JP7402466B2 - Upper unit posture variable device - Google Patents

Description

The present invention relates to an apparatus for changing the posture of an upper unit that changes the posture of an upper unit mounted thereon.

2. Description of the Related Art Conventionally, a device is known in which a unit including a camera, a microphone, etc. is attached to an upper part, and the posture of the unit can be changed (see, for example, Patent Document 1).

International Publication No. 2018/123431

However, in the conventional apparatus for changing the posture of the upper unit, the operation when changing the posture is monotonous and lacks interest. On the other hand, if the movements are diversified, it may become difficult to stabilize a particular posture. In particular, when the upper unit includes a camera, high-quality image data cannot be obtained unless the upper unit has a stable posture.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an apparatus for changing the posture of an upper unit, which is capable of realizing operations that have never been seen before and has a structure that allows the posture to be easily stabilized.

The apparatus for changing the attitude of an upper unit according to the first aspect of the present invention is based on the premise that the apparatus is capable of changing the attitude of the upper unit mounted on the upper part, and includes a base part, a rotating body, and a main shaft. , an inner ring, an outer ring, and three or more height variable devices. The rotating body has a shaft hole in the center thereof, and is supported by the base portion so as to be rotatable about a first axis. The main shaft is fitted into the shaft hole of the rotating body so as to be slidable in the direction of the first axis and unrotatable about the first axis. The inner ring is arranged around the main shaft and is connected to the main shaft so as to be rotatable about a second axis that substantially intersects the first axis. The outer ring is arranged around the inner ring, and the outer ring has a third ring that extends in a direction different from the second axis when viewed from the first axis and substantially intersects the first axis. They are connected to be rotatable around an axis. The three or more height variable devices are capable of varying the heights of different circumferential portions of the outer ring.

An upper unit posture variable device according to a second aspect of the present invention is the upper unit posture variable device according to the first aspect, in which the height variable device includes an electric actuator installed on the rotary body, and an electric actuator installed on the rotating body. It has a link mechanism that interlocks a main shaft and a drive section of the electric actuator. The link mechanism includes a joint with at least one degree of freedom and a joint with three degrees of freedom.

An upper unit posture variable device according to a third aspect of the present invention is an upper unit posture variable device according to the second aspect, wherein the drive section of the electric actuator is a rotation shaft facing in a horizontal direction, The link mechanism includes a first link member, a portion of which is fixed to the rotation shaft of the electric actuator, and a portion of the first link member rotatable around a fourth axis parallel to the rotation shaft. It includes a second link member connected to another part, and a ball joint or universal joint that connects the other part of the second link member and the outer ring.

A posture varying device for an upper unit according to a fourth aspect of the present invention is a posture varying device for an upper unit according to the second or third aspect, wherein the electric actuator is a servo motor.

An apparatus for changing the posture of an upper unit according to a fifth aspect of the present invention is an apparatus for changing the posture of an upper unit according to any one of the first to fourth aspects, in which the upper unit has a camera and/or a microphone. have

An upper unit attitude changing device according to a sixth aspect of the present invention is the upper unit attitude changing device according to any one of the first to fifth aspects, wherein the main shaft has a wiring inserted therein. It is a hollow shaft.

In the upper unit attitude changing device according to a seventh aspect of the present invention, in the upper unit attitude changing device according to any one of the first to sixth aspects, the second axis and the third axis are mutually arranged. Almost orthogonal.

An apparatus for changing the posture of an upper unit according to an eighth aspect of the present invention is an apparatus for changing the posture of an upper unit according to any one of the first to seventh aspects, in which the rotating body has a ring gear formed around it. It is a drum. The upper unit posture variable device further includes a pinion that meshes with the ring gear, and a motor that rotationally drives the pinion.

Advantageous Effects of Invention According to the present invention, it is possible to provide an apparatus for changing the posture of an upper unit having a structure in which an unprecedented operation can be realized and the posture can be easily stabilized.

FIG. 2 is a perspective view of the upper unit posture variable device according to the present embodiment, viewed diagonally from the front. FIG. 2 is a perspective view of the upper unit posture variable device according to the present embodiment, viewed obliquely from the rear. FIG. 3 is a perspective view showing the height variable device, the main shaft, the inner ring, and the outer ring. It is a perspective view showing a base part. FIG. 3 is a perspective view showing a rotating body, a main shaft, an inner ring, and an outer ring. It is a partial sectional view showing a rotating body. It is a figure showing a main axis, an inner ring, and an outer ring. Only the inner and outer rings are sectioned. It is a figure showing a main axis, an inner ring, and an outer ring. Only the inner and outer rings are sectioned. It is a figure showing a main axis, an inner ring, and an outer ring. Only the outer ring is sectioned. FIG. 3 is a plan view showing the main shaft, inner ring, and outer ring. FIG. 2 is a perspective view showing a state in which the posture varying device for the upper unit according to the present embodiment is housed in an upper housing and a lower housing. FIG. 2 is a front view showing a state in which the upper unit posture variable device according to the present embodiment is accommodated in an upper housing and a lower housing, and is a diagram showing an example of the posture state of the upper unit.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an apparatus for changing the posture of an upper unit according to an embodiment of the present invention will be described with reference to the drawings.

As shown in FIGS. 1 to 3, the upper unit posture variable device 1 according to the present embodiment includes a base portion 2, a rotating body 3, a main shaft 5, a rotating body driving device 6, an inner ring 7, an outer ring 8, and a height-adjustable upper unit. It is equipped with a length variable device 9.

As shown in FIGS. 2 and 4, in this embodiment, the base portion 2 is configured using a substantially rectangular frame in plan view, with a circular opening 10 formed in the center. The rotating body 3 is fitted into the opening 10 so as to be rotatable about the first axis A1. Since the maximum diameter of the rotating body 3 is larger than the inner diameter of the opening 10 of the base portion 2, the rotating body 3 is rotatably supported at the edge of the opening 10 of the base portion 2.

A motor 11 and a rotational position detector 12 are attached to the base portion 2 . The motor 11 is attached to the base portion 2 with its output shaft 13 facing upward. The output shaft 13 is provided with a pinion 14 that meshes with a ring gear 17 formed on the outer periphery of the rotating body 3. For example, a DC motor can be used as the motor 11. The rotational position detector 12 is attached to the base portion with its input shaft 16 facing upward. The input shaft 16 is provided with a pinion 15 that meshes with a ring gear 17. For example, a potentiometer can be used as the rotational position detector 12. Information regarding the rotational position of the base portion 2 detected by the rotational position detector 12 is transferred to a controller, etc., which will be described later.

As described above, the rotating body 3 is rotatably supported by the base portion 2. In this embodiment, the rotary body 3 is configured using a drum 18 having the ring gear 17 formed on its outer circumference, as shown in FIG. 5, for example. A protrusion 19 is formed at a position lower than the ring gear 17. This protrusion 19 is provided to limit the rotation range of the rotating body 3 to less than 360°. When the rotary body 3 rotates to a specific rotational position with respect to the base portion 2, this protrusion 19 engages with an engaging portion (not shown) provided on the base portion 2, and the rotary body 3 rotates further. It has been established to prevent this from happening.

As shown in FIG. 6, for example, the rotating body 3 has an upper wall portion 3a formed at a lower position than the upper end of an outer peripheral wall portion 3b, and a cylindrical portion 3c extending downward from the center of the upper wall portion 3a. ing. A space 3d is formed between the cylindrical portion 3c and the outer circumferential wall portion 3b in which the height variable device 9 and the like are installed. The upper wall portion 3a has the same number of holes (not shown) through which second link members 22 (described later) pass through as the second link members 32. Further, the inside of the cylindrical portion 3c forms a shaft hole 3e through which a main shaft 5, which will be described later, is inserted. This shaft hole 3e is formed in the center of the rotating body 3, as is clear from FIG.

The main shaft 5 is fitted into the shaft hole 3e of the rotating body 3 so as to be slidable in the direction of the first axis A1. However, the main shaft 5 is fitted into the shaft hole 3e of the rotating body 3 such that it cannot rotate about the first axis A1. In order to prevent rotation, for example, as shown in FIG. 7, one or more (three in this embodiment) protrusions 23 are formed on the outer circumferential surface 6a of the main shaft 5 along the sliding direction. 23 is slidably fitted into a groove 25 formed in the shaft hole 3e.

The main shaft 5 has a straight portion 26 extending straight and a spherical portion 27 formed at the upper end. The spherical portion 27 is provided to ensure a wide range of motion for the inner ring 7, which will be described later. The main shaft 5 is formed in a hollow shape, and a wiring (not shown) is inserted into the main shaft 5. By passing the wiring inside, the wiring can be protected from other moving parts. The wiring is, for example, a power supply line, a signal line, etc. that connects the upper unit and the lower unit.

For example, as shown in FIG. 2, the rotary body drive device 6 includes a ring gear 17 formed on the outer periphery of the rotary body 3, a pinion 14 that meshes with the ring gear 17, and a motor 11 that rotationally drives the pinion 14. be done.

The inner ring 7 is disposed around the main shaft 5, as shown in FIGS. 3 and 10, and is connected to the main shaft 5 so as to be rotatable around the second axis A2, as shown in FIGS. 8 and 10. has been done. The second axis A2 is substantially perpendicular to the first axis A1. In the example shown in FIG. 8, two convex portions 27a extending on both sides from the spherical portion 27 of the main shaft 5 are fitted into a recessed portion 7a formed in the inner peripheral portion of the inner ring 7. Thereby, the inner ring 7 is rotatable around the second axis A2. Note that the positional relationship between the second axis A2 and the first axis A1 is not limited to being substantially perpendicular to each other, but may be substantially intersecting, which cannot be said to be substantially orthogonal.

As shown in FIGS. 3 and 10, the outer ring 8 is disposed around the inner ring 7 and is connected to the inner ring 7 so as to be rotatable about the third axis A3. As shown in FIG. 10, the third axis A3 is orthogonal to the second axis A2 when viewed from the direction of the first axis A1, and substantially intersects with the first axis A1. In the example shown in FIG. 9, two convex portions 7b extending from the inner ring 7 to both sides and a recess 8a formed in the inner peripheral portion of the outer ring 8 are fitted. Thereby, the outer ring 8 is rotatable around the third axis A3. Note that the positional relationship between the third axis A3 and the second axis A2 is not limited to being perpendicular to each other, and may be an intersection that cannot be called orthogonal.

As shown in FIG. 3, the height variable device 9 includes an electric actuator 24, a link mechanism 32, and the like. Three or more height variable devices 9 (three in this embodiment) are provided, and the heights of different portions of the outer ring 8 in the circumferential direction can be changed.

For example, a servo motor is used as the electric actuator 24. The electric actuator 24 is installed in the space 3d of the rotating body 3.

As shown in FIG. 3, the link mechanism 32 includes a joint 30 with one degree of freedom and a joint 31 with three degrees of freedom. The link mechanism 32 in this embodiment connects the rotating shaft 29 of the electric actuator 24, which is disposed in the lateral direction, and the outer ring 8 in an interlocking manner. A specific example is a link mechanism 32 that includes a first link member 21, a second link member 22, and a ball joint 33.

The first link member 21 is an arm-shaped member. A base end portion that is a part of the first link member 21 is fixed to a rotating shaft 29 of an electric actuator 24 .

An arm-shaped member is also used for the second link member 22. A proximal end portion, which is a part of the second link member 22, is connected to a distal end portion, which is the other portion of the first link member 21, so as to be rotatable about the fourth axis A4. The fourth axis A4 is parallel to the rotation axis 29 of the electric actuator 24. The joint between the first link member 21 and the second link member 22 constitutes a joint 30 with one degree of freedom.

The ball joint 33 connects the other portion of the second link member 22 , the tip, and the outer circumferential portion of the outer ring 8 . Specifically, the ball joint 33 includes a ball stud 36 having a ball 35 formed at its tip and a base end connected to the outer periphery of the outer ring 8, and a socket 37 formed at the tip of the second link member 22. It is configured. Since the ball 34 and the socket 37 are in spherical contact, the ball joint 33 can rotate in any direction. It is also possible to use a universal joint instead of the ball joint 33. Note that the ball joint 33 and the universal joint constitute a joint 31 with three degrees of freedom.

The upper unit 34 is mounted on the outer ring 8 and operates integrally therewith. The upper unit 34 includes one or more of a camera, a human sensor, a microphone, and various sensors. In this embodiment, the upper unit 34 includes a base plate 39 (see FIG. 1) fixed to the outer ring 8, and an upper housing 41 (see FIG. 11) that houses the camera, human sensor, microphone, various sensors, etc. It is equipped with

Further, the base portion 2, the rotating body 3, etc. are housed in a lower housing 42, as shown in FIG. In the lower housing 42, below the rotating body 3, for example, a battery, a controller for the motor 11, and a controller for the electric actuator 24 are housed.

In the upper unit posture variable device 1 having the configuration described above, when the rotating shaft 29 of each electric actuator 24 is rotationally driven, the height position of the ball joint 33, which is the connecting portion between the link mechanism 32 and the outer ring 8, is changes. For example, if the drive of the electric actuator 24 is controlled so that the height positions of the three ball joints 33 move up and down to the same extent at the same time, the outer ring 8 and the upper unit 34 mounted on the outer ring 8 can be moved as a whole without tilting. to rise or fall. Further, when the drive of the electric actuator 24 is controlled so that the height positions of the three ball joints 33 are different, the outer ring 8 and the upper unit 34 mounted on the outer ring 8 perform an operation of tilting in an arbitrary direction. Furthermore, by rotating the motor 11, the upper unit 34 can be rotated around the first axis A1 together with the rotating body 3, the main shaft 5, and the outer ring 8. Of course, the motor 11 and the electric actuator 24 can be driven simultaneously or separately.

As is clear from the structure of the variable height device 9 described above, by appropriately controlling the rotation of the electric actuator 24 and the motor 11, the attitude of the upper unit can be changed to various states. For example, FIG. 12 shows an example of the posture of the upper unit 34 that is possible with the upper unit posture changing device 1. (a) shows the basic state in which the upper unit 34 is not tilted and is placed at the lowest position. (b) shows a state in which the upper unit 34 is lifted to a relatively high position without tilting from the basic state. (c) shows a state in which the upper unit 34 is tilted rearward from the state in (b) (a state in which it is performing Tilt axis operation). (d) shows a state in which the upper unit 34 is tilted from the state in (c) (a state in which it is performing a Roll axis operation). (e) shows a state in which the upper unit 34 rotates around the first axis A1 while tilting from the state in (e) (a state in which it is performing a Pan axis operation).

Note that the controller of the motor 11 and the controller of the electric actuator 24 described above drive and control the motor 11 and the electric actuator 24 based on input information from a camera, a human sensor, a microphone, etc., for example. For example, when a human sensor detects a person or a microphone detects a person's voice, it can be activated by raising/lowering motion, Tilt axis motion, Roll axis motion, Pan axis motion, etc., or by a combination of these motions. , the camera can be moved to point in the direction of a person's face or the direction of the voice. Furthermore, it is also possible to perform an interaction (cute motion) that makes the user tilt their head by using the Roll axis motion.

Further, according to the upper unit posture changing device 1, while enabling various operations as described above, the upper unit 34 is It can stabilize any posture.

The invention as described above may be embodied in other forms without departing from its spirit, spirit or essential characteristics. Therefore, the above-described embodiments are merely illustrative in all respects, and should not be interpreted in a limiting manner. That is, the embodiments described above are merely examples.

1 Upper unit posture variable device 2 Base portion 3 Rotating body 3e Shaft hole 5 Main shaft 7 Inner ring 8 Outer ring 9 Height variable device 11 Motor 14 Pinion 17 Ring gear 18 Drum 21 First link member 22 Second link member 24 Electric actuator 29 Rotating shaft (drive part)
30 Joint with 1 degree of freedom 31 Joint with 3 degrees of freedom 32 Link mechanism 33 Ball joint 34 Upper unit A1 First axis A2 Second axis A3 Third axis

Claims (8)

An upper unit attitude changing device capable of changing the attitude of an upper unit mounted on the upper unit,
The base part and
a rotating body having a shaft hole in the center and rotatably supported by the base part about a first axis;
a main shaft fitted into the shaft hole of the rotary body so as to be slidable in the direction of the first axis and unrotatable about the first axis;
an inner ring arranged around the main shaft and connected to the main shaft so as to be rotatable around a second axis substantially intersecting the first axis;
A third axis arranged around the inner ring and rotating with respect to the inner ring about a third axis that extends in a direction different from the second axis when viewed from the direction of the first axis and substantially intersects the first axis. an outer ring possibly articulated;
three or more height variable devices capable of respectively changing the heights of different circumferential portions of the outer ring;
An apparatus for changing the posture of an upper unit, comprising: The height variable device is
an electric actuator installed on the rotating body;
a link mechanism that interlocks the main shaft and a drive section of the electric actuator;
has
The upper unit posture varying device according to claim 1, wherein the link mechanism includes a joint with at least one degree of freedom and a joint with three degrees of freedom. The drive section of the electric actuator is a rotation shaft facing in a horizontal direction,
The link mechanism is
a first link member, a portion of which is fixed to the rotating shaft of the electric actuator;
a second link member, a part of which is rotatably connected to the other part of the first link member about a fourth axis parallel to the rotation axis;
a ball joint or a universal joint that connects the other part of the second link member and the outer ring;
The apparatus for changing the posture of an upper unit according to claim 2, further comprising: The apparatus for changing the posture of an upper unit according to claim 2 or 3, wherein the electric actuator is a servo motor. The apparatus for changing the posture of an upper unit according to claim 1, wherein the upper unit has a camera and/or a microphone. The apparatus for changing the posture of an upper unit according to claim 1, wherein the main shaft is a hollow shaft into which a wire is inserted. The apparatus for changing the posture of an upper unit according to claim 1, wherein the second axis and the third axis are substantially orthogonal to each other. The rotating body is a drum around which a ring gear is formed,
a pinion meshing with the ring gear;
a motor that rotationally drives the pinion;
The apparatus for changing the posture of an upper unit according to any one of claims 1 to 7, further comprising:.