JPH0366115B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a mobile robot with walking legs that can perform work and transportation while continuously moving along horizontal and vertical surfaces.

(Prior Art) A mobile robot with a structure illustrated in FIG. 5 has been known for a long time as a mobile robot that has walking legs and is capable of carrying out transportation work, processing work, etc. during the movement process.
This robot engages two frames A and B so that they can slide linearly relative to each other, and each frame A and B has, for example, four self-supporting legs L suspended from each other, and these legs L are connected to the frame. By controlling the robot so that it alternately descends for landing and ascends for takeoff, the entire mobile robot can travel on a horizontal ground.

However, this robot cannot perform any relative linear movement between the frames A and B at the overlap timing when the legs L provided on both frames A and B touch the ground at the same time.

Therefore, when looking at the state of movement, it is necessary to move intermittently like an inchworm, and although there is no problem when using it for simple transportation, welding,
Functional problems arise when used as a base for work such as painting that is performed at a constant speed and under the same conditions.

Also, if you try to mount the main equipment on the frame, you cannot install it across both frames A and B, but you have to mount it on one of the frames. There was also the problem that the effective space had to be large, making it difficult to create a compact mobile robot.

Furthermore, with this mechanism, it is either impossible to change the direction, or even if it is possible, a separate structure for changing the direction is required and it is inevitably complicated.

(Object of the Invention) The present invention has been accomplished with the technical goal of solving the problems of the conventional robots, and the purpose of the present invention is to By being able to walk and change direction with a simple mechanism, various tasks and transportation can be performed stably and smoothly, thereby promoting the generalization of mobile robots.

(Structure of the Invention) Accordingly, the present invention provides a flat plate by engaging a pair of frames having similar shapes in a pairwise relationship around the output shaft of a rotary drive machine which is fixed to one frame at right angles to the axis. Three or more grounding units are distributed from the same side of each frame and installed vertically at right angles to prevent a pair of frames from falling over with just the grounding unit of each frame. On the other hand, each of the grounding units can be linearly slid in parallel and in the same direction with respect to each of the frames engaged at a reference phase angle. a leg seat supported by the sliding block and capable of moving up and down toward and away from each frame by the operation of an actuator, and in relation to each sliding block and each frame, A rotary motion-linear motion conversion mechanism is disposed to perform relative linear reciprocating motion between the two, and a sun gear fitted to the output shaft of the rotary drive machine and capable of rotating and revolving around the sun gear. A planetary gear meshed with
A planetary gear device is constituted by an internal gear which is meshed with the planetary gear and is rotatable around the output shaft, and which is fixed to the frame on which the rotary drive unit is not fixed, and the planetary gear rotates around the planetary gear. An intermediate shaft capable of transmitting motion is provided coaxially with the output shaft, and a first braking device for braking the rotation of the internal gear relative to one frame to which the rotary drive mechanism is fixed is provided on the frame. , a rotation transmission device is provided between the intermediate shaft and the input rotation shaft of each rotary motion-linear motion conversion mechanism, and a second brake device for braking the rotation of the intermediate shaft is disposed on one of the frames. The structure is such that, under the drive of the rotary drive machine, by activating the first brake device, each grounding unit is given a forward movement for forward movement or a backward movement in preparation for the next forward movement. and the second
By activating the brake device, relative rotation between the pair of frames is achieved by movement of the grounding unit during takeoff.

In this way, the movement of walking forward and changing direction can be performed by a single rotary drive machine, and the desired purpose is achieved here.

(Embodiments) Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In FIGS. 1 and 2, reference numeral 1 denotes a flat plate-shaped frame which, in a plan view, resembles a "person" with, for example, six arms, and is arranged horizontally.

This frame 1 consists of Y-shaped plate-like frames 1A and 1B arranged in such a way that they are out of phase by 180° in terms of rotational angle around the vertically extending output shaft of a rotary drive machine 13 consisting of a motor 14 and a speed reducer 15. in,
In addition, one frame 1 is formed as described above by engaging the pairs around each other within a predetermined angle.

A grounding unit 2 is provided on the lower surface side of the tip of the arm extending radially from the center of each frame 1A, 1B.
A and 2B are vertically disposed such that their axes are orthogonal to the frames 1A and 1B, and are distributed and extended downward from each frame 1A and 1B.

Each of the grounding units 2A and 2B is used as a leg to support the frame 1, and every other grounding unit is arranged in such a manner that it can support the frame 1 placed horizontally so that it does not fall over. Two sets each consist of three units of unit 2A and three units of adjacent grounding unit 2B.
It is divided into groups.

In addition, when there are 8 grounding units, it is divided into two sets: 4 units located on all sides and 4 units located on each side in a different arrangement, and each set supports frame 1 stably. It is something that you can get.

The rotary drive machine 13 has an output shaft directed vertically downward, and is fixed to one of the frames 1B so as to be located at the center of engagement between the frames 1A and 1B.

The main parts of the grounding units 2A and 2B are shown in FIG.
and the frame 1 in a state in which the sliding block 3 is engaged at the reference phase angle (the state shown in the first figure).
A and 1B are provided so as to be linearly slidable in the same direction parallel to the frame 1 (horizontal direction in FIG. 1), while a sliding block 3 is provided so that the leg seat 4 can be moved up and down toward and away from the frame 1. It is supported by

The sliding block 3 is attached to each of the frames 1A, 1.
The support member 5 is engaged with the lower surface side of the supporting member 5 fixed to the tip of the member B, and is supported while being held between a pair of straight guides 5a, 5a provided along the opposite side edges of the lower surface side. At the same time, the guide rail portions 3a, 3a provided on the side edges corresponding to the straight guides 5a, 5a are
Therefore, the sliding block 3 slides along the linear guides 5a, 5a, is parallel to the plate surface of each of the frames 1A, 1B, and is in sliding contact with each sliding block 3. The structure allows for linear reciprocating motion in the same direction.

On the other hand, the leg seat 4 is a plate provided directly below the sliding block 3 in a parallel manner, and has a hole that fits into a vertical guide 6 extending vertically downward from the sliding block 3. This vertical guide 6
It is possible to move up and down while remaining parallel to the sliding block 3 while being guided by the sliding block 3.

Although not shown, the leg seat 4 is engaged with the sliding block 3 via an actuator such as a hydraulic cylinder, and by operating this actuator, the leg seat 4 can be moved to any position in the direction of approaching and separating from each of the frames 1A and 1B. It is possible to fix it to

In connection with the grounding units 2A and 2B having the above-described configuration, a rotary motion-linear motion conversion mechanism (hereinafter abbreviated as a motion converter) 7 for linearly reciprocating the sliding block 3 is provided. The illustrated example is composed of a rack 8, a pinion 9, and a reciprocating spring 10, and the rack 8 is fixed to the inner edge of the sliding block 3 in parallel with the guide rail portion 3a.

The pinion 9, which is engaged with the rack 8, is fitted onto a shaft 11 that is rotatably fitted in a bearing provided in the center of the support member 5, and is engaged with the rack 8, so that the pinion 9 is engaged with the frame 1A, 1B, but this pinion 9 does not have teeth around the entire circumference, but a part of the circumference, for example, about 1/4 circumference, is formed into an arcuate surface with an outer diameter equal to the tooth bottom. A notched pinion having a toothless portion 9a is used, and when the toothless portion 9a faces the rack 8, the rack 8 is disengaged from the pinion 9.

On the other hand, as shown in FIG. 3, the reciprocating spring 10 is provided so as to be suspended between the frame 1 itself or the supporting member 5 and the sliding block 3, and the pinion 9 rotates to move the rack 8. It is necessary to provide the sliding block 3 in such a state that the elastic force can act as a reaction force when the sliding block 3 is advanced.

Therefore, the spring 10 is always connected to the sliding block 3.
When the teeth of the pinion 9 and the rack 8 disengage, the sliding block 3 is pulled back by the spring force and the stopper 12 (see Fig. 3) It will move back to the reference position where it comes into contact with.

It goes without saying that the time required for this backward movement is shorter than the time required to move forward from the reference position by a predetermined stroke (a value determined by the number of teeth and pitch of the pinion 8).

Therefore, the drive mechanism for rotationally driving the pinions 9 includes one rotary drive machine 13 that is shared by six pinions 9, and a planetary gear device 16.
, an intermediate shaft 20, and a rotation transmission device 23 (ground unit 2) that communicates between the intermediate shaft 20 and each shaft 11.
A, 2B and the same number).

The planetary gear device 16 includes a sun gear 17 fitted to the output shaft of the rotary drive machine 13, and the sun gear 17.
a plurality of planetary gears 18 meshed with each other so as to be able to rotate and revolve around the planetary gears 18;
It consists of a ring-shaped internal gear 19 which has internal teeth that mesh with the output shaft, is rotatable around the output shaft, and is fixed to the frame 1A.

On the other hand, the intermediate shaft 20 is integral with a support member that rotatably supports the planetary gear 18, is arranged coaxially with the output shaft, and is rotatable through a bearing at the engagement center of both frames 1A, 1B. It is pivotally supported.

The rotation transmission device 23 includes a large gear 24 fitted on the intermediate shaft 20 and a circumference of a predetermined diameter centered on the intermediate shaft 20 of each frame 1A, 1B, which is equally divided by the number of grounding units 2A, 2B. a small gear 26 fitted to one end of each shaft 25 and meshed with the large gear 24; a small gear 27 fitted to the other end of each shaft 25; A small gear 28 fitted onto each shaft 11, and each small gear 2
Chain 2 stretched between 8 and each small gear 27
It is formed into a gear chain transmission device consisting of 9.

In this drive mechanism, when the internal gear 19 is fixed so that it does not rotate, the rotation of the output shaft of the rotary drive machine 13 is transmitted to the planetary gears 18, 18 through the sun gear 7 as an autorotation motion and a revolution motion.
0 means that the planetary gears 18, 18 decelerate and rotate at the same speed as the revolving speed, thereby imparting rotational motion to each shaft 11 via the rotation transmission device 23, causing each pinion 9 to simultaneously rotate at the same speed and in the same direction. Therefore, each of the motion converters 7 can be operated under the same conditions.

However, as will be made clear from the explanation regarding the operation of the grounding units 2A and 2B, which will be described later, the grounding units 2A and 2B, which form a separate set, as well as the grounding units 2A and 2B, respectively, form a set of three.
Since it is necessary to have a timing difference between the forward stroke and backward stroke of the motion converter 7, the meshing phase of the rack 8 and pinion 9 is shifted between the pairs, so that the missing tooth portion 9a can be easily removed. The chain 29 is stretched in such a way that there is a time lag between the sets when they come to face each other.

As shown in FIG. 2, the mobile robot having the above-mentioned configuration is also characterized in that it is equipped with two brake devices 21 and 22, The ring 30 and the ring 31, which is rotatably provided around the central axis, are coaxially coupled to each other by energizing the electromagnetic coil 23 and actuated to the braking side, and on the other hand, by de-energizing, the coupling is released and the ring 31 is disengaged. It uses an electromagnetic brake that operates on the braking side.

The first brake device 21 is connected to one frame 1B, the main body of which is fixed to the rotary drive machine 13.
The central axis is also fixed to this frame 1B.
A gear is integrally provided on the outer periphery of the ring 31, and this gear meshes with the internal gear 19.

On the other hand, the second brake device 22 has the central shaft coaxially integrated with the intermediate shaft 25 so as to be rotatable, and the main body of the device is fixed to the other frame 1A,
The ring 31 is also fixed to the frame 1A.

When the first brake device 21 is operated to the braking side, the movement of the internal gear 19 is restricted, and as a result, the frames 1A and 1B are integrated in a non-rotating state.

Therefore, as described above, the rotation of the output shaft of the rotary drive machine 13 is transmitted to each motion converter 7 as a rotational motion.

On the other hand, when the second brake device 22 is operated to the braking side, the rotation of the intermediate shaft 25 is restrained, and as a result, the rotation of the intermediate shaft 20 is restrained.

Therefore, the output shaft of the rotary drive machine 13 is rotated by the internal gear 19 via the planetary gear 18 which only rotates on its own axis.
, and frames 1A and 1B
A rotational movement is performed between them, and the frame 1A or 1B associated with the grounding unit 2A or 2B which is leaving the ground is caused to change direction.

Next, the operating mode of each grounding unit 2A, 2B will be explained. As the six pinions 9, 9 rotate simultaneously at the same speed and in the same direction by the drive of the rotary drive machine 13, the rack 8 meshing with the pinion 9 As a result of moving straight, the sliding block 3 becomes integral with the rack 8.
will move forward as well.

That is, when the pinion 9 rotates in the direction of the arrow in FIG. moves in the forward direction C.

When the pinion 9 rotates about 3/4 and the toothless portion 9a faces the rack 8, the two are disengaged and the rack 8 is moved in the backward direction B by the backward movement spring 10, and the next tooth of the pinion 9 is moved. Wait until the parts reach the engaged position.

When the grounding unit 2A is in contact with the ground, this movement changes to the movement of moving the frame 1 in the backward direction 2, so this movement is slightly earlier than the start of return when the pinion 9 and rack 8 are disengaged. It goes without saying that unless the grounding unit 2A is taken off the ground, it will not be possible to take a standby position in preparation for the next advance.

In this case, since the embodiment adopts a movement mechanism that is a combination of a notched pinion and a rack, the time ratio of forward movement and return can be arbitrarily selected under conditions where the latter speeds up, and the so-called quick return mechanism can be easily implemented. In addition, it is possible to operate the rotary drive machine 13 with rotation in one direction.

Of course, the present invention is not limited to the structure of the motion converter 7, but may be replaced with various known mechanisms capable of reversibly converting rotational motion into linear motion, such as one that reversibly reversibly uses a pinion having teeth all around the circumference. Modifications are possible and are naturally included in the present invention.

The operations described above are divided into the A group of grounding units 2A and the B group of grounding units 2B as shown in FIG. 1, and the operating phases between the two groups are shifted as shown in FIG. By setting the meshing phases of the pinion 9 and the rack 8 to be different between the A group and the B group so that the forward modes of the B groups overlap with each other, the frame 1 is always moved smoothly at a constant speed. Development that stops intermittently is eliminated.

Therefore, each actuator for grounding and takeoff of the grounding units 2A and 2B, and the rotary drive machine 1
The control system that collectively controls the operations of the brake system 3 and the brake devices 21 and 22 may issue commands in the following manner.

That is, in the case of forward motion, the first brake device 21 is operated to the braking side, the second brake device 22 is operated to the non-braking side, and the rotary drive machine 13 is driven to ground the grounding unit 2A and the grounding unit 2B. By shifting the timing of the actuator for taking off the ground to match the meshing phase of the corresponding pinion 9 and rack 8, one set of grounding units 2A or 2B is always in the grounded state. By issuing a control output so that the robot is in the forward mode, the robot can move forward in a state similar to that of a human walking at a constant speed.

Next, when changing the direction of the mobile robot, among the two sets of grounding units 2A and 2B,
For example, with 2A in the grounding state and 2B in the takeoff state, the first brake device 21 is set to the non-braking side,
By operating the second brake device 22 to the braking side and rotating the rotary drive machine 13 at a predetermined number of rotations, the frame 1B provided with the grounding unit 2B during takeoff is moved relative to the frame 1A. As a result of the rotational movement, the forward direction of the frame 1B is changed.

Next, by switching the grounding unit 2B to the grounding state and switching the grounding unit 2A to the takeoff state, and rotating the rotary drive machine 13 in the opposite direction by a predetermined number of rotations, the frame 1A on which the grounding unit 2A that is taking off the ground is installed. are aligned in the same forward direction as frame 1B.

By repeating the above operations, the direction can be changed at any desired angle.

(Effects of the Invention) As described above, the present invention provides a pair of frames 1
Grounding units 2 installed vertically from A and 1A, respectively.
A and 2B are always moved forward by one of the grounding units that is currently touching down while shifting the phases of the grounding and takeoff operations from each other. The mobile robot can move forward in the same way as a human walking at a constant speed, and can move smoothly and stably.

Therefore, it can be used to move a container filled with liquid without overflowing, or to be used at the base of a robot when welding or painting under certain conditions.

Furthermore, a series of operations of continuous forward movement at a constant speed and change of direction can be performed by a combination of one rotary drive machine 13, one planetary gear device 16, and two brake devices 21 and 22. The structure of the power transmission system is simple, the equipment cost is low, and it can be made compact.In addition, regarding control, it is possible to start and stop the rotary drive machine 13 and turn on and off both brake devices 21 and 22. Since all that is required is a simple control circuit, the cost of the device can be reduced in this respect as well.

[Brief explanation of drawings]

1 to 4 show aspects of a mobile robot according to an embodiment of the present invention, with FIG. 1 being a plan view and FIG.
The figure is a structural diagram of the main parts showing the skeleton of the cross-sectional structure along the - arrow line in Fig. 1, Fig. 3 is a perspective view of the main parts of the rotational motion-linear motion conversion mechanism, and Fig. 4 is a diagram showing the main parts of the rotary motion-linear motion conversion mechanism. FIG. 3 is an operation diagram showing the relationship between forward movement and return movement. 5A, B, and C are schematic front views showing a conventional mobile robot in the order of its operation. 1A, 1B... Frame, 2A, 2B... Grounding unit, 3... Sliding block, 4... Leg seat, 7
...Rotary motion-linear motion conversion mechanism, 13...Rotary drive machine, 16...Planetary gear device, 17...Sun gear, 18...Planetary gear, 19...Internal gear, 20...
...Intermediate shaft, 21...First brake device, 22...
Second brake device, 23... Rotation transmission device.

Claims (1)

[Claims] 1 A pair of frames 1A and 1B that have similar shapes,
The frame is formed into a flat plate shape by rotating around the output shaft of a rotary drive machine 13 which is fixed to one frame 1B at right angles to the axis, and engages in a pairwise relationship. By distributing three or more grounding units 2A, 2B and vertically disposing them in a perpendicular direction, one pair of frames 1A, 1B can be constructed using only the grounding units 2A, 2B for each frame 1A, 1B.
The grounding units 2A and 2B are provided so as to be able to slide linearly in parallel and in the same direction with respect to the frames 1A and 1B engaged at a reference phase angle. The leg seat 4 is formed of a sliding block 3 and a leg seat 4 supported by the sliding block 3 and movable up and down to move toward and away from the frames 1A and 1B by actuating an actuator for grounding and takeoff. In association with each sliding block 3 and the frames 1A, 1B, a rotary motion-linear motion converting mechanism 7 for performing relative linear reciprocating motion between them is provided. Sun gear 17 fitted to the output shaft
, a planetary gear 18 that is meshed with the sun gear 17 so as to be able to rotate and revolve around the sun gear 17, and a planetary gear 18 that is meshed with the planetary gear 18 so that it can rotate around the output shaft, and the rotary drive machine 13 is not fixed. An internal gear 19 fixed to the frame 1A constitutes a planetary gear device 16, and an intermediate shaft 20 capable of transmitting the normal rotational motion of the planetary gear 18 is provided coaxially with the output shaft. A first braking device 21 for braking the rotation of the internal gear 19 with respect to the frame 1B fixed thereto is disposed on the frame 1B. A mobile robot characterized in that a rotation transmission device 23 is provided between the input rotation shaft and a second brake device 22 for braking the rotation of the intermediate shaft 20 is disposed on either frame 1A or 1B.