JP6951213B2 - Cable connection structure - Google Patents

Description

The present invention relates to a connection structure of a cable connected to a humanoid robot.

Conventionally, a humanoid robot that walks on two legs has been developed. Since such a humanoid robot can perform the same work as a human, it is expected to perform the work in a place where it is difficult for a person to enter, such as removing rubble in the event of a disaster or saving lives.

In order to supply an electric current to such a humanoid robot, a cable may be connected to the robot. As a connection structure to which a cable for supplying an electric current to a robot is connected, there is one disclosed in Patent Document 1. Patent Document 1 discloses a connection structure in which a cable is connected to a robot by being locked in a recess on the robot side.

Japanese Unexamined Patent Publication No. 2006-320978

However, in the robot-cable connection structure disclosed in Patent Document 1, when the cable is connected to the robot, the cable is fixedly locked to the robot. Therefore, in the unlikely event that the robot loses its balance and collapses, the cable extending outward from the robot may be caught between the robot and the ground at the connection with the robot and bent, increasing the load on the cable. be.

Therefore, in view of the above circumstances, it is an object of the present invention to provide a cable connection structure in which the load on the cable is suppressed to be small at the connection portion between the cable and the robot.

The cable connection structure of the present invention includes a cable, a cable receiving portion provided on the humanoid robot to receive the cable, and a connecting portion for rotatably connecting the cable receiving portion to the humanoid robot. It is characterized by being.

In the cable connection structure having the above configuration, when the cable is received by the cable receiving portion, the cable is rotatably connected to the humanoid robot by the connecting portion, so that even if the humanoid robot falls down, , The cable rotates at the connection. Therefore, the load on the cable can be reduced.

Further, the connection portion may be provided so that the cable has a rotation axis extending in a direction including a vertical component.

Since the connection is provided so that the cable has a rotation axis that extends in the direction containing the vertical component, the cable can perform rotational movement with the horizontal component with respect to the humanoid robot, with respect to that direction. The load on the cable can be reduced.

Further, the connection portion may be provided so that the cable has a rotation axis extending in a direction including a horizontal component.

Since the connection portion is provided so that the cable has a rotation axis extending in a direction including a horizontal component, the cable can perform a rotational movement having a component in the vertical direction, and the load applied to the cable in that direction can be applied. It can be reduced.

Further, the connection portion may be provided so that the cable has a rotation axis extending in a direction including a vertical component and a rotation axis extending in a direction including a horizontal component.

Since the connection is provided so that the cable has a rotation axis extending in the direction including the vertical component and a rotation axis extending in the direction including the horizontal component, the cable is rotationally moved having a horizontal component and a vertical component. And can reduce the load on the cable in more directions.

Further, the humanoid robot includes an outer shell portion that covers at least a part on the outside, and when the cable is connected to the humanoid robot, the portion of the cable connected to the humanoid robot and the cable. The receiving portion and the connecting portion may be arranged inside the outer shell portion.

Since the part of the cable connected to the humanoid robot, the cable receiving part, and the connecting part are arranged inside the outer shell part, even if the humanoid robot falls over, these parts will be the outer shell. Protected by the department. Therefore, it is possible to prevent the connected portion of the cable, the cable receiving portion, and the connecting portion from colliding with the ground or the like.

Further, the cable may be connected to the back portion of the humanoid robot.

Since the cable is connected to the back of the humanoid robot, the cable does not interfere with the work when the work is performed by the humanoid robot.

Further, the cable may extend from the cable receiving portion toward the rear of the humanoid robot when it is received by the cable receiving portion.

Since the cable once extends toward the rear of the humanoid robot, the cable does not get in the way at the feet of the humanoid robot.

According to the present invention, the load applied to the cable can be suppressed to a small value, so that the durability of the cable can be improved.

(A) is a front view of the humanoid robot according to the embodiment of the present invention, and (b) is a side view of the humanoid robot of (a). (A) is a rear view of the head and body of the humanoid robot of FIG. 1, and (b) is a cross-sectional view of the periphery of the connection with the cable in the humanoid robot as viewed from above. Is a cross-sectional view of the area around the connection with the cable in the humanoid robot as viewed from the side. It is a block diagram which showed the structure of the control system of the humanoid robot of FIG. (A) is a rear view of the head and body of the humanoid robot of FIG. 1 in a state where the cable is rotationally moved around a pin, and (b) is a cross section of the periphery of the connection with the cable as viewed from above. FIG. 3C is a cross-sectional view of the periphery of the connection portion with the cable as viewed from the side. It is sectional drawing which showed the range which the cable can rotate around a pin about the body part of the humanoid robot of FIG. (A) is a cross-sectional view showing a configuration in which the cable can rotate and move around a pin for the body portion of the humanoid robot of FIG. 1, and (b) is a cross-sectional view showing a configuration in which the cable does not rotate and move. be. FIG. 5 is a cross-sectional view of the vicinity of a cable connection portion in the head and body of the humanoid robot of FIG. 1 as viewed from the side. (A) and (b) are cross-sectional views of the periphery of the cable connection portion in another form of humanoid robot as viewed from the side.

Hereinafter, the connection structure of the cable connected to the humanoid robot according to the embodiment of the present invention will be described with reference to the accompanying drawings.

FIG. 1A is a front view of the humanoid robot according to the embodiment of the present invention, and FIG. 1B is a side view of the humanoid robot.

The humanoid robot 1 of the present embodiment has a shape imitating a human being, and has a head 2, a body 3, arms 4, and legs 5. The humanoid robot 1 is configured to be able to walk on two legs by controlling the drive of the leg portion 5. Further, by driving the arms 4 and the legs 5 and moving the limbs, it is possible to perform the same work as a human being.

The arm portion 4, the leg portion 5, and the like are configured by connecting a plurality of links by joints. Between each link, it is configured to be flexible at the joint part. Drive devices such as servomotors and actuators are arranged at each joint. By controlling the drive of the drive device, the degree of bending between the links is controlled, and the drive of the arm portion 4 and the leg portion 5 and the like is controlled. A plurality of drive devices are provided corresponding to a plurality of flexible joints of the humanoid robot 1.

A cable 7 is connected to the back portion 6 on the rear side of the body portion 3 of the humanoid robot 1. The cable 7 is made of a flexible material and is configured to be bendable. Wiring is arranged inside the cable 7, and the current from the power source is supplied to the humanoid robot 1 through the wiring arranged inside the cable 7. In the present embodiment, the wiring from the cable 7 is branched and connected to a plurality of drive devices. The current from the cable 7 is configured to be supplied to the drive device via the wiring.

FIG. 2A shows a rear view of the head 2 and the body 3 of the humanoid robot 1 with the cover removed, and FIG. 2B shows a cross-sectional view of the body 3. FIG. 2C shows a side view of the body portion 3.

As shown in FIGS. 1 (b) and 2 (a) to 2 (c), the cable 7 extends rearwardly from the humanoid robot 1 from the connection portion 8 connected to the humanoid robot 1, and is a person. It is arranged so as to hang downward from a position away from the type robot 1.

In this way, since the cable 7 once extends rearward from the back portion 6 of the humanoid robot 1 and extends, it is possible to prevent the cable 7 from being located at the foot portion of the humanoid robot 1. Therefore, it is possible to prevent the cable 7 from interfering with the operation of the leg portion 5.

In particular, when the humanoid robot 1 walks while the cable 7 is located around the leg 5, the leg 5 is caught by the cable 7, causing the humanoid robot 1 to lose its balance and the humanoid robot 1 to move. There is a possibility of falling. In the present embodiment, the cable 7 once extends rearward from the back portion 6 of the humanoid robot 1, and hangs downward from a position away from the humanoid robot 1 in the vertical direction due to its own weight. Therefore, the humanoid robot 1 Can be prevented from tipping over.

Next, the control configuration of the humanoid robot 1 will be described. FIG. 3 shows a block diagram of a control configuration in the humanoid robot 1.

As shown in FIG. 3, the control unit 14 in the humanoid robot 1 includes a calculation unit 14a, a storage unit 14b, and a servo control unit 14c.

The control unit 14 is a robot controller including a computer such as a microcontroller. The control unit 14 may be composed of a single control unit 14 for centralized control, or may be composed of a plurality of control units 14 for distributed control in cooperation with each other.

Information such as a basic program as a robot controller and various fixed data is stored in the storage unit 14b. The calculation unit 14a controls various operations of the main body unit 100 by reading and executing software such as a basic program stored in the storage unit 14b. That is, the calculation unit 14a generates a control command for the main body unit 100 and outputs the control command to the servo control unit 14c. For example, the arithmetic unit 14a is composed of a processor unit.

The servo control unit 14c is configured to control the drive of the drive device corresponding to each joint of the humanoid robot 1 based on the control command generated by the calculation unit 14a.

The connection structure between the cable 7 and the humanoid robot 1 will be described.

As shown in FIGS. 2A to 2C, the connection portion 8 between the humanoid robot 1 and the cable 7 is provided with a cable receiving portion 9 for receiving the cable 7. In the present embodiment, the cable receiving portion 9 is configured to be vertically splittable. The cable receiving portion 9 sandwiches the cable 7 from above and below, and the cable receiving portion 9 holds the cable 7. Since the cable 7 is gripped by the cable 7 being sandwiched by the cable receiving portion 9, the cable 7 can surely grip the cable receiving portion 9.

When the cable 7 is gripped by the cable receiving portion 9, the wiring arranged inside the cable 7 is connected to the wiring arranged so as to extend from the cable receiving portion 9 toward the inside of the humanoid robot 1. The wiring extending from the cable receiving portion 9 to the inside of the humanoid robot 1 is connected to the motor 15 and the like as various driving portions. Therefore, the power supply and the motor 15 are connected via the cable 7, and the current from the power supply can be supplied to each motor 15. A gear (not shown) is connected to the drive shaft of the motor 15, and the driving force output from the drive shaft of the motor 15 is transmitted to various members such as the arm 4 and the leg 5 via the gear. .. Therefore, each member such as a limb in the humanoid robot 1 can be driven by the driving force from the motor 15.

The cable receiving portion 9 is attached to a support plate (support portion) 10 on the humanoid robot 1 side. In the present embodiment, the cable receiving portion 9 is attached to the support plate 10 so as to be rotatable and movable by the pin 12. The pin 12 rotates around the rotation shaft 11. Therefore, the cable receiving portion 9 is configured to be rotatable around the rotating shaft 11. In the present embodiment, the lower receiving portion 9a of the cable receiving portion 9 is rotatably attached to the support plate 10. As a result, the cable 7 is attached to the humanoid robot 1 so as to be rotatable around the rotation shaft 11.

In the connecting portion 8, the cable receiving portion 9 that receives the cable 7 is rotatably attached to the support plate 10 via the pin 12, so that the connecting portion 8 makes the cable 7 rotatable with respect to the humanoid robot 1. You are connected. As described above, the connection portion 8 includes a support plate 10 for supporting the cable receiving portion 9 and a pin 12 for rotatably attaching the cable receiving portion 9 to the support plate 10, so that the connection portion 8 has a simple structure. The cable 7 can be rotatably connected to the humanoid robot 1.

In this embodiment, the pins 12 are attached to the support plate 10 so as to be arranged along the vertical direction. Therefore, the rotating shaft 11 of the cable receiving portion 9 is configured to extend along the vertical direction.

4 (a) to 4 (c) show rear views of the head 2 and the body 3 of the humanoid robot 1 in a state where the cable 7 is rotationally moved around the rotation shaft 11. FIG. 4A shows a rear view of the state in which the cable 7 is rotationally moved around the rotation shaft 11 as viewed from the rear of the head 2 and the body 3 of the humanoid robot 1, and FIG. 4B shows a rear view. A cross-sectional view of the body portion 3 is shown, and FIG. 4 (c) shows a side view of the body portion 3.

As shown in FIG. 4B, the cable 7 is arranged so as to rotate around the pin 12 from the position with reference to the position extending straight rearward. Since the cable 7 is rotationally moved by the connecting portion 8, the cable 7 is arranged with reference to a position where the cable 7 extends straight from the cable receiving portion 9 toward the rear of the humanoid robot 1 and is arranged there. It is configured to be possible.

FIG. 5 shows the range in which the cable 7 can rotate and move. FIG. 5 is a cross-sectional view of the body portion 3 as viewed from above. In the present embodiment, the cable 7 is configured to be rotatable 45 degrees around the rotation axis 11 of the pin 12 on one side from a reference position extending straight toward the rear of the humanoid robot 1. It is also configured to be rotatable 45 degrees around the rotation shaft 11 from the reference position to the other side. As a result, the cable 7 is configured to be rotatable within a range of 90 degrees around the rotation axis 11 with reference to a position extending straight toward the rear of the humanoid robot 1.

In this way, since the cable 7 is configured to be rotatable around the rotation shaft 11 by the pin 12 with respect to the humanoid robot 1, if the humanoid robot 1 falls down, the bending that occurs in the cable 7 will occur. The angle can be reduced.

6 (a) and 6 (b) show a configuration in which the cable 7 can rotate and move around the rotation axis of the pin 12 when the humanoid robot 1 falls, and a configuration in which the cable 7 cannot rotate and move. The configuration diagram comparing the case and the case is shown.

FIG. 6A shows a connection portion 8 between the cable 7 and the humanoid robot 1 when the cable 7 is configured to be rotatable around the rotation axis of the pin 12.

In the connection portion 8 in which the cable 7 is configured to be rotatable around the rotation axis of the pin 12, even if the humanoid robot 1 falls and the cable 7 is sandwiched between the humanoid robot 1 and the ground. , The degree of bending of the cable 7 when it is bent can be reduced. Since the cable 7 bends gently, the load applied to the cable 7 can be reduced.

FIG. 6B shows a connection portion 8 between the cable 7 and the humanoid robot 1 when the cable 7 cannot rotate and move. In the connection portion 8 having a configuration in which the cable 7 cannot rotate and move, when the humanoid robot 1 falls and the cable 7 is sandwiched between the humanoid robot 1 and the ground, the cable 7 faces substantially perpendicular to the ground. Extend. There, the cable 7 bends and is placed between the humanoid robot 1 and the ground. Therefore, the degree of bending when the cable 7 is bent becomes relatively large. Therefore, the load applied to the cable 7 becomes large, which may affect the durability of the cable 7.

In the present embodiment, as shown in FIG. 6A, the cable 7 is configured to be rotatable around the rotation axis 11 of the pin 12, so that when the humanoid robot 1 falls, the cable 7 is connected. The load on the cable 7 can be reduced by allowing the cable 7 to escape in the direction along the surface direction of the ground. Therefore, the durability of the cable 7 can be improved. Therefore, the frequency of replacement of the cable 7 can be reduced, and the operating cost of the humanoid robot 1 can be kept low. Further, since the durability of the cable 7 can be improved, it is possible to suppress the occurrence of disconnection due to the cable 7 being damaged, and it is possible to improve the reliability of the humanoid robot 1.

Further, in the present embodiment, the connection portion 8 between the cable 7 and the humanoid robot 1 is arranged so as to be located inside the outer shell portion 13 that covers the outside of the humanoid robot 1.

FIG. 7 shows a cross-sectional view of the head 2 and the body 3 of the humanoid robot 1 as viewed from the side.

In the present embodiment, the humanoid robot 1 is provided with an outer shell portion 13 so as to cover the outside. The front outer shell portion 13a is attached to the front side of the upper part of the body portion 3 of the humanoid robot 1, and the rear outer shell portion 13b is attached to the rear side of the upper part of the body portion 3 of the humanoid robot 1. A lower outer shell portion 13c is attached to the lower portion of the body portion 3 of the above. That is, in the present embodiment, the outer shell portion 13 has a front outer shell portion 13a, a rear outer shell portion 13b, and a lower outer shell portion 13c.

The connection portion 8 between the cable 7 and the humanoid robot 1 is an extension of a line forming the rearmost position of the rear outer shell portion 13b in the outer shell portion 13 and the outermost outermost portion of the lower outer shell portion 13c. It is configured to be located inside the extension of the line that constitutes the position. Therefore, the connecting portion 8 is configured to be protected by the outer shell portion 13 at a position inside the rear outer shell portion 13b and the lower outer shell portion 13c.

Since the connecting portion 8 is arranged at a position inside the rear outer shell portion 13b and the lower outer shell portion 13c in this way, even if the humanoid robot 1 falls, the connecting portion 8 will be on the ground. It is possible to prevent a direct collision.

As shown in FIG. 6A, since the connecting portion 8 is protected inside the outer shell portion 13, it is possible to prevent the connecting portion 8 from being damaged.

In this embodiment, the connecting portion 8 is made of metal. Specifically, the cable receiving portion 9, the support plate 10, the pin 12, and the parts around them are made of metal. When the connecting portion 8 made of metal parts collides with the ground and is deformed, the deformation of the connecting portion 8 may not be undone, and the connecting portion 8 may be significantly damaged.

In contrast, the cable 7 is made of a flexible material. Therefore, even if the cable 7 is deformed, the deformation often becomes an elastic deformation, and there is a high possibility that the cable 7 will return to its original shape. Therefore, even if the cable 7 is deformed, the damage caused by the deformation is small, and there is a high possibility that the cable 7 will not be significantly damaged.

Therefore, when the humanoid robot 1 falls, the connecting portion 8 is arranged at a position inside the outer shell portion 13 so that the connecting portion 8 does not receive a collision even if the cable 7 is allowed to be deformed. It is desirable that it is configured as follows. By doing so, it is possible to prevent the connecting portion 8 made of metal from being deformed, and it is possible to prevent the connecting portion 8 from being significantly damaged.

In the above embodiment, the connection portion 8 is configured such that the rotation axis 11 of the pin 12 is arranged along the vertical direction, and the cable 7 can rotate and move in the D1 direction (FIG. 5) along the horizontal direction. However, the present invention is not limited to the above-described embodiment. The cable 7 may be configured to rotate and move in the vertical direction.

FIG. 8A shows a cross-sectional view of the connection portion 8a in which the cable 7 is configured to be rotatable in the D2 direction along the vertical direction as viewed from the side. In this way, the cable 7 may be configured to rotate and move in the vertical direction. Further, the connecting portion 8a may have a pin 12a having a rotation axis extending in the horizontal direction so that the cable 7 rotates in the vertical direction. Since the connection portion 8a is provided so as to have a rotation axis extending in the horizontal direction, the cable 7 can rotate and move in the D2 direction along the vertical direction, and the load applied to the cable 7 in that direction is reduced. Can be made to.

In the humanoid robot of FIG. 8A, the connecting portion 8a includes an elastic body 16. The elastic body 16 has elasticity, and in the present embodiment, the elastic body 16 is composed of a coil spring. The elastic body 16 supports the connecting portion 8a so that the cable 7 extends from the cable receiving portion 9 toward the rear of the humanoid robot 1 in a state where no force is applied to the connecting portion 8a. There is. Further, the elastic body 16 supports the connecting portion 8a so that the cable 7 can rotate around the pin 12a in the D2 direction. When no force is applied to the connecting portion 8a, the connecting portion 8a is supported so that the cable 7 is arranged so as to extend rearward, so that the direction of the cable 7 is maintained. Therefore, it is possible to prevent the cable 7 from getting in the way at the feet.

Further, the cable 7 may be configured to rotate and move in both the horizontal direction and the vertical direction.

FIG. 8B shows a cross-sectional view of the connection portion 8b in which the cable 7 is configured to be rotatable in both the D1 direction along the horizontal direction and the D2 direction along the vertical direction, as viewed from the side. .. In this way, the cable 7 may be configured to rotate in both the horizontal and vertical directions. Further, the connecting portion 8b has a pin 12b having a rotation axis extending in the vertical direction and a pin 12c having a rotation axis extending in the horizontal direction so that the cable 7 rotates in both the horizontal direction and the vertical direction. You may. Further, the connecting portion 8b may have a configuration having a universal joint so that the cable 7 rotates and moves in both the horizontal direction and the vertical direction. Since the connecting portion 8b is provided so as to have a rotation axis extending in the vertical direction and a rotation axis extending in the horizontal direction, the cable 7 can perform rotational movement along the horizontal direction and the vertical direction, and these directions. On the other hand, the load applied to the cable 7 can be reduced. Therefore, the load on the cable 7 can be reduced in more directions.

Also in the humanoid robot of FIG. 8B, the connecting portion 8b includes an elastic body 16 having elasticity. The elastic body 16 supports the connecting portion 8b so that the cable 7 extends from the cable receiving portion 9 toward the rear of the humanoid robot 1 in a state where no force is applied to the connecting portion 8b. There is.

In the form shown in FIGS. 2 and 5 above, the connection portion 8 is configured such that the rotation axis 11 of the pin 12 is arranged along the vertical direction. The invention is not limited to the above embodiment. The pin 12 may be arranged so that the rotating shaft 11 does not extend exactly in the vertical direction as shown in FIG. 2C, but extends in a direction slightly deviated from the vertical direction. That is, the cable 7 may be provided so as to have a rotation axis extending in a direction including a vertical component.

Further, in the embodiment shown in FIG. 8A, a configuration in which the rotation axis of the connecting portion 8a is arranged along the horizontal direction is described, but the present invention is limited to the above embodiment. Not done. The pins 12a may be arranged so that the axis of rotation does not extend exactly in the horizontal direction, but extends in a direction slightly deviated from the horizontal direction. That is, the cable 7 may be provided so as to have a rotation axis extending in a direction including a horizontal component.

Further, in the form shown in FIG. 8B, a form in which the rotation axis of the connecting portion 8b is arranged along the vertical direction and the horizontal direction is described, but the present invention describes the above-described embodiment. It is not limited to the form. The pins 12b and 12c may be arranged so that the rotation axis does not extend exactly in the vertical direction and the horizontal direction, but extends in a direction slightly deviated from the vertical direction and the horizontal direction. That is, the cable 7 may be provided so as to have a rotation axis extending in the direction including the vertical component and a rotation axis extending in the direction including the horizontal component.

Further, in the above embodiment, the embodiment in which the cable 7 is used as the wiring for supplying the electric current to the humanoid robot 1 has been described, but the present invention is not limited to the above embodiment. The cable 7 may have other functions. For example, when controlling the humanoid robot 1, the cable 7 may be used as a transmission path for signals transmitted to the humanoid robot 1 and data detected by various sensors. Further, the cable 7 may be for supporting the humanoid robot 1 from above so that the humanoid robot 1 does not fall over. Further, the cable 7 may be used for other purposes. The cable 7 may be detachably attached to the humanoid robot 1 or may be fixedly attached to the humanoid robot 1.

1 Humanoid robot 7 Cable 8 Connection part 9 Cable receiving part

Claims (7)

With the cable
A cable receiving part provided in the humanoid robot to receive the cable,
A cable connection structure comprising a connection portion for rotatably connecting the cable receiving portion to the humanoid robot. The cable connection structure according to claim 1, wherein the connection portion is provided so that the cable has a rotation axis extending in a direction including a vertical component. The cable connection structure according to claim 1, wherein the connection portion is provided so that the cable has a rotation axis extending in a direction including a horizontal component. The connection portion according to claim 1, wherein the cable is provided so as to have a rotation axis extending in a direction including a vertical component and a rotation axis extending in a direction including a horizontal component. Cable connection structure. The humanoid robot has an outer shell portion that covers at least a part on the outside.
When the cable is received by the cable receiving portion, the portion of the cable connected to the humanoid robot, the cable receiving portion, and the connecting portion are arranged inside the outer shell portion. The cable connection structure according to any one of claims 1 to 4, characterized in that. The cable connection structure according to any one of claims 1 to 5, wherein the cable is connected to the back portion of the humanoid robot. The cable connection structure according to claim 6, wherein the cable extends from the cable receiving portion toward the rear of the humanoid robot when it is received by the cable receiving portion.

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