JPS63191582A - Walking device for robot - Google Patents
Walking device for robotInfo
- Publication number
- JPS63191582A JPS63191582A JP62023654A JP2365487A JPS63191582A JP S63191582 A JPS63191582 A JP S63191582A JP 62023654 A JP62023654 A JP 62023654A JP 2365487 A JP2365487 A JP 2365487A JP S63191582 A JPS63191582 A JP S63191582A
- Authority
- JP
- Japan
- Prior art keywords
- robot
- walking device
- legs
- walking
- view
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000033001 locomotion Effects 0.000 description 7
- 239000006096 absorbing agent Substances 0.000 description 4
- 238000011084 recovery Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
A 産業上の利用分野
本発明は特殊作業環境等で用いられるロボットの歩行装
置に関する。DETAILED DESCRIPTION OF THE INVENTION A. Field of Industrial Application The present invention relates to a robot walking device used in special work environments.
B、 発明の概要
本発明に係るロボットの歩行装置は、転倒してもロボッ
ト胴部の少な(とも四隅に設けた脚を回動することによ
り起きあがることができ、また、それぞれの脚先端に設
けた駆動輪の向きを設定することによりその場回転等自
由な動作を行える。B. Summary of the Invention The robot walking device according to the present invention allows the robot to get up even if it falls down by rotating the legs (located at each of the four corners); By setting the direction of the drive wheels, it is possible to perform free movements such as rotation on the spot.
C1従来の技術と問題点
特殊環境で使用されるロボット用の移動装置として歩行
装置が開発されているが、現存の歩行装置には、万一に
転倒した場合に自分自身で起きあがることが可能なもの
はなかった。C1 Conventional technology and problems Walking devices have been developed as locomotion devices for robots used in special environments, but existing walking devices do not have the ability to get up on their own in the event of a fall. There was nothing.
歩行装置のそもそもの目的は車輪走行が困難な階段等に
おける移動を可能とすることであり、この目的達成のた
めに歩行装置には2本〜数本の脚が備えられている。し
かしながら、歩行装置は、階段等において脚をもって歩
行するという転倒の生じ易い条件下で使用するにも係わ
らず、いざ転倒してしまったら自分自身で起きあがるこ
とができず、信頼性に乏しいという問題があった。すな
わち、ロボットは放射線環境等のように作業員が立入れ
ない場所で使用される場合が多いが、このような環境に
おいて転倒が生じてしまうと復旧又は回収のために極め
て困難な対策を強いられる。The original purpose of a walking device is to enable movement on stairs or the like where it is difficult to run on wheels, and to achieve this purpose, the walking device is equipped with two to several legs. However, even though walking devices are used under conditions where falls are likely to occur, such as when walking with one's legs on stairs, there is a problem that if one falls down, the walking device cannot get up on its own, making it unreliable. there were. In other words, robots are often used in areas where workers cannot enter, such as in radiation environments, but if a robot falls over in such an environment, extremely difficult measures will be required for recovery or recovery. .
D、 問題点を解決するための手段
本発明は上記従来の事情に鑑みてなされたものであり、
転倒に際しても自らで対処することができるロボットの
歩行装置を提供することを目的とする。D. Means for solving the problems The present invention has been made in view of the above-mentioned conventional circumstances,
The purpose of the present invention is to provide a walking device for a robot that can take care of itself even in the event of a fall.
上記目的を達成する本発明に係るロボットの歩行装置は
、先端に駆動輪を有した脚を、四ボット胴部の少なくと
も四隅に、長手方向の軸回りと長手方向tこ直角な軸回
りとの二軸口りに駆動回動可能に設けたことを特徴とす
る。A walking device for a robot according to the present invention that achieves the above object has legs having driving wheels at their tips attached to at least four corners of a four-bot body, around a longitudinal axis and around an axis perpendicular to the longitudinal direction t. It is characterized by being provided with a two-axis opening that can be driven and rotated.
E 作 用
本発明の歩行装置は、転倒した際には脚をその長手方向
に直角な軸回りに回動させてロボット胴部を押し上げる
ことにより起きあがる。また、脚をその長手方向の軸回
りに回動させて駆動輪の向きを設定することによりその
場回転等の自由な動作を行う。E Function When the walking device of the present invention falls down, it gets up by rotating the legs around an axis perpendicular to the longitudinal direction of the robot and pushing up the body of the robot. Furthermore, by rotating the legs around their longitudinal axes and setting the direction of the drive wheels, free movements such as rotation on the spot can be performed.
F、実施例
本発明に係るロボットの歩行装置を実施例に基づいて具
体的に説明する。F. Example The robot walking device according to the present invention will be specifically explained based on an example.
第1図は本発明の一実施例に係る歩行装置の正面図、第
2図はその側面図、第3図はその上方から見た平面図で
ある。FIG. 1 is a front view of a walking device according to an embodiment of the present invention, FIG. 2 is a side view thereof, and FIG. 3 is a plan view thereof as seen from above.
第1図〜第3図に示すように、本実施例の歩行装置は胴
部1と頭部2とを有する平面視略四角形状のロボットに
設けられている。この覧ボットは例えば頭部2内にテレ
ビカメラ等を搭載して移動型の監視ロボットとして用い
られるが、これに限らず種々な他の用途に供することも
できる。As shown in FIGS. 1 to 3, the walking device of this embodiment is provided on a robot that has a body section 1 and a head section 2 and has a substantially rectangular shape in plan view. This viewing bot is used, for example, as a mobile monitoring robot by mounting a television camera or the like in its head 2, but is not limited to this and can be used for various other purposes.
ロボット胴部1の四隅にはそれぞれ関節3゜4を介して
脚5が設けられており、これら4本のll115によっ
てロボットは支持されている。Legs 5 are provided at each of the four corners of the robot body 1 via joints 3.degree. 4, and the robot is supported by these four 115.
それぞれの関節3はギャードモータ等の駆動装置を内蔵
しており、この駆動装置の作動により関節4及び脚5を
鉛直方向に延びる脚5の長手方向の軸(Y−Y)回りに
901〜120゜程度回動させることができろ。また、
関節4もそれぞれギャードモータ等の駆動装置を内蔵し
ており、この駆動装置の作動により脚5を上記長手方向
に直角な軸(X−X)回りに360°回動させることが
できる。脚5はそれぞれギャードモータと送9ねじ等に
よって構成された伸縮装置を内蔵しており、この伸縮装
置の作動により先端部を基端部から出し入れして脚5全
体を伸縮させることができる。Each joint 3 has a built-in driving device such as a geared motor, and the operation of this driving device causes the joint 4 and the leg 5 to move 901 to 120 degrees around the longitudinal axis (Y-Y) of the leg 5 extending in the vertical direction. You should be able to rotate it to some degree. Also,
Each of the joints 4 also incorporates a driving device such as a geared motor, and the operation of this driving device allows the leg 5 to rotate 360 degrees around an axis (X-X) perpendicular to the longitudinal direction. Each of the legs 5 has a built-in extension/retraction device constituted by a geared motor, a feed screw, etc., and the operation of this extension/retraction device allows the distal end to be moved in and out from the base end, thereby allowing the entire leg 5 to extend and retract.
脚5の先端にはそれぞれ駆動輪6が設けられており、各
脚5に内蔵したギャードモータ等から成る駆動装置の作
動により各駆動輪6はそれぞれ駆動回転される。尚、図
中の8は彎ボットの四方に設けられたシンツクアブソー
バであり、これらシンツクアブソーバ8は用途に応じて
適宜取付けられて転倒時にロボットを保護する。A drive wheel 6 is provided at the tip of each leg 5, and each drive wheel 6 is driven and rotated by the operation of a drive device including a geared motor or the like built in each leg 5. Incidentally, reference numerals 8 in the figure are sink absorbers provided on all sides of the robot, and these sink absorbers 8 are attached as appropriate depending on the application to protect the robot in the event of a fall.
上記構成の歩行装置によれば、第3図〜第6図に示すよ
うな自由な動作を行うことができる。According to the walking device having the above configuration, it is possible to perform free movements as shown in FIGS. 3 to 6.
第3図に示すように駆動輪6を互いに平行に配置した状
態で各駆動輪6を同期回転させると、図中矢印3A又は
3Bで示すようにロボットを直進させる乙とができる。As shown in FIG. 3, when the drive wheels 6 are arranged parallel to each other and are rotated synchronously, the robot can move straight as shown by arrows 3A or 3B in the figure.
また、第4図に示すように関節3の作動により脚5と共
に各駆動輪6をY−Y軸回9に90’回動変位させると
、ロボットを矢印3A又は3Bに直角な方向(矢印4A
又は4B)へ直進させることができる。すなわち、ロボ
ットの向きを変えることなくその進行方向を90°変更
することができ、狭い直角油路を容易に移動することが
できる。Further, as shown in FIG. 4, when each drive wheel 6 along with the leg 5 is rotated 90' in the Y-Y axis rotation 9 by the operation of the joint 3, the robot is moved in a direction perpendicular to the arrow 3A or 3B (arrow 4A
Or you can go straight to 4B). That is, the direction of movement of the robot can be changed by 90 degrees without changing the direction of the robot, and the robot can easily move through narrow orthogonal oil passages.
また、第5図や第6図に示すように、関節3の作動によ
り脚5と共に各駆動輪6をY −Y軸回りに任意に回動
変位させると、ロボットを矢印5A又は5Bに示すよう
に曲線移動させたり或いは矢印6A又は6Bに示すよう
にその場回転させたりすることができる。尚、第3図に
示す状態において各駆動輪6を差動回転させることによ
ってもロボットを曲線移動させろことができるが、車輪
6の摩耗や動力の無駄が大きくなるためこのような使い
方は好ましくない。Furthermore, as shown in FIGS. 5 and 6, when the joints 3 are actuated to rotate the legs 5 and each drive wheel 6 arbitrarily around the Y-Y axis, the robot moves as shown by arrows 5A or 5B. It can be moved in a curve or rotated in place as shown by arrows 6A or 6B. Incidentally, in the state shown in FIG. 3, the robot can also be moved around a curve by differentially rotating each drive wheel 6, but such usage is not recommended because it increases wear on the wheels 6 and wastes power. .
また、上記構成の歩行装置によれば、第7図及び第8図
に示すように、転倒してしまった場合にも自分自身で起
きあがることができる。Further, according to the walking device having the above configuration, as shown in FIGS. 7 and 8, even if the user falls down, he or she can get up on his or her own.
第7図(a)に示すようにロボットが前方若しくは後方
に倒れた場合には、同図(b)〜(山に示すように下側
の2本の脚5を関節4の作動により軸x−x回りに36
0°回動させてロボットを起きあがらせることができる
。この動作に際して、上側の2本の脚5は関節3の作動
により軸Y−Y回りに90°回動されており、ロボット
を起きあがらせるときにこれら上側の脚5の駆動輪が回
動しないようにして効果的に突張り力を与えられるよう
にしである。When the robot falls forward or backward as shown in FIG. 7(a), the lower two legs 5 are moved around the axis x by the action of the joint 4 as shown in FIG. -36 around x
You can wake up the robot by rotating it 0 degrees. During this operation, the upper two legs 5 are rotated 90 degrees around the axis Y-Y by the operation of the joint 3, and the drive wheels of these upper legs 5 do not rotate when the robot is raised up. In this way, tension force can be applied effectively.
尚、第7図にはショックアブソーバ8を取付けていない
状態を示してあり、このようにショックアブソーバ8の
有無は本発明の要旨に影響するものではな(、他にロボ
ット胴部1に緩衝材を取付けることも自由である。Note that FIG. 7 shows a state in which the shock absorber 8 is not attached, and the presence or absence of the shock absorber 8 does not affect the gist of the present invention. You are also free to install.
また、第8図(a)に示すようにロボットが側方に倒れ
た場合には、同図(b)〜(d)に示すように下側の2
本の脚5を関節3の作動により軸Y−Y回りに90”回
動させた後、これら脚5を関節4の作動により軸x−x
回りに3606回動させてロボットを起きあがらせるこ
とができる。In addition, if the robot falls to the side as shown in Figure 8(a), the lower two
After the legs 5 of the book are rotated 90'' around the axis Y-Y by the actuation of the joint 3, these legs 5 are rotated about the axis x-x by the actuation of the joint 4.
You can wake up the robot by rotating it 3606 times.
尚、本発明は上記実施例に限定されるものではなく、糎
々の変更を加え得るものである。It should be noted that the present invention is not limited to the above-mentioned embodiments, but may be modified accordingly.
例えば、脚が4本す上あるロボットに適用することもで
き、また、関節3,4や駆動輪6の駆動装置を公知の技
術により変更する乙ともできる。For example, the present invention can be applied to a robot having four legs, or the joints 3 and 4 and the driving device of the drive wheel 6 can be changed using known techniques.
G、 発明の効果
本発明に係るロボットの歩行装置によれば、転倒に対し
ても自ら起きあがる機能を存しているため、特殊環境に
おけるロボット使用の信頼性を大幅に向上することがで
きる。更に、駆動輪の向きを糎々に変えて自由な動作が
できるため、狭い通路においてもロボットを容易に移動
させることができる。G. Effects of the Invention The robot walking device according to the present invention has a function of standing up by itself even if it falls down, so the reliability of using the robot in special environments can be greatly improved. Furthermore, since the direction of the drive wheels can be changed gradually to allow free movement, the robot can be easily moved even in narrow passages.
第1図は本発明の一実施例に係る歩行装置の正面図、第
2図はその側面図、第3図はその平面図、第4図〜第6
図はそれぞれ異なる動作状態における平面図、第7図及
び第8図はそれぞれ転倒時の作用説明図である。
図面中、
1はロボット胴部、
5は脚、
6は駆動輪である。
6駆動輪
第 1 図歩行装置の正面図 第 2図歩行装置
の側面図第 4 図歩行装置の平面図
第 6 図歩行装置の平面図FIG. 1 is a front view of a walking device according to an embodiment of the present invention, FIG. 2 is a side view thereof, FIG. 3 is a plan view thereof, and FIGS.
The figures are plan views in different operating states, and FIGS. 7 and 8 are explanatory diagrams of the action when the device falls over. In the drawings, 1 is a robot body, 5 is a leg, and 6 is a drive wheel. 6 Drive wheels Figure 1 Front view of the walking device Figure 2 Side view of the walking device Figure 4 Plan view of the walking device Figure 6 Plan view of the walking device
Claims (1)
方向の軸回りと該長手方向に直角な軸回りとの二軸回り
に駆動回動可能に設け、該脚の先端にそれぞれ駆動輪を
設けたことを特徴とするロボットの歩行装置。Legs are provided in at least four corners of the robot body so as to be rotatable around two axes, one in the longitudinal direction and one perpendicular to the longitudinal direction, and drive wheels are provided at the tips of the legs, respectively. A robot walking device featuring:
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62023654A JPS63191582A (en) | 1987-02-05 | 1987-02-05 | Walking device for robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62023654A JPS63191582A (en) | 1987-02-05 | 1987-02-05 | Walking device for robot |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS63191582A true JPS63191582A (en) | 1988-08-09 |
Family
ID=12116513
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP62023654A Pending JPS63191582A (en) | 1987-02-05 | 1987-02-05 | Walking device for robot |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS63191582A (en) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6330494B1 (en) | 1998-06-09 | 2001-12-11 | Sony Corporation | Robot and method of its attitude control |
US6505097B1 (en) * | 1999-01-13 | 2003-01-07 | Sony Corporation | Arithmetic processing device, inter-object communication method, and robot |
JP2007125638A (en) * | 2005-11-02 | 2007-05-24 | Kawada Kogyo Kk | Attachment for walking robot and walking robot |
JP4518229B2 (en) * | 1999-05-10 | 2010-08-04 | ソニー株式会社 | Robot device |
CN102285388A (en) * | 2010-06-17 | 2011-12-21 | 深圳市先进智能技术研究所 | walking robot |
CN106457568A (en) * | 2014-07-24 | 2017-02-22 | 谷歌公司 | Systems and methods for robotic self-right |
-
1987
- 1987-02-05 JP JP62023654A patent/JPS63191582A/en active Pending
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6330494B1 (en) | 1998-06-09 | 2001-12-11 | Sony Corporation | Robot and method of its attitude control |
US6567724B2 (en) | 1998-06-09 | 2003-05-20 | Sony Corporation | Robot apparatus and method of controlling the posture thereof |
US6505097B1 (en) * | 1999-01-13 | 2003-01-07 | Sony Corporation | Arithmetic processing device, inter-object communication method, and robot |
JP4518229B2 (en) * | 1999-05-10 | 2010-08-04 | ソニー株式会社 | Robot device |
JP2007125638A (en) * | 2005-11-02 | 2007-05-24 | Kawada Kogyo Kk | Attachment for walking robot and walking robot |
CN102285388A (en) * | 2010-06-17 | 2011-12-21 | 深圳市先进智能技术研究所 | walking robot |
CN106457568A (en) * | 2014-07-24 | 2017-02-22 | 谷歌公司 | Systems and methods for robotic self-right |
JP2017521267A (en) * | 2014-07-24 | 2017-08-03 | グーグル インコーポレイテッド | Robot waking up system and method |
EP3172015A4 (en) * | 2014-07-24 | 2018-04-04 | Google LLC | Systems and methods for robotic self-right |
EP3835004A1 (en) * | 2014-07-24 | 2021-06-16 | Boston Dynamics, Inc. | Systems and methods for robotic self-right |
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