head sub-frame 27 that supports the head main frame 25. As shown in FIGS. 1 and 5, the head main frame 25 includes a connecting member 25a made of a sheet metal formed in a substantially X shape, and a pair of frame pieces 25b integrally connected by the connecting member 25a. 25c, and these frame pieces 25b and 25c are formed in a substantially X shape with the head 3 viewed from the front. Each frame piece 25b, 25c is made of a sheet metal having a substantially U-shaped cross section, and the inner side surface portion of the skull portion 9 is fixed to both ends in the longitudinal direction of each frame piece 25b, 25c. Specifically, the skull portion 9 of the head 3 is divided into a portion corresponding to the face and a main body portion other than the face portion, and the main body portions are both longitudinal ends of the frame pieces 25b and 25c. After being fastened and fixed by a screw member (not shown), a portion corresponding to the face is fastened and fixed to the main body portion of the skull 9 by a screw member (not shown).

The head sub-frame 27 is made of a sheet metal having a substantially U-shaped cross section, and a pair of head sub-frame side portions 27a and 27b whose inner side surfaces are opposed to each other in a horizontal direction with an interval in the horizontal direction. And a connecting surface portion 27c for connecting the corresponding side edge portions of the head sub-frame side surface portions 27a and 27b. As shown in FIG. 3 and FIG. 4, the head sub-frame 27 is reduced in weight by a plurality of portions in the middle in the longitudinal direction of the head sub-frame side surfaces 27 a and 27 b being respectively wound in a circular shape. ing. The head main frame 25 is bonded to the connecting surface portion 27c in a state where the central surface portion of the connecting member 25a is in contact with the surface portion of the connecting surface portion 27c. Examples of the binding method include welding by welding or fastening by a screw member.
The base member 21 includes a pair of base member side surface portions 21a and 21b whose inner side surfaces face each other in parallel with a gap in the horizontal direction, and substantially connects the lower end portions of these base member side surface portions 21a and 21b. And a rectangular base member lower surface portion 21c. The lower ends of the pair of base member side surfaces 21a and 21b are fastened and fixed to the upper surface of the base member lower surface portion 21c by a plurality of screw members 29 (see FIGS. 9 and 10).
In the present embodiment, the base member 21 has been described as an example in which the pair of base member side surface portions 21a and 21b and the base member lower surface portion 21c are formed of separate members. The base member 21 may be configured as a single member in which the base member side surface portions 21a and 21b and the base member lower surface portion 21c are integrally formed.

  The pair of head sub-frames in a state where the pair of head sub-frame side surfaces 27a, 27b and the pair of base member side surface portions 21a, 21b are superposed so that the inner side surfaces thereof are substantially parallel to each other. The lower end portions of the side surface portions 27a and 27b are pivoted to the upper end portions of the pair of base member side surface portions 21a and 21b so as to be rotatable about an axis along a virtual straight line L1 (see FIGS. 9 and 10) extending in the horizontal direction. It is pivotally supported via a member 31. The virtual straight line L1 is a virtual straight line passing through the axis of the first shaft member 31, and constitutes the “first axis” in the present invention.

Specifically, the pair of head sub-frame side portions 27a so that the inner side surfaces of the pair of head sub-frame side portions 27a and 27b and the outer side surfaces of the pair of base member side surface portions 21a and 21b face each other. , 27b, a pair of base member side surface portions 21a, 21b are disposed. A through hole positioned coaxially along the imaginary straight line L1 is drilled in the lower end of the pair of head side sub-frame side portions 27a and 27b and the upper end of the pair of base member side surface portions 21a and 21b in this arrangement. The first shaft member 31 is inserted through these through holes. The structure of the through-holes of the pair of head sub-frame side portions 27a and 27b and the portion of the first shaft member 31 that is inserted and positioned in the through-hole is as compared with the pair of head sub-frame side portions 27a and 27b. Thus, the first shaft member 31 is configured so as not to rotate relatively. For example, the shape of the through-holes of the pair of head sub-frame side portions 27a and 27b and the cross-sectional shape of the portion of the first shaft member 31 that is inserted and positioned in the through-hole are the same shape other than a perfect circle (For example, a regular polygon such as a regular square or a regular hexagon, a saw blade shape such as a serration or a spline, or a gear tooth shape) is formed first with respect to the pair of head subframe side portions 27a and 27b. For example, the shaft member 31 may be configured so as not to be relatively rotatable. As other means, a key member is interposed between the through hole of the pair of head sub-frame side surfaces 27a and 27b and the portion of the first shaft member 31 that is inserted and positioned in the through hole. For example, the first shaft member 31 may be configured not to rotate relative to the head sub-frame side surfaces 27a and 27b.
As a result, the pair of head sub-frame side surfaces 27 a and 27 b and the first shaft member 31 rotate integrally around the axis of the first shaft member 31.

On the other hand, the through holes of the pair of base member side surface portions 21a and 21b and the portion of the first shaft member 31 that is inserted and positioned in the through hole correspond to the pair of base member side surface portions 21a and 21b. The first shaft member 31 is configured to be relatively rotatable around the axis of the first shaft member 31.
As a result, the head sub-frame 27 is configured to be rotatable relative to the base member 21 around the axis of the first shaft member 31 together with the first shaft member 31. A first torsion spring 32 (see FIG. 6) is assembled to the middle portion in the longitudinal direction of the first shaft member 31, and the spring force acting on the first torsion spring 32 with the head 3 oriented in the horizontal direction is zero. It is set to be.
On the other hand, when the head 3 is rotated relative to the base member 21 around the axis of the first shaft member 31 so that the head 3 is directed in the vertical direction other than the horizontal direction, a spring force is generated in the first torsion spring 32, and The head frame 11 is biased in a direction in which the head 3 is oriented in the horizontal direction by the spring force.

One end of the first arm member 33 is integrally bonded to one end of the first shaft member 31, and one end of the first rotating shaft 35 is first connected to the other end of the first arm member 33. The arm member 33 is pivotally supported so as to be relatively rotatable about the axis of the first rotation shaft 35. The first arm member 33 constitutes a “link mechanism” in the present invention. A through hole is formed in the other end portion of the first rotation shaft 35, and a midway portion in the longitudinal direction of the rod-shaped first link member 37 is slidably inserted into the through hole. The first link member 37 constitutes “link mechanism” and “link member” in the present invention. The first link member 37 includes a screw shaft 39 in which a male screw is engraved on the outer peripheral portion over the entire length direction, a nut 41 screwed to one end portion of the screw shaft 39 in a state where the end faces are pressed against each other, and A pillow ball joint 43 is provided. The nut 41 is loosened, the pressure contact state between the nut 41 and the pillow ball joint 43 is released, and then the screw shaft 39 is screwed into the pillow ball joint 43 by adjusting the amount of screw shaft 39 appropriately. The length can be changed.

The pillow ball joint 43 includes a joint main body in which a female screw portion carved therein is screwed to the screw shaft 39, and a joint screw member connected to one end portion of the joint main body so as to be relatively rotatable. A spherical through hole is formed in one end portion of the joint body to which the joint screw member is connected, and one end portion of the joint screw member formed in a spherical shape having the same shape as the through hole is fitted. Thus, the joint screw member is configured to be rotatable relative to the joint body. A pair of coil-shaped first spring members 45, 45 and a pair of spring loads at one end of the first spring members 45, 45 facing each other are provided on the outer periphery of the middle portion in the longitudinal direction of the screw shaft 39. A pair of annular second spring seats 49, 49 for receiving a spring load at each other end of each first spring member 45 is inserted into the annular first spring seats 47, 47. Inserted at both ends. The first spring member 45 constitutes a “spring member” in the present invention.

The pair of first spring seats 47 and 47 are pressed in a state in which the first rotation shaft 35 is sandwiched between the opposite end faces of each other. The pressing force of one of the second spring receiving seats 49 located near the pillow ball joint 43 (the pressing force pressed by the spring load of the first spring member 45) is received by the nut 41. ing.
On the other hand, of the second spring receiving seats 49, the pressing force of the other second spring receiving seat 49 (the pressing force pressed by the spring load of the first spring member 45) of the screw shaft 39 is in contact with each other. It is received by a pair of nuts 41 and 41 screwed to the other end. The pair of 41 and 41 are configured to be moved in the longitudinal direction of the screw shaft 39 so as not to fall off by being screwed so that their end faces are firmly pressed against each other. As a result, when the spring load of each first spring member 45 is applied, each first spring receiving seat 47 is moved in the longitudinal direction of the first link member 37 with respect to the first link member 37. The second spring seats 49 are prevented from moving relative to the first link member 37.

A substantially L-shaped bracket 53 is fastened and fixed to the base member side surface portion 21a of the pair of base member side surface portions 21a and 21b by a plurality of screw members 51. An electric motor 55 is fastened and fixed. The bracket 53 constitutes a “first bracket” according to the present invention, and the first electric motor 55 constitutes a “first drive device” and an “electric motor” according to the present invention. The first electric motor 55 incorporates a speed reducer that reduces the rotational speed of the rotating shaft, and the end of the rotating shaft 57 of the speed reducer has a disk-like base 59a (see FIG. 9) is integrally attached. The second arm member 59 constitutes a “link mechanism” in the present invention. The first electric motor 55 is configured such that its rotating shaft can rotate in either the forward direction or the reverse direction.
The male screw portion of the joint screw member of the pillow ball joint 43 is screwed to the female screw portion carved on the convex portion 59b protruding in the radial direction from the base portion 59a of the second arm member 59. As a result, the first link member 37 is connected to the second arm member 59 via the pillow ball joint 43 so as to be relatively rotatable. When the first electric motor 55 is driven, the first shaft member 31 rotates against the urging force of the first torsion spring 32 and the head 3 is oriented in the vertical direction other than the horizontal direction. The sub-frame 27 rotates around the axis of the first shaft member 31.

  The rotation angle ranges of the head sub-frame 27 that rotates relative to the base member 21 around the axis of the first shaft member 31 are the first restriction member 60 and the second restriction member that are fixed to the base member 21, respectively. 61 is restricted to a certain angle range. Specifically, the buffer member 62 provided in each of the restricting members 60 and 61 is restricted to a certain angle range by coming into contact with each surface portion of the connecting surface portion 27 c of the head sub-frame 27. The buffer member 62 is configured by a member made of a rubber member or other resin material. The first regulating member 60 is fastened and fixed to the base member side surface portion 21b of the base member 21 by a plurality of screw members 63 (see FIGS. 3 and 6), and the second regulating member 61 is each base member side surface portion 21a of the base member 21. , 21b are fastened and fixed by a plurality of screw members 65 (see FIGS. 9 and 10).

The head support frame 23 includes an upper frame 67 that supports the head 3 via the base member 21 and a lower frame 69 that supports the upper frame 67. The upper frame 67 connects a pair of left and right first side surface portions 71L and 71R whose inner side surfaces face each other in parallel in the left-right direction and upper end portions of the first side surface portions 71L and 71R. One upper surface portion 73 is provided. The lower frame 69 has a pair of left and right second side surfaces 75L and 75R whose inner surfaces face each other substantially in parallel in the left-right direction and whose lower end is supported by the leg frame 17; The upper end portions of the two side surface portions 75L and 75R are connected to each other, and the lower end portions of the pair of left and right first side surface portions 71L and 71R are provided with a second upper surface portion 77 fastened and fixed by a screw member. As described above, the pair of left and right second side surface portions 75L and 75R and the second upper surface portion 77 are configured by separate members. Therefore, it relates the structure of the engagement Carlo bot 1 in this embodiment, height of the right and left pair so as to produce two or more different robots second side portion 75L, appropriately changing the vertical length of the 75R If, between those two or more of each robot, it is possible to share the second upper surface portion 77 does not require design changes, correspondingly, it is possible to reduce the manufacturing cost.
At the lower end of each of the second side surface portions 75L and 75R, a male screw member 78 is inserted into a through hole formed in the lower end portion, and a plurality of female screw holes 79 (see FIG. 14 and FIG. 14) Each male screw member 78 is screwed and fixed to each other (see FIG. 15). Each of the second side surface portions 75L and 75R is reduced in weight by having the middle portion in the vertical direction penetrated in an oval shape and the lower portion is notched in an inverted U shape.

In a state where the lower end surface of the base member lower surface portion 21c and the upper end surface of the first upper surface portion 73 face each other so as to be substantially parallel to each other, the base member 21 is around an axis along an imaginary straight line L2 extending in the vertical direction. The first upper surface portion 73 is pivotally supported via a second shaft member 80 so as to be rotatable. The virtual straight line L2 (see FIGS. 5, 8 and 11) is a virtual straight line passing through the axis of the second shaft member 80 (see FIG. 11), and constitutes the “second axis” in the present invention.
Specifically, in a state where the lower end surface of the base member lower surface portion 21c and the upper end surface of the first upper surface portion 73 face each other so as to be substantially parallel to each other, the base member lower surface portion 21c and the first upper surface portion 73 are Through holes positioned coaxially along the same straight line are formed, and the second shaft member 80 is inserted through these through holes. The through hole of the base member lower surface portion 21c and the portion of the second shaft member 80 that is inserted and positioned in the through hole are configured such that the second shaft member 80 cannot rotate relative to the base member lower surface portion 21c. Has been. For example, the shape of the through hole of the base member lower surface portion 21c and the cross-sectional shape of the portion of the second shaft member 80 that is inserted and positioned in the through hole are the same shape (for example, a regular square, regular polygon of regular hexagon, etc., by forming the tooth shape) of the saw blade shape or gear serrations or splines, formed configuration as the second shaft member 80 relative to the base member bottom surface portion 21c is unable to relative rotation Can be mentioned. As other means, a key member is interposed between the through hole of the base member lower surface portion 21c and the portion of the second shaft member 80 that is inserted and positioned in the through hole. For example, the second shaft member 80 may be configured so as not to be relatively rotatable.
As a result, the base member lower surface portion 21 c and the second shaft member 80 rotate integrally around the axis of the second shaft member 80.

In contrast, the through hole of the first upper surface portion 73 and the portion of the second shaft member 80 that is inserted into the through hole and positioned relative to the first upper surface portion 73 are rotated relative to the first upper surface portion 73. It is configured to be able to move.
As a result, the base member 21 is configured to be rotatable relative to the upper frame 67 around the axis of the second shaft member 80 together with the second shaft member 80. A second torsion spring (not shown) is assembled to the middle portion in the longitudinal direction of the second shaft member 80, and the spring force acting on the second torsion spring becomes 0 in a state where the head 3 faces the front. When the portion 3 is rotated relative to the head support frame 23 so as to face in the left / right direction other than the front, a spring force is generated in the second torsion spring, and the head 3 is directed in the direction of the front by the spring force. The base member 21 is configured to be biased. The second torsion spring constitutes the “torsion spring” in the present invention.

One end portion of the third arm member 81 is integrally bonded to the lower end portion of the second shaft member 80, and one end portion of the second rotation shaft 83 is connected to the third end portion of the third arm member 81. The arm member 81 is pivotally supported so as to be relatively rotatable about the axis of the second rotation shaft 83. A through hole is formed in the other end portion of the second rotating shaft 83, and a midway portion in the longitudinal direction of the rod-like second link member 85 is slidably inserted into the through hole. The third arm member 81, the second rotation shaft 83, and the second link member 85 constitute a “driving force transmission mechanism” in the present invention. Since the configuration of the second link member 85 has the same configuration as the first link member 37 described above, the reference numerals of the respective component members of the second link member 85 are newly given, but the names of the respective component members Uses the same name as the first link member 37, and a detailed description of the configuration is omitted.
A pair of coiled second spring members 89 and 89 and one end of each of the second spring members 89 and 89 facing each other are provided on the outer peripheral portion of the second link member 85 in the longitudinal direction of the screw shaft 87. A pair of annular third spring seats 91 and 91 for receiving a spring load are inserted. A nut 95 is screwed onto a screw shaft 87 between the second spring member 89 located in the vicinity of the pillow ball joint 93 and the pillow ball joint 93 out of the pair of second spring members 89, 89. Thus, the spring load of the one second spring member 89 is received.

  Of the pair of second spring members 89, 89, the spring load at the end of the other second spring member 89 opposite to the third spring seat 91 is an annular fourth spring inserted into the screw shaft 87. The pressing force of the fourth spring receiving seat 97 received by the receiving seat 97 and pressed by the spring load is received by a pair of nuts 95 and 95 screwed onto the screw shaft 87. The pair of nuts 95 and 95 are screwed so that their end faces are firmly pressed against each other, and are moved in the longitudinal direction of the screw shaft 87 so as not to fall off. As a result, when the spring load of each second spring member 89 is applied, each third spring seat 91 is moved in the longitudinal direction of the second link member 85 with respect to the second link member 85. The nut 95 is prevented from relative movement with respect to the second link member 85, and the fourth spring seat 97 is prevented from relative movement with respect to the second link member 85. .

As shown in FIGS. 3 and 4, the second electric motor 105 is fixed to the bracket 101 fixed to the second upper surface portion 77 by the screw member 99 by the screw member 103. The bracket 101 constitutes a “second bracket” in the present invention, and the second electric motor 105 constitutes a “second drive device” in the present invention. The second electric motor 105 incorporates a speed reducer that decelerates the rotational speed of the rotating shaft. The second electric motor 105 is configured such that its rotating shaft can rotate in either the forward direction or the reverse direction.
Further, as shown in FIG. 11, one end 109a of the fourth arm member 109 is integrally connected to the end of the rotation shaft 107 of the speed reducer, and is engraved on the other end 109b of the fourth arm member 109. A male screw portion of a joint screw member of the pillow ball joint 93 is screwed to the female screw portion. As a result, the second link member 85 is connected to the fourth arm member 109 via the pillow ball joint 93 so as to be relatively rotatable. When the second electric motor 105 is driven, the second shaft member 80 rotates against the urging force of the second torsion spring, and the base member 21 is directed so that the head 3 is directed in the left-right direction other than the front. Rotates around the axis of the second shaft member 80. A rotation angle range of the base member 21 that rotates relative to the first upper surface portion 73 around the axis of the second shaft member 80 is fixed to a projecting portion of the rear end portion of the first upper surface portion 73. The third restriction member 111 restricts the angle range.

The distance between the outer surfaces in the left-right direction of the pair of left and right first side surfaces 71L, 71R of the upper frame 67 is the distance between the outer surfaces in the left-right direction of the pair of left and right second side surfaces 75L, 75R. The dimension is set smaller than the width of the upper surface portion 77 in the left-right direction. A pair of left and right first side surface portions 71 </ b> L and 71 </ b> R are fixed to the center portion in the left and right direction of the second upper surface portion 77.
As shown in FIG. 8, one end portions of a pair of stays 113L and 113R extending in the left-right direction are respectively attached to the outer surface portions of the first side surface portions 71L and 71R by welding by welding or fastening by screw members. The other ends of the stays 113L and 113R are pivotally supported by the respective one ends of the pair of left and right upper limbs 117L and 117R via the third shaft member 115 extending in the front-rear direction. Specifically, one end portion of each third shaft member 115 is pivotally supported around the axis of each third shaft member 115 so as to be relatively rotatable with respect to each stay 113L, 113R, and each third shaft member 115 is supported. Each one end part of each upper limb 117L, 117R is integrally bound to the middle part in the longitudinal direction. The virtual straight line L3 shown in FIG. 13 is a virtual straight line passing through the axis of each third shaft member 115, and constitutes a “third axis” in the present invention.

  One end of the fourth arm member 119 is integrally connected to the other end of each third shaft member 115, and one end of the fourth rotating shaft 121 is connected to each other end of each fourth arm member 119. The parts are pivotally supported by the fourth arm member 119 so as to be relatively rotatable about the axis of the fourth rotation shaft 121. A through hole is formed in the other end portion of each fourth rotating shaft 121, and a midway portion in the longitudinal direction of the rod-shaped third link member 123 is inserted in each through hole. Since the configuration of each third link member 123 has the same configuration as that of the first link member 37 described above, each component member of each third link member 123 is newly given a reference numeral, but each component member The same name as that of the first link member 37 is used, and detailed description of the configuration is omitted.

As shown in FIG. 12, a pair of coiled third spring members 127, 127 and the third spring members 127, 127 are arranged on the outer periphery of the third link member 123 in the longitudinal direction of the screw shaft 125. A pair of annular fifth spring seats 129 and 129 for receiving a spring load at each of opposite ends of 127 are inserted. A nut 133 is screwed to each screw shaft 125 between the third spring member 127 and the pillow ball joint 131 located in the vicinity of the pillow ball joint 131 of the pair of fifth spring seats 129 and 129, respectively. The nut 133 receives the spring load of the one third spring member 127.
The spring load at the end of the other third spring member 127 opposite to the fifth spring seat 129 of the pair of third spring members 127 is caused by a pair of nuts 133 and 133 screwed to the screw shaft 125. is recieving. The pair of nuts 133 and 133 are screwed so that their end faces are firmly pressed against each other, and are moved in the longitudinal direction of the screw shaft 125 so as not to fall off. As a result, when the spring load of each of the third spring members 127 and 127 is applied, each fifth spring seat 129 can be moved relative to the third link member 123 in the longitudinal direction of the third link member 123. On the other hand, each nut 133 is prevented from moving relative to the third link member 123.

  Further, the third electric motors 137L and 137R are fastened and fixed by a plurality of screw members 135 to the middle portions of the stays 113L and 113R in the longitudinal direction. Each of the third electric motors 137L and 137R constitutes a “third driving device” in the present invention. Each of the third electric motors 137L and 137R is incorporated with a speed reducer that reduces the rotational speed of the rotating shaft thereof. Each of the third electric motors 137L and 137R is configured such that the rotation shaft thereof can rotate in either the forward direction or the reverse direction. As shown in FIG. 13, one end portion 141a of the fifth arm member 141 is integrally connected to each end portion of the rotation shaft 139 of each reduction gear, and is cut into the other end portion 141b of the fifth arm member 141. A male screw portion of a joint screw member of the pillow ball joint 131 is screwed to the provided female screw portion. As a result, the third link member 123 is connected to the fifth arm member 141 via the pillow ball joint 131 so as to be relatively rotatable. The pair of left and right third electric motors 137 </ b> L and 137 </ b> R are respectively disposed on the outer side in the left and right direction of the pair of left and right first side surface portions 71 </ b> L and 71 </ b> R and immediately above the second upper surface portion 77.

  As shown in FIGS. 5 and 6, a pair of left and right hand portions 143L and 143R are provided at the other end portions of the upper limbs 117L and 117R that are pivotally supported by the stays 113L and 113R, respectively. Are attached to each. Each hand part 143L, 143R is formed in a hemispherical shape on the hand side, and the wrist 145 side is formed in a truncated cone shape, and each hand part 143L, 143R is formed integrally with each wrist 145, respectively. The arm portion 147 of each of the upper limbs 117L and 117R connected to each wrist 145 includes a first arm portion 147a formed in a truncated cone shape in which the diameter of the end portion on the third shaft member 115 side is smaller than the diameter on the wrist 145 side. A columnar second arm portion 147b connected to the one arm portion 147a is provided.

  Each hand part 143L, 143R and each wrist 145 are configured to be able to advance and retract along the longitudinal direction of the arm part 147 with respect to the arm part 147, and each hand part 143L, 143R corresponds to each arm part 147. Are always urged by coiled spring members (not shown) in a direction away from each other. One end portion of the joint member 149 is bonded to the end portion of each second arm portion 147b opposite to the first arm portion 147a, and a first through hole formed in the other end portion of each joint member 149. A midway portion in the longitudinal direction of the triaxial member 115 is inserted. The through hole at the other end of each joint member 149 and the portion of the third shaft member 115 that is inserted and positioned in the through hole are configured so that the third shaft member 115 cannot rotate relative to the joint member 149. It is configured. For example, the shape of the through hole of each joint member 149 and the cross-sectional shape of the portion of the third shaft member 115 that is inserted and positioned in the through hole are the same shape other than a perfect circle (for example, a regular square, The third shaft member 115 may be configured not to rotate relative to the joint member 149 by forming a regular polygon such as a regular hexagon, a saw blade shape such as a serration or a spline, or a gear tooth shape. Can be mentioned. As other means, a joint member 149 is provided by interposing a key member between the through hole at the other end of each joint member 149 and the portion of the third shaft member 115 that is inserted and positioned in the through hole. On the other hand, the third shaft member 115 may be configured so as not to be relatively rotatable.

As a result, the joint member 149 and the third shaft member 115 rotate integrally around the axis of the third shaft member 115. A third torsion spring 151 (see FIGS. 6 and 13) is assembled to each middle shaft portion of each third shaft member 115 located between each stay 113L, 113R and each joint member 149, and each upper limb 117L. , 117R are set so that the spring force acting on the third torsion spring 151 becomes zero in a state where the horizontal direction is oriented.
On the other hand, when the upper limbs 117L and 117R are rotated relative to the stays 113L and 113R around the axis of the third shaft member 115 so that the upper and lower limbs 117L and 117R are directed in the vertical direction other than the horizontal direction, Each of the joint members 149 is configured to be urged in a direction in which each of the upper limbs 117L and 117R is directed in the horizontal direction.
When each third electric motor 137L, 137R is driven, each third shaft member 115 rotates against the urging force of each third torsion spring 151, and each upper limb 117L, 117R is either in the vertical direction. The third shaft member 115 is configured to rotate around the axis of the third shaft member 115 in the direction toward the center. Note that openings (not shown) including ranges in which the upper limbs 117L and 117R move when the upper limbs 117L and 117R rotate in the vertical direction are formed in both left and right sides of the trunk 13. .
The rotation angle ranges of the upper limbs 117L and 117R that rotate relative to the stays 113L and 113R around the axis of the third shaft member 115 are fourth restricting members (fixed to the stays 113L and 113R, respectively). (Not shown) is restricted to a certain angle range.
As shown in FIGS. 5 and 6, a fourth electric motor 153 is disposed inside each hand portion 143L, 143R of each upper limb 117L, 117R, and energization to the fourth electric motor 153 is turned on or off. An operation switch 155 for turning off is disposed inside each first arm portion 147a. A weight is integrally attached to the rotation shaft of each fourth electric motor 153, and the center of gravity of the weight is positioned at a position eccentric from the axis of the rotation shaft.

  As shown in FIGS. 14 and 15, the leg frame 17 includes four fourth frames so as to surround the center of the leg frame 17 at a position equidistant from the center of the leg frame 17 when viewed from above. Five electric motors 157a, 157b, 157c, and 157d are arranged at equal angular intervals and fastened and fixed by a plurality of screw members 159, respectively. Each of the fifth electric motors 157a, 157b, 157c, and 157d is incorporated with a speed reducer that decelerates the rotational speed of the rotating shafts. The fifth electric motors 157a, 157b, 157c, and 157d are configured such that their rotation shafts can rotate in either the forward direction or the reverse direction. Wheels 163 are integrally attached to the end of the rotation shaft 161 (see FIG. 8) of each reduction gear. A portion of the leg frame 17 in which each wheel 163 is disposed is formed with a notch 17a (see FIG. 14) that is notched in a rectangular shape so as to avoid interference with each wheel 163. Each wheel 163 includes a hub 165 to which the rotating shaft 161 is integrally bound, and a first rolling element 167 and a second rolling element 169 that are integrally bound to each hub 165. The first rolling element 167 and the second rolling element 169 are adjacently disposed so as to face each other. The upper part of each wheel 163 is covered with a wheel cover 170 (see FIG. 15), and the wheel cover 170 is fastened and fixed to the upper surface portion of the leg shell portion 15 by a screw member. By providing the wheel cover 170, the possibility that dust or the like scraped up when each wheel 163 rolls on the ground enters the leg shell portion 15 is reduced.

  Each of the rolling elements 167 and 169 supports nine rolling rollers 171 arranged at equal angular intervals in the circumferential direction around the axis of the rotating shaft 161 and rotatably supports these rolling rollers 171. And a retainer 173 integrally attached to the hub 165. Each rolling roller 171 is formed in a cylindrical shape having the largest diameter in the center along the axis and gradually becoming smaller as it approaches both ends. In each wheel 163, the first rolling element 167 and the second rolling element 169 are between the respective rolling rollers 171 of the first rolling element 167 when viewed from the direction along the axis of the rotating shaft 161. These rolling rollers 171 are integrally attached to each other with the center of each of the rolling rollers 171 positioned. That is, the rolling roller 171 of the first rolling element 167 and the rolling roller 171 of the second rolling element 169 have an angular position in the circumferential direction around the axis when viewed from the direction along the axis of the rotating shaft 161. It is 40 degrees off. As a result, each wheel 163 has 18 rolling rollers 171 arranged at equiangular positions in the circumferential direction around the axis when viewed from the direction along the axis of the rotating shaft 161. The distance between the rolling rollers 171 adjacent in the circumferential direction becomes small. As a result, when each wheel 163 rolls on the ground and each rolling roller 171 contacts the ground in turn, the transition from the grounded rolling roller 171 to the next rolling roller 171 promptly proceeds. Therefore, each wheel 163 can smoothly roll on the ground.

A pair of left and right first column members 175 and 175 are erected in front of the head support frame 23 and on the upper surface of the leg frame 17 in parallel with each other at an interval in the horizontal direction. these

A male screw member 177 (see FIGS. 3 and 4) is inserted into a through hole 176 (see FIGS. 14 and 15) drilled in the leg frame 17 from the lower surface side of the leg frame 17, and each first column member 175 is inserted. The first column members 175 are fastened and fixed to the upper surface of the leg frame 17 by screwing the male screw members 177 into the female screw portions drilled and cut in the lower end portion of the leg frame 17. The lower end portion of the plate-like shelf member 179 whose rear end portion is fastened and fixed to the lower surface of the second upper surface portion 77 of the lower frame 69 by a screw member is abutted against the upper end portion of each first column member 175, The upper end portion of each first column member 175 and the lower surface portion of the shelf member 179 are fastened and fixed by a screw member. Since the pair of first column members 175 and 175 are formed in a bar shape, a space in which other members can be arranged can be secured around them.
A speaker 181 that generates human voice and various artificial sounds is detachably attached to the upper surface of the shelf member 179 by being tightened by a belt-like elastic band 183 made of a rubber member or other resin material. ing.

As shown in FIG. 1 and FIG. 2, a couch 185 is pivotally supported on the top of the head 3 so as to be rotatable about an axis along a virtual straight line extending in the vertical direction. A light source 187 made of a light emitting diode is attached. The clove 185 is rotated by attaching a dedicated link member, a sixth electric motor 189, or the like, similarly to the rotation of the head 3 by the first link member 37, the first electric motor 55, or the like. ing. A light source 190 similar to the light source 187 is attached to positions corresponding to both eyes and cheeks of the face of the skull 9.
A sound collecting microphone 191 that collects human voice is disposed on the right side of the left and right sides of the couch 185. Note that the position where the sound collecting microphone 191 is disposed can be set as appropriate, and the sound collecting microphone 191 may be disposed at a position corresponding to the middle position between the eyes instead of the couch 185.

  Further, the lower ends of the four second column members 193 are fastened and fixed to the upper surface of the leg frame 17 by screw members, respectively, and a rectangular parallelepiped casing 195 is formed at the upper end of each second column member 193. Removably attached. The housing 195 includes a housing main body having an opening opened upward, and a lid that closes the opening of the housing main body so that the opening can be opened and closed. In the housing 195, a control device 197 and a secondary battery 199 shown in FIG. Each of the electric motors 55, 105, 137L, 137R, 153, 157a, 157b, 157c, 157d, and 189, the speaker 181, the operation switches 155, the light sources 187 and 190, the sound collecting microphone 191, and the two The secondary batteries 199 are electrically connected to the control device 197 via the electric wires 200, respectively. The control device 197 performs various determinations and transmits a command signal based on the determination result, and receives the command signal transmitted from the determination processing unit 201 and based on the received command signal. An operation processing unit 203 that operates each of the electric motors 55 and the like, and a storage unit 205 that stores various data and programs are provided.

  On the other hand, the trunk portion 13 of the trunk portion 5 includes a trunk portion main body having an opening formed in the rear surface portion thereof, and a lid that closes the opening, and the lid can be attached to and detached from the trunk portion main body. It is configured to be attached. With the lid removed from the shell main body, the lid of the housing 195 is opened through the opening in the rear surface of the shell 13, and then the control device 197 and the secondary battery 199 in the housing 195 are connected. Can be serviced or exchanged.

<Operation of the robot 1>
Next, the present embodiment an example of the working engagement Carlo bot 1 will be described in detail with reference to the block diagram of FIG. 17.
When the hand portion 143L is pushed along the longitudinal direction of the arm portion 147 of the upper limb 117L among the hand portions 143L and 143R, for example, the hand portion 143L and the wrist 145 move relative to the arm portion 147, The operation switch 155 in the arm portion 147 is turned on, the ON signal is input to the determination processing unit 201, and the determination processing unit 201 operates to operate the fourth electric motor 153 in the hand unit 143L based on the signal. A command signal is transmitted to the processing unit 203. As a result, the operation processing unit 203 operates the fourth electric motor 153 in the hand portion 143L, the rotation shaft thereof rotates with the weight, and the hand portion 143L generates a slight vibration. In this way, the determination processing unit 201 determines whether or not the operation of the fourth electric motor 153 has been performed for a preset time. If it is determined that the time has elapsed, the fourth electric motor A command signal for stopping the operation of 153 is transmitted from the determination processing unit 201 to the operation processing unit 203, and the operation of the fourth electric motor 153 is stopped.
In addition, when the hand portion 143R is pushed along the longitudinal direction of the arm portion 147 of the upper limb 117R, the hand portion 143R similarly generates a slight vibration.

Next, when the person speaks toward the robot 1, the human voice is collected by the sound collecting microphone 191, the voice signal is input to the determination processing unit 201 of the controller 197. The determination processing unit 201 determines whether or not the content of the words spoken by a person matches the word data stored in the storage unit 205 of the control device 197 in advance, and the determination processing unit 201 determines that they match. If so, a command signal associated with the word data is transmitted from the determination processing unit 201 to the operation processing unit 203. For example, when the signal transmitted from the determination processing unit 201 is one that activates any of the four fifth electric motors 157a, 157b, 157c, and 157d, the operation processing unit 203 uses the fifth signal based on the command signal. Any one of the electric motors 157a, 157b, 157c, and 157d is operated.

For example, among the four fifth electric motors 157a, 157b, 157c, and 157d, only the rotation shafts 161 of the two fifth electric motors 157a and 157c whose axis of rotation are on the same straight line are in the same direction. When simultaneously rotated at the same speed, the robot 1 moves straight in the front-rear direction. At this time, the two wheels 163 themselves connected to the rotation shafts 161 of the fifth electric motors 157b and 157d do not roll on the ground, but the first rolling element 167 and the second rolling element on these two wheels 163. The rolling roller 171 that is in contact with the ground among the rolling rollers 171 and 169 rolls on the ground. Based on the same principle, of the four fifth electric motors 157a, 157b, 157c, and 157d, the rotation shafts of the two fifth electric motors 157b and 157d whose axes are on the same straight line. If only 161 rotates simultaneously at the same speed in the same direction, the robot 1 moves straight in the lateral direction.

Further, as other aspects of the operation of the four fifth electric motors 157a, 157b, 157c, 157d, for example, all the rotating shafts 161 of the four fifth electric motors 157a, 157b, 157c, 157d are in the same direction. When simultaneously rotated at the same speed, the robot 1 rotates the axis O in the vertical direction (see FIGS. 14 and 15) around.
As another aspect, for example, the rotary shafts 161 of the fifth electric motors 157a and 157b rotate simultaneously at the same speed in the same direction, and the rotary shafts 161 of the fifth electric motors 157c and 157d are the same in the reverse direction. When simultaneously rotated at a speed, the robot 1 moves straight obliquely front-rear direction.

  Next, when the signal transmitted from the determination processing unit 201 based on the content of the words spoken by a human is to operate the first electric motor 55, the operation processing unit 203 is based on the command signal. 55 is activated. When the first electric motor 55 is activated, the driving force of the first electric motor 55 is transferred to the second arm member 59, the first link member 37, the first arm member 33, the first shaft member 31, and the head subframe 27. The head 3 is swung in the vertical direction. At this time, since the pair of first spring members 45, 45 are inserted into the first link member 37, the driving force of the first electric motor 55 is transmitted from the first link member 37 to the first arm member 33. Sometimes it is buffered and transmitted by the pair of first spring members 45, 45. For this reason, there is no possibility that the respective members to which the driving force of the first electric motor 55 is transmitted are damaged, and there is no possibility that the head 3 is shockedly swung.

  When the head 3 swings upward in the vertical direction, for example, the connecting surface portion 27c of the head sub-frame 27 comes into contact with the buffer member 62 of the second regulating member 61, whereby the rotation of the first electric motor 55 is performed. By being restricted, the value of the current flowing through the first electric motor 55 increases. This current value is monitored by the determination processing unit 201 of the control device 197, and it is determined by the determination processing unit 201 whether or not the current value exceeds a threshold value stored in advance in the storage unit 205. If it is determined, a command signal for reversing the first electric motor 55 is input from the determination processing unit 201 to the operation processing unit 203. Then, the first electric motor 55 rotates in the reverse direction, and the head 3 swings downward, and the connecting surface portion 27c of the head sub-frame 27 comes into contact with the buffer member 62 of the first restricting member 60. When the rotation of the electric motor 55 is restricted, the value of the current flowing through the first electric motor 55 increases. The current value is also monitored by the determination processing unit 201. When the current value exceeds a threshold value stored in advance in the storage unit 205, the determination processing unit 201 determines whether the current value is exceeded. A command signal for reversing the first electric motor 55 is input from the determination processing unit 201 to the operation processing unit 203. Then, the first electric motor 55 is actuated and the head 3 swings upward again. In this way, the determination processing unit 201 determines whether or not the motion of the head 3 swinging alternately upward and downward has been performed for a preset time, and it is determined that the time has elapsed. In this case, a command signal for stopping the first electric motor 55 is input from the determination processing unit 201 to the operation processing unit 203. Then, the operation of the first electric motor 55 is stopped, and the spring force of the first torsion spring 32 acts according to the angle difference between the vertical direction directed by the head 3 at that time and the horizontal direction. 3 points in a substantially horizontal direction.

Next, when the signal transmitted from the determination processing unit 201 based on the content of the words spoken by the human is to operate the second electric motor 105, the operation processing unit 203 of the control device 197 is based on the command signal. The second electric motor 105 is operated. The operation of the head 3 at this time rotates in the left-right direction, and the rotation angle range thereof is restricted by one third restriction member 111, and these points are the same as those of the first electric motor 55 described above. This is slightly different from the description of the operation. However, except these points, when the driving force of the second electric motor 105 is transmitted from the second link member 85 to the third arm member 81, it is buffered and transmitted by the pair of second spring members 89 and 89. This is the same as the operation related to the first electric motor 55 described above.
Further, the determination processing unit 201 monitors fluctuations in the current value of the second electric motor 105 caused by the restriction of the rotation angle range by the third restriction member 111, and reverses the second electric motor 105 based on the monitoring result. The control method for causing the head 3 to swing alternately in the left direction and the right direction only for a preset time is the same as the control method for the first electric motor 55 described above. Further, when the second electric motor 105 is stopped, the operation in which the head 3 is urged to face the front by the spring force of the second torsion spring is also related to the action of the spring force of the first torsion spring 32 described above. It is the same.
Therefore, the detailed description about the operation | movement and control method regarding the 2nd electric motor 105 here and the thing related to this 2nd electric motor 105 is abbreviate | omitted.

Next, when the signal transmitted from the determination processing unit 201 based on the content of the words spoken by a human is to operate at least one of the left and right third electric motors 137L and 137R, Based on the command signal, the operation processing unit 203 of the control device 197 operates the electric motor.
In addition, when the driving force of each 3rd electric motor 137L, 137R is transmitted to each 4th arm member 119 from each 3rd link member 123, it is buffered and transmitted by a pair of 3rd spring members 127,127. These are the same as the operations related to the first electric motor 55 and the second electric motor 105 described above.
In addition, the determination processing unit 201 monitors fluctuations in the current values of the third electric motors 137L and 137R due to the restriction of the rotation angle range by the fourth restriction member, and based on the monitoring result, the third electric motors 137L. , 137R, and a control method for causing each of the upper limbs 117L, 117R to alternately swing upward and downward for a preset time. This is the same as the control method of the electric motor 105.
Therefore, detailed description of operations and control methods related to the third electric motors 137L and 137R and the items related to the third electric motors 137L and 137R is omitted here.

Next, when a signal transmitted from the determination processing unit 201 based on the content of a word spoken by a human being causes a human voice or various artificial sounds to be generated from the speaker 181, based on the command signal. The determination processing unit 201 selects corresponding data from human voice and various types of artificial sound data stored in advance in the storage unit 205, and the voice or sound of the selected data is selected as an operation processing unit of the control device 197. 203 is generated from the speaker 181. By generating the human voice from the speaker 181, it is possible to perform human and conversation spoke toward the robot 1.
Further, when the signal transmitted from the determination processing unit 201 based on the content of a word spoken by a human is to turn on or blink at least one of the light sources 187 and 190, the command signal Based on this, the operation processing unit 203 of the control device 197 activates the corresponding light source.

Next, when the signal transmitted from the determination processing unit 201 based on the content of the words spoken by the human is to operate the sixth electric motor 189 for rotating the couch 185, based on the command signal. The operation processing unit 203 of the control device 197 operates the sixth electric motor 189.
This is the end of the description of the operation of Carlo bot 1 put in this embodiment.

According to the present embodiment as described above, the base member 21 is pivotally supported on the first upper surface portion 73 of the upper frame 67 so as to be rotatable around the axis of the second shaft member 80 extending in the vertical direction, and the upper frame. 67, the base member 21 is configured to be relatively rotated around the axis of the second shaft member 80 by the second electric motor 105. Therefore, it is possible also to be rotatable in the horizontal direction but the head 3 relative to the upper frame 67 by vertical, when in contact with human Gallo bot 1, than against the robot 1 Impressive and close to humans.
Further, according to the present embodiment, the first electric motor 55 is supported by the base member 21. For this reason, when the head 3 rotates about the axis of the first shaft member 31 with respect to the base member 21, the first electric motor 55 does not move along with the head 3. Thus, the inertial force when the head 3 rotates around the axis of the first shaft member 31 can be reduced. As a result, the head 3 can be smoothly rotated around the axis of the first shaft member 31 by the first electric motor 55 and the driving force required for the first electric motor 55 can be reduced.
Further, according to the present embodiment, the second electric motor 105 is supported by the second upper surface portion 77 of the lower frame 69 via the bracket 101. Therefore, when the base member 21 rotates about the axis of the second shaft member 80 together with the head 3 with respect to the upper frame 67, the second electric motor 105 is rotated by the base member 21 and the head 3. Since it does not move, the inertial force when the base member 21 and the head 3 rotate about the axis of the second shaft member 80 can be reduced accordingly. As a result, the base member 21 and the head 3 can be smoothly rotated around the axis of the second shaft member 80 by the second electric motor 105 and the driving force required for the second electric motor 105 can be reduced. Can do.

Further, according to the present embodiment, the head 3 is pivotally supported by the base member 21 around the axis of the first shaft member 31, and the base member 21 is around the axis of the second shaft member 80. A pair of left and right upper limbs 117L and 117R are supported on the outer surfaces of the pair of left and right first side surface portions 71L and 71R, respectively, so as to be pivotally supported by the first upper surface portion 73 of the upper frame 67. Therefore, the present embodiment once the design of the structure of the engagement Carlo bot 1, after the completion, when the height from the 該Ro bot 1 is newly designed different of Carlo bot Dogara of the body portion 5 with changing the height of the parts 13, designed changes to the combined pair of the first side portion 71L, height by a simple design change of only appropriately changing the vertical length of the 71R is a different of Carlo bot can do. As a result, the burden of new design can be reduced. In addition, when changing the length of the first side surface portions 71L and 71R in the vertical direction, the attachment position (for example, the vertical position) of the stays 113L and 113R from the upper ends of the first side surface portions 71L and 71R is changed. It does not have to be changed, but can be changed.
Further, according to the present embodiment, the pair of left and right first side surface portions 71 </ b> L and 71 </ b> R and the first upper surface portion 73 are configured by separate members, and the base member 21 is pivotally supported by the first upper surface portion 73. Yes. Therefore, relates engaging Carlo bot 1 in this embodiment, in the production of the two or more different robots height, between their two or more of each robot does not require design changes group members 21 And since each member of the 1st upper surface part 73 can be shared, manufacturing cost can be made cheap by that much.

In addition, according to the present embodiment, the head support frame 23 further includes the lower frame 69, and the lower frame 69 has inner surfaces facing each other substantially in parallel in the left-right direction and legs. The pair of left and right second side surface portions 75L and 75R whose lower end portions are supported by the part frame 17 are connected to the upper end portions of the second side surface portions 75L and 75R, and the pair of left and right first side surface portions 71L and 71R And a second upper surface portion 77 to which each lower end portion is connected. For this reason, not only can the vertical length of the pair of left and right first side portions 71L and 71R be changed, but also the vertical length of the pair of left and right second side portions 75L and 75R can be changed accordingly. Height is to increase the degree of freedom of design when designing the different of Carlo bot 1.
Further, according to the present embodiment, the distance between the pair of left and right first side surface parts 71L and 71R is smaller than the distance between the pair of left and right second side surface parts 75L and 75R and the width in the left and right direction of the second upper surface part 77. The pair of left and right first side surface portions 71L and 71R is fixed to the center portion of the second upper surface portion 77 in the left and right direction, and is located on the outer side in the left and right direction of the pair of left and right first side surface portions 71L and 71R. A pair of left and right third electric motors 137L and 137R are arranged in a space formed immediately above the portion 77, respectively. For this reason, the base member 21 that supports the head 3 and the first electric motor 55 is firmly supported by the lower frame 69 via the upper frame 67, and the trunk portion 13 and the leg shell portion 15 are outward. The third electric motors 137L and 137R can be disposed in a space surrounded by the shell portion 13 and the leg shell portion 15 without causing the third electric motor 137L and 137R to protrude unnaturally.

Further, according to the present embodiment, the third arm member 81 for transmitting the driving force of the second electric motor 105 and rotating the base member 21 around the axis of the second shaft member 80 together with the head 3. The second rotation shaft 83 and the second link member 85 are disposed in a space formed between the pair of left and right first side surface portions 71L and 71R. For this reason, when the third arm member 81, the second rotation shaft 83, and the second link member 85 are disposed in a space surrounded by the shell portion 13 and the leg shell portion 15, the dead space is effectively utilized. It is not necessary to unnaturally protrude the shell portion 13 and the leg shell portion 15 outward.
Further, according to the present embodiment, the head main frame 25 that supports the skull portion 9 on the surface portion of the connecting surface portion 27c that connects the corresponding side edge portions of the pair of head sub-frame side surface portions 27a and 27b. The head main frame 25 is fixed to the head sub-frame 27 in a state where the surface portion of the central portion of the connecting member 25a is in contact. For this reason, the skull portion 9 is firmly supported by the head sub-frame 27 via the head main frame 25.
Furthermore, according to the present embodiment, the pair of head sub-frame side surfaces 27a and 27b and the pair of base member side surface portions 21a and 21b are superposed such that their inner surfaces are substantially parallel to each other. In this state, the pair of head sub-frame side surfaces 27 a and 27 b are pivotally supported by the pair of base member side surfaces 21 a and 21 b so as to be rotatable around the axis of the first shaft member 31. For this reason, it is possible to meet the conflicting demands between the weight reduction of the constituent members constituting the shaft support structure and the strong shaft support.

The above-described embodiment is an example for explaining the present invention, and the present invention is not limited to the above-described embodiment, and the gist of the invention that can be read from the entirety of the claims and the specification, or but various modifications can be made, without departing the spirit, the robot after such changes are also intended to be within the technical scope of the present invention.
For example, in the above-described embodiment, an example in which the shell portion 13 and the leg shell portion 15 are configured by separate members has been shown, but instead, the shell portion 13 is divided into front and rear or left and right. A pair of shell shell pieces and a leg shell portion 15 are similarly formed as a pair of leg shell pieces that are divided into front and rear or left and right, and one shell shell piece and each leg shell piece are integrally formed. A single body trunk leg shell piece is formed in which the other trunk shell piece and the leg shell piece are integrally formed. The pair of trunk leg shell portions may be joined to each other and fastened and fixed by a screw member to constitute a trunk leg shell portion having a trunk shell portion and a leg shell portion.

In the description of the operation control of the I Carlo bot 1 to the controller 197 described above, the first electric motor 55, the second electric motor 105, the third electric motor 137L, 137R, the fourth electric motor 153, fifth It has been explained that each control object of the electric motors 157a, 157b, 157c, 157d, the speaker 181, each light source 187, 190 or the sixth electric motor 189 is individually controlled. You may control based on the content of a word so that two or more control objects may be actuated simultaneously.
Further, in the robot 1 of the above-described embodiment, the electric motors 55,105,137L, an example is shown for reciprocating the link members 37,85,123 by 137R, instead of this, the cylinder and the a piston inserted so as to be retractable into the cylinder, the fluid utilizing the pressure of a fluid such as air or hydraulic fluid supplied from a pressure source with the robot 1 is moved forward and backward with the piston relative to the cylinder Each link member 37, 85, 123 may be reciprocated by a cylinder device. In this case, each fluid cylinder device that reciprocally moves each of the link members 37, 85, and 123 corresponds to the “first driving device”, “second driving device”, and “third driving device” in the present invention. Configure each.

Further, in the robot 1 of the above-described embodiment, the upper frame 67, a pair of right and left first side portion 71L, an example is shown which constitutes a separate member from each other and the first upper surface portion 73 and 71R, which Instead, the upper frame 67 may be configured as a single member in which the pair of left and right first side surface portions 71L and 71R and the first upper surface portion 73 are integrally formed. In this case, if the height to produce a two or more different robots, between those two or more of each robot, although it is impossible to share the first upper surface portion 73, a pair of left and right first side parts 71L, can height by a simple design change of only changing appropriately the vertical length of the 71R to design a different of Carlo bot, can be obtained the effect that the burden of design is mitigated Needless to say.
Further, in the robot 1 of the above-described embodiment, the lower frame 69, a pair of left and right second side portions 75L, although an example of configuration in a separate member 75R and a second top portion 77 to each other, Instead, the lower frame 69 may be configured as a single member in which the pair of left and right second side surface portions 75L and 75R and the second upper surface portion 77 are integrally formed. In this case, if the height to produce a two or more different robots, between those two or more of each robot, although it is impossible to share the second top surface portion 77, a pair of left and right second side parts 75L, can height by a simple design change of only changing appropriately the vertical length of the 75R to design a different of Carlo bot, can be obtained the effect that the burden of design is mitigated Needless to say.

Further, in the robot 1 of the above-described embodiment, changing the vertical length of the left and right pair that are appropriately changed each first side portion 71L, 71R and left and right pair of second side portions 75L, on the 75R in, but height has an example of configuring the different of Carlo bot, instead, as shown in FIG. 18, a pair of right and left first side portion 71L, 71R and a pair of left and right second side portions 75L, 75R Each may be provided with a length changing structure. As the length changing structure, the first side surface portion 71L will be described as an example. The first side surface portion 71L is composed of a pair of male screw members 211 and 211 and two first side surface portion pieces 71L1 and 71L2. The two first side surface pieces 71L1 and 71L2 are fastened and fixed by the male screw members 211 in a state in which some of the surfaces are joined to each other. Similarly, the first side surface portion 71R is composed of a pair of male screw members 211, 211 and two first side surface portion pieces 71R1, 71R2, and the two first side surface portion pieces 71R1, 71R2 are It is fastened and fixed by each male screw member 211 in a state where some surfaces are joined to each other.

Each first side surface piece 71L1, 71R1 is formed with a pair of female screw holes 213 into which each male screw member 211 is screwed. The first side surface piece 71L2, 71R2 can be inserted with the male screw member 211, and A long oval through-hole 215 is formed in the longitudinal direction (vertical direction) of each of the first side surface pieces 71L2 and 71R2. Each male screw member 211 is loosened and each of the first side face pieces 71L1 and 71L2 and the first side face piece 71R1 and 71R2 are moved relative to each other in the longitudinal direction (vertical direction) and positioned at a desired position. By tightening the screw member 211, the lengths of the first side surfaces 71L and 71R can be easily changed. According to such a length modification structure, each time to produce a different of Carlo bot, there is no need to change the first side portion 71L, the 71R or the like in a separate member height.

  Note that the length changing structure as described above can be similarly applied to the second side surface portions 75L and 75R as shown in FIG. That is, the second side surface portion 75L is composed of a pair of male screw members 211, 211 and two second side surface portion pieces 75L1, 75L2, while the second side surface portion 75R is composed of a pair of male screw members 211, 211, It consists of two second side surface pieces 75R1 and 75R2. Each of the second side surface pieces 75L1, 75R1 is formed with a pair of female screw holes 213 into which the respective male screw members 211 are screwed. The male screw member 211 can be inserted into each of the second side surface pieces 75L2, 75R2. Each of the second side surface pieces 75L2 and 75R2 has an oblong through hole 215 that is long in the longitudinal direction (vertical direction). Each male screw member 211 is loosened and the second side surface piece 75L1, 75L2 and the second side surface piece 75R1, 75R2 are moved relative to each other in the longitudinal direction (vertical direction) and positioned at a desired position. By tightening the screw member 211, the lengths of the second side surface portions 75L and 75R can be easily changed.

Further, in the robot 1 of the above-described embodiment, signal transmitted from the determination processing unit 201 of the control device 197 based on the contents of the human spoke words causes the speaker 181 to generate a human voice or various sounds In the case where it is a thing, the example in which the determination processing unit 201 selects the data of the human voice and various sounds to be generated from the data stored in advance in the storage unit 205 is shown. However, in addition to or in place to, a network device having a wireless LAN function that can connect to the Internet and installed in the robot 1, of the human pre-stored in the external server of the voice and various sounds Corresponding data may be selected from the data by the determination processing unit 201 via the Internet, and the operation processing unit 203 of the control device 197 may generate the sound or sound of the selected data from the speaker 181. Thus, the area of the storage unit 205 for storing human voice and various sound data can be reduced or omitted, while the amount of human voice and various sound data increases dramatically, and the speaker 181 increases. The number of human voices and various kinds of sounds that can be generated from the sound will increase dramatically. As a result, it is possible to more interest to a human in contact with the robot 1.

Further, in the robot 1 of the above-described embodiment, it sound collected by the sound collecting microphone 191 is received by the determination processing section 201 of the control unit 197, based on the content of the received words, the control unit 197 operation processing unit 203 is the electric motors 55,105,137L of, 137R, 157a, 157b, the location 157c, an example is shown for actuating one of 157d, 189, instead of this, apart from the robot 1 remote control apparatus receiver humans is disposed a sound emitted to the robot 1 into the microphone (not shown) (not shown) is received by the wireless in, based on the content of the word of the received Then, the operation processing unit 203 of the control device 197 operates any one of the electric motors 55, 105, 137L, 137R, 157a, 157b, 157c, 157d, and 189. It may be allowed.
Alternatively, received by the command signal the various switches human remote control apparatus is originated by operating at the location spaced from the robot 1 receiver of the robot 1 is wireless, in accordance with a command signal which the received control The operation processing unit 203 of the device 197 may operate any one of the electric motors 55, 105, 137L, 137R, 153, 157a, 157b, 157c, 157d, and 189.

1 robot <br/> 3 head 5 barrel 7 leg portion 9 Atamakara portion 13 Dogara portion 15 Ashikara portion 17 leg portion frame 21 group members 21a base member side portion 21b base member side portion 21c base member lower surface portion 23 Head Support Frame 25 Head Main Frame 27 Head Subframe 27a Head Subframe Side 27b Head Subframe Side 27c Connection Surface
33 First arm member (link mechanism)
37 First link member (link mechanism, link member)
45 First spring member (spring member)
53 Bracket (first bracket)
55 1st electric motor (1st drive device , electric motor )
59 Second arm member (link mechanism)
71L First side surface portion 71R First side surface portion 73 First upper surface portion 75L Second side surface portion 75R Second side surface portion 77 Second upper surface portion 81 Third arm member (driving force transmission mechanism)
83 Second rotating shaft (driving force transmission mechanism)
85 Second link member (driving force transmission mechanism)
101 Bracket (second bracket)
105 Second electric motor (second driving device)
117L Upper limb 117R Upper limb 137L Third electric motor (third drive unit)
137R Third electric motor (third drive unit)
163 Wheel L1 Virtual straight line (first axis)
L2 Virtual straight line (second axis)
L3 Virtual straight line (third axis)

Claims (7)

The head is pivotally supported by the base member so as to be rotatable around a first axis extending in the horizontal direction,
The base member is pivotally supported by the head support frame so as to be rotatable around a second axis extending in the vertical direction,
A first driving device for rotating the head relative to the base member around the first axis is positioned at a position separated in a horizontal direction perpendicular to the first axis, and Fixed to the base member via one bracket,
A second drive device for rotating the base member relative to the head support frame around the second axis is fixed to the head support frame via a second bracket ;
The first driving device is an electric motor, and the electric motor and the head are connected via a link mechanism,
The link mechanism includes a rod-shaped link member having one end connected to the electric motor,
The link member moves in a direction along its longitudinal direction by the rotational driving force of the electric motor, so that a pressing force is generated by the link member,
A structure of a robot configured to rotate the head around the first axis when the pressing force is transmitted from the link member to the head via a spring member . The structure of the robot according to claim 1 ,
It further comprises a torso and legs,
The trunk portion includes a hollow shell portion constituting an outer surface portion of the trunk portion,
The leg portion includes a hollow leg shell portion that constitutes an outer surface portion of the leg portion, and a wheel that can roll on the ground while being in contact with the ground and supporting the gravity of the robot,
The head support frame is disposed in a space surrounded by the shell portion and the leg shell portion, and a pair of left and right first side portions whose inner sides face each other substantially in parallel with an interval in the left-right direction. And a first upper surface portion connecting the upper end portions of these first side surface portions,
The base member is pivotally supported on the first upper surface so as to be rotatable about the second axis;
A robot structure characterized in that a pair of left and right upper limbs are respectively supported on outer side surfaces of the pair of left and right first side portions. The structure of the robot according to claim 2 ,
The pair of left and right first side portions and the first upper surface portion are composed of separate members,
A structure of a robot, wherein the base member is pivotally supported by the first upper surface portion. In the structure of the robot according to claim 2 or claim 3 ,
The leg portion further includes a leg frame disposed inside the leg shell portion,
The head support frame includes a pair of left and right second side portions whose inner sides face each other substantially in parallel in a left-right direction and whose lower end portions are supported by the leg frame, and these second side portions. And a second upper surface portion connected to the lower end portions of the pair of left and right first side surface portions. The structure of the robot according to claim 4 ,
The distance between the outer surfaces in the left-right direction of the pair of left and right first side portions is smaller than the distance between the outer surfaces in the left-right direction of the pair of left and right second side portions and the width in the left-right direction of the second upper surface portion. Set to
The pair of left and right first side surfaces is fixed to the center in the left-right direction of the second upper surface,
A pair of left and right third driving devices for individually rotating the pair of left and right upper limbs around the pair of left and right third axes with respect to the pair of left and right first side portions respectively. The robot structure is disposed on the outer side in the left-right direction and directly above the second upper surface portion. In the structure of the robot according to any one of claims 2 to 5 ,
A driving force transmission mechanism for transmitting the driving force of the second driving device and rotating the head about the second axis is disposed in a space formed between the pair of left and right first side portions. The structure of the robot characterized by being. In the structure of the robot according to any one of claims 1 to 6 ,
The base member includes a pair of base member side surface portions whose inner side surfaces face each other in parallel in a horizontal direction, and a base member lower surface portion that connects lower end portions of these base member side surface portions,
The head includes a hollow skull part that forms an outer surface part of the head part, a head main frame that supports the head shell part, and a head subframe that supports the head main frame. ,
The head sub-frame connects a pair of head sub-frame side portions whose inner surfaces face each other in parallel in a horizontal direction and corresponding side edges of the head sub-frame side portions. And a connecting surface portion
The head main frame is fixed to the connection surface portion in a state where the surface portion of the central portion is in contact with the surface portion of the connection surface portion,
In a state where the pair of head sub-frame side surfaces and the pair of base member side surface portions are superposed so that the inner side surfaces thereof are substantially parallel to each other, the pair of head sub-frame side surfaces is the first A robot structure characterized in that it is pivotally supported on the side surfaces of the pair of base members so as to be rotatable about one axis.

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