KR20110109936A - Legged mobile robot and swing structure - Google Patents

Abstract

In the legged mobile robot, there is provided a legged mobile robot that can properly cover the ankle joint without interfering with the rod.
The legged mobile robot 1 is fixed to the lower thighs 52R and 52L, and the lower thigh covers 52aR and 52aL covering the lower thighs 52R and 52L, and located outside the rod 64, and the foot 53R and 53L. To the lower cover 82 and the swinging members 43cR and 43cL swinging together with the foot portions 53R and 53L through the arm 72 and freely swinging in the up and down directions provided at the lower thighs 52R and 52L. Along the extending guide 71, it is provided with an upper cover 81 which is free to move between the lower cover 52aR, 52aL and the lower cover 82.

Description

LEGGED MOBILE ROBOT AND SWING STRUCTURE}

The present invention relates to a legged mobile robot, in particular an outer structure covering the ankle joint portion, and a rocking structure.

Conventionally, the lower leg is connected to the lower leg via the ankle joint, and the lower leg is connected to the lower leg via the ankle joint, and the lower end is connected to the foot and the rod extends toward the lower leg by retreating the foot to the lower leg. In a legged mobile robot having a leg having an oscillating mechanism for oscillating, it is known to provide a partial spherical cover as an exterior structure covering a part of the ankle joint of the leg (for example, refer to Patent Document 1). ).

The ankle joint of patent document 1 is comprised with the ankle pitching joint which makes a foot rocking freely in a pitching direction with respect to a lower leg, and the ankle rolling joint which freely swings in a rolling direction. The lower leg is provided with an electric motor, and the driving force of the electric motor is transmitted to the reducer provided at the ankle pitching joint portion of the ankle joint through the belt, so that the foot swings in the pitching direction with respect to the lower leg.

The lower leg has a lower leg cover that covers its internal structure, and both ends of the electric motor, the reducer, and the axial direction of the ankle pitching joint are covered and covered by the lower leg cover. The axial center portion of the ankle pitching joint is covered with a partial spherical cover attached to the upper side of the foot. Ankle rolling joint is arranged in this cover.

As described above, in Patent Document 1, the ankle joint is covered with the lower leg cover and the partial spherical cover, thereby maintaining the appearance of the ankle joint part well without exposing the internal structure of the ankle joint.

Here, in the ankle joint structure of patent document 1, when attaching a speed reducer to a pitching direction swing shaft, when the leg body is moved, the mass on the ground side is large, and a large inertia force is generated in the leg body. Therefore, the electric motor for driving the leg body needs to use a large capacity, and there is a problem in terms of miniaturization and reduction of power consumption.

In order to solve this problem, it is also known that the reducer is disposed above the ankle joint, the reducer and the foot are connected by a rod, the rod is moved up and down according to the rotation of the reducer, and the foot is swinged in the pitching direction with respect to the lower leg. There is (for example, patent document 2). According to this, the mass on the ground side of the leg can be made small, and the electric motor which drives the leg can be reduced in size, and the power consumption can be reduced.

Patent Document 1: Japanese Patent Application Laid-Open No. 2002-210682 Patent Document 2: Japanese Patent No. 4255663

However, in order to rock the foot with the ankle joint, as disclosed in Patent Document 2, when a mechanism is used to swing the foot in the pitching direction by advancing the rod, the rod connected to the foot extends from the foot to the lower leg side. . For this reason, in the exterior structure which consists of a conventional spherical cover, a rod and a spherical exterior will interfere.

SUMMARY OF THE INVENTION An object of the present invention is to provide an exterior structure capable of appropriately covering ankle joints without limiting its movable range while preventing interference with the rods even when using a swinging mechanism that swings the foot by advancing the rods. It is done.

In addition, the present invention, even in the joints other than the ankle joint, even if a rocking mechanism for swinging the second member relative to the first member by retracting the rod, while preventing the interference with the rod, the joint range of the movable range It is an object to provide an exterior structure which can be appropriately covered without limitation.

[1] In order to achieve the above object, the present invention, the lower leg is connected to the lower end of the femur through the knee joint, the lower leg is connected via the ankle joint, the lower end is connected to the foot and the lower leg A leg type mobile robot having a leg having a rocking mechanism for swinging the foot against the lower leg through the ankle joint by advancing and extending the side, the lower leg being fixed to the lower leg and covering the lower leg; A lower cover which is located on the outside of the rod and connected to the foot, and is freely swingable through the arm to the swinging member of the ankle joint together with the foot, and along the guide extending in the vertical direction provided in the lower leg, And an upper cover free to move between the lower cover and the lower cover. It shall be.

According to this configuration, the upper cover moves between the lower cover and the lower cover while being connected to the rocking member that swings together with the foot and restricted in movement by the guide provided in the lower leg. Therefore, even if the foot swings with respect to the lower leg, the upper cover can cover the gap between the lower cover fixed to the lower leg and the lower cover connected to the foot. Therefore, the rod does not interfere with the cover, so that the ankle joint can be appropriately covered, and the appearance of the ankle joint portion can be maintained well.

[2] In the present invention, the lower cover is pivotally connected to the foot, and is pressed outward by a pressing means, the arm is fixed to the swinging member, and the upper cover is swingably connected to the arm. In addition, the upper end of the lower cover is preferably configured to slide freely along the inner surface of the lower end of the upper cover.

In this case, the present invention, the lower leg is connected to the lower leg via the knee joint, the lower leg is connected to the foot through the ankle joint, and the lower end is connected to the foot by extending the rod extending to the lower thigh side A legged mobile robot having a leg having a swinging mechanism for swinging the foot against the lower leg, the leg type mobile robot comprising: an outer structure covering an ankle joint portion of the leg, the lower cover being positioned outside the rod and freely swinging the foot; And an urging means for urging the lower cover to the outside, an arm fixed to the rocking member that swings in the pitching direction of the ankle joint, and a guide that freely swings to the arm and extends in an up and down direction provided in the lower thigh. A top cover movable to the upper end of the lower cover in the lower end of the upper cover According to it characterized in that the free sliding configuration.

According to this configuration, the upper cover is pushed and pulled by the arm along the rocking of the foot to move up and down along the guide. In addition, since the lower cover is pressed outward by the pressing means and the upper end portion is pushed to the inner surface of the lower end of the upper cover, the change in the angle with respect to the lower thigh can be suppressed regardless of the swing of the foot. Therefore, even if the foot swings with respect to the lower leg, the ankle joint can be appropriately covered without restricting the movable range of the ankle joint, and the appearance of the ankle joint portion can be maintained satisfactorily.

[3] In the present invention, it is preferable that the lower cover is fixed to the foot, the arm is swingably connected to the swinging member, and the upper cover is connected to the arm.

According to such a structure, an ankle joint can be appropriately covered by a simple structure, and the appearance of an ankle joint part can be kept favorable.

[4] In the present invention, it is preferable to connect the rod from the front side in the pitching direction rather than the portion connected to the ankle joint of the foot. It is also conceivable to connect the rod from the rear side of the foot, but in the case where the leg is bent at the knee joint, the upper end of the rod may come in contact with the thigh and the movable range of the knee joint may be limited.

As in the present invention, when the rod is connected from the front side of the foot, the rod and the thigh do not come in contact, and thus the movement range of the knee joint can be prevented from being limited.

[5] In the present invention, the hemispherical first cover is fixed to a portion opposite to the side to which the rod is connected to the foot, and is disposed outside or inside the first cover, and further includes a lower end of the lower thigh. And a hemispherical second cover that is freely swingable in the rolling direction, and a hemispherical intermediate cover that is disposed between the first cover and the second cover and is installed on the first cover so as to swing freely in the pitching direction. In addition, it is also preferable that a locking portion hooked to the lower end of the second cover is provided at the upper end of the intermediate cover.

According to such a structure, the 1st cover, the 2nd cover, and the intermediate cover slide in a bellows shape, and it can cover appropriately the part of the ankle joint on the opposite side to the side where a rod is arrange | positioned.

[6] The present invention also relates to a first member through a joint by retracting a rod that is connected to a lower end of the first member through a joint, the lower end of which is connected to the second member and extends toward the first member. A swinging structure having a swinging mechanism for swinging the member relative to the second member, the first member cover being fixed to the first member and covering the first member, and positioned outside the rod, to the second member. Between the first member and the lower cover, the lower cover is connected to the swinging member swinging together with the second member and is freely swinged through an arm, and along a guide extending in an up and down direction provided in the first member. It characterized in that it comprises a top cover free to move.

According to this configuration, the upper cover moves between the first member cover and the lower cover while being connected to the rocking member that swings together with the second member and restricted by the guide provided on the first member. Therefore, even if the second member swings relative to the first member, the gap between the first member cover fixed to the first member and the lower cover connected to the second member can be covered by the upper cover. Therefore, the rod can appropriately cover the joint without interfering with the cover, so that the appearance of the joint portion can be maintained well.

In addition, the rocking structure of the present invention is not limited to that applied to the ankle joint of the legged mobile robot as described above, but can also be applied to joints of robots such as wrist joints, and also joints provided in other than the robot. .

BRIEF DESCRIPTION OF THE DRAWINGS The perspective view which shows schematic structure of the leg type mobile robot using the ankle joint exterior structure of embodiment of this invention.
It is a front view which shows typically the internal mechanism of the leg of the legged mobile robot of embodiment.
It is a side view which shows typically the internal structure of the leg of the legged mobile robot of embodiment.
4 is a sectional view showing an exterior structure of the embodiment;
5 is a cross-sectional view showing a state in which the foot portion of the embodiment is swung forward in the pitching direction.
FIG. 6 is a cross-sectional view showing a state in which the foot portion of the embodiment is swung backward in the pitching direction. FIG.
The front view which shows the state which rocked the foot part of embodiment in the rolling direction.
8 is a cross-sectional view illustrating an exterior structure of another embodiment.
9 is a cross-sectional view showing a state in which the foot portion of another embodiment is swung forward in the pitching direction.
10 is a cross-sectional view showing a state in which the foot portion of another embodiment is swung backward in the pitching direction.

Embodiment of this invention is demonstrated using the legged mobile robot 1 (henceforth only the robot 1 hereafter) which shows schematic structure in FIG. The robot 1 is provided with an upper body 2 and a pair of left and right legs 3R and 3L provided extending from the upper body 2 downward. The upper body 2 is supported above the bottom by legs 3R and 3L in contact with the floor.

Legs 3R and 3L have thighs 51R and 51L connected to the upper end of the upper body 2 through the hip joints 41R and 41L, and knee joints 42R and 42L at the lower ends of the thighs 51R and 51L. Lower legs 52R and 52L having upper ends connected to each other, and lower legs 52R and 52L having lower feet 53R and 53L connected through the ankle joints 43R and 43L.

The hip joints 41R and 41L comprise yaw joints 41aR and 41aL, crotch rolling joints 41bR and 41bL, and crotch pitching joints 41cR and 41cL, and have three degrees of freedom. The yaw joints 41aR and 41aL are rotatably connected to the crotch rolling joints 41bR and 41bL in the yawing direction (the rotational direction, the direction rotating about the Z axis) with respect to the upper body 2.

The crotch rolling joints 41bR and 41bL are swingably connected to the crotch pitching joints 41cR and 41cL in the rolling direction (left and right directions, directions rotating about the X axis) with respect to the yawing joints 41aR and 41aL. The crotch pitching joints 41cR and 41cL are swingably connected to the thighs 51R and 51L in the pitching direction (front and rear, the direction of rotation about the Y axis) with respect to the crotch rolling joints 41bR and 41bL.

The knee joints 42R and 42L have one degree of freedom, and the lower thighs 52R and 52L are freely swinged in the pitching direction with respect to the thighs 51R and 51L.

Ankle joints 43R and 43L are composed of ankle pitching joints 43aR and 43aL and ankle rolling joints 43bR and 43bL and have two degrees of freedom. The ankle pitching joints 43aR and 43aL are swingably connected to the ankle rolling joints 43bR and 43bL in the pitching direction with respect to the lower thighs 52R and 52L. The ankle rolling joints 43bR and 43bL are swingably connected to the foot portions 53R and 53L in the rolling direction with respect to the ankle pitching joints 43aR and 43aL.

In addition, in description of this embodiment, the code | symbol R and L mean that it respond | corresponds to a right leg body and a left leg body, respectively. In addition, X-axis, Y-axis, and Z-axis mean three coordinate axes of a support leg coordinate system. The X-axis direction and the Y-axis direction of this support leg coordinate system are two-axis directions orthogonal to each other on a horizontal plane, the X-axis direction is the front-rear direction of the robot 1 (rolling axis direction), and the Y-axis direction is the robot 1's direction. It corresponds to a left-right direction (pitching axis direction). In addition, the Z-axis direction is a vertical direction (gravity direction), and corresponds to the up-down direction (yaw-axis direction) of the robot 1.

Each joint 41R-43R, 41L-43L is rotationally driven by an actuator (electric motor). The robot 1 drives the joints 41R to 43R and 41L to 43L appropriately, and moves the legs 3R and 3L to a desired motion, thereby moving a three-dimensional space such as a walking motion or a traveling motion. have.

The control unit 21 which controls the operation of the robot 1 is stored in the upper body 2. In FIG. 1, the control unit 21 is described outside of the upper body 2 for convenience.

6-axis force sensors 31R, 31L are provided in leg 3R, 3L between the ankle joint 43R, 43L and the foot 53R, 53L. The six-axis force sensors 31R and 31L detect the force component in the three-axis direction of the X-axis, the Y-axis, and the Z-axis and the moment component around the three-axis of the normal reaction force transmitted from the floor to the foot portions 53R, 53L. The signal is output to the control unit 21.

The upper body 2 is also equipped with an inclination sensor 22 for measuring an inclination angle (an inclination angle in the rolling direction and a pitching direction) of the upper body 2 with respect to the vertical direction (gravity direction) and its changing speed (angular velocity). have. More specifically, the inclination sensor 22 is composed of a rate sensor (angular velocity sensor) such as an acceleration sensor and a gyro sensor, and outputs detection signals of these sensors to the control unit 21.

In addition, an encoder (rotary encoder) for detecting the rotation angle of each joint is provided in the electric motor for rotating the joints 41R to 43R and 41L to 43L, and the detection signal of this encoder is supplied to the control unit 21. Is output to The control unit 21 controls the electric motor which drives each joint 41R-43R, 41L-43L based on the input detection signal.

As shown in FIG.2 and FIG.3, each left and right pair of electric motors 61Ra, 61Rb, 61La, 61Lb for ankle joint 43R, 43L are provided in each thigh part 51R, 51L. The drive pulley 62a is provided in the output shaft of the electric motors 61Ra, 61Rb, 61La, 61Lb, and the driving force of the drive pulley 62a is driven coaxially with the knee joints 42R, 42L via the belt 62b. It is transmitted to the (moving) pulley 62c.

A crank arm 63 extending forward is coupled to the driven (moving) pulley 62c. One end of the rod 64 is swingably connected to the front end of the crank arm 63 via the ball joint 64a. The other end of the rod 64 is freely swinged in the pitching direction and the rolling direction via a joint 64b having two degrees of freedom in the portion ahead of the portion where the ankle joints 43R, 43L of the foot 53R, 53L are connected. .

Thereby, by driving the electric motors 61Ra, 61Rb, 61La, 61Lb, the rod 64 is raised so that the feet 53R, 53L are supported by the ankle joints 43R, 43L to the lower thighs 52R, 52L. Can be shaken.

In addition, the lower end portion of the rod 64 is connected to the front side than the portion connected to the ankle joints 43R and 43L of the foot portions 53R and 53L, and the upper end portion of the rod 64 extends forward. It is connected to the tip. For this reason, when the lower thighs 52R and 52L swing to the pitching direction rear side with respect to the thighs 51R and 51L at the knee joints 42R and 42L, the rod 64 and the thighs 51R and 51L do not contact each other. The movable range of the knee joints 42R and 42L can be prevented from being limited.

As shown in FIG. 4, the guide 71 extended in an up-down direction is provided in the front side of lower leg part 52R, 52L. The guide 71 is provided with the upper cover 81 freely swingable through the roller 81a, and move freely (up and down) along the guide 71 in the vertical direction.

The ankle pitching joints 43aR and 43aL of the ankle joints 43R and 43L extend toward the approximately + -shaped swing members 43cR and 43cL swinging in the pitching direction with respect to the lower thighs 52R and 52L. An arm 72 for the upper cover 81 is provided. A fixing member 81b for the upper cover 81 is swingably connected to the tip end of the arm 72 in the pitching direction.

This fixing member 81b is formed in substantially Y shape, and is fixed to the inside of the upper cover 81 by the screw 73 in the upper end part 81c extended to both upper, left, right sides. The upper cover 81 of the embodiment is freely coupled to the arm 72 via the fixing member 81b. At the lower end of the upper cover 81, a curved portion 81d is formed so as to protrude forward. Further, the lower cover 52aR (52aL) is fixed to the lower legs 52R and 52L, and the lower cover 52aR (52aL) covers the front side of the rod 64. As shown in FIG.

The foot cover 53R, 53L is located in front of the rod 64, and a substantially semispherical lower cover 82 is freely swinged in the pitching direction. The lower cover 82 is pressurized to the outside in the pitching direction with respect to the feet 53R, 53L by the torsion spring 74 (pressing means). The upper end of the lower cover 82 abuts on the inner surface of the curved portion 81d of the upper cover 81 and is free to slide the inner surface of the curved portion 81d.

Thereby, the front side of the rod 64 and the ankle joint 43R, 43L is the lower cover 52aR (52aL), the lower cover 82, and the lower cover 52aR (52aL), and the lower cover 82. Covered by an upper cover 81 disposed therebetween.

The hemispherical 1st cover 91 is formed in foot part 53R, 53L in the part (side) and the side (front) opposite to which the rod 64 is connected. Moreover, the hemispherical 2nd cover 92 arrange | positioned inside the 1st cover 91 is provided in the lower end part of lower leg part 52R, 52L freely in the rolling direction. The first cover 91 is located between the second cover 92 and a hemispherical intermediate cover 93 is freely swinged in the pitching direction.

A locking portion 93a protruding inward is provided at the upper end of the intermediate cover 93. The locking portion 93a is freely locked to the protruding portion 92a that protrudes outward, which is provided at the lower end of the second cover 92.

As a result, the rear sides of the ankle joints 43R and 43L are the first cover 91, the second cover 92, and the intermediate cover 93 disposed between the first cover 91 and the second cover 92. Covered by).

The leg type mobile robot 1 of embodiment drives electric motor 61Ra, 61Rb (61La, 61Lb), and pulls a pair of rod 64 upwards, as shown in FIG. The foot part 53R (53L) can be rocked forward with respect to the lower leg part 52R (52L).

At this time, the upper cover 81 is pressed upwardly through the fixing member 81b to the arm 72 which swings forward with the foot portion 53R (53L) in the pitching direction and moves upward along the guide 71. Is moved, and the upper end portion thereof is received in the lower cover 52aR (52aL) of the lower leg 52R (52L).

The lower cover 82 is pushed upward according to the swing of the foot 53R (53L), and moves upward while sliding the inner surface of the curved portion 81d of the upper cover 81 upward. At this time, the lower cover 82 is pressed to the pitching direction front side by the torsion spring 74 (pressing means), and the upper end part is maintained in contact with the inner surface of the curved part 81d of the upper cover 81.

For this reason, the angle of the pitching direction with respect to the lower leg 52R (52L) hardly changes, regardless of the fluctuation of the pitching direction of the foot part 53R (53L) of the lower cover 82.

At this time, the intermediate cover 93 swings downward together with the first cover 91 by its own weight, and swings downward of the intermediate cover 93 at the point where the engaging portion 93a is engaged with the protrusion 92a. This is blocked and covers the gap between the first cover 91 and the second cover 92. In addition, when the intermediate | middle cover 93 cannot be rocked downward by self weight properly, pressurization means, such as a torsion spring which presses the intermediate cover 93 downward, or the intermediate cover 93 is used. The lower end of the first cover 91 may be provided with a locking portion that is engaged with the upper end.

On the contrary, when the pair of rods 64 are pushed downward, the foot portion 53R (53L) can swing back to the pitching direction with respect to the lower leg portion 52R (52L), as shown in FIG. At this time, the upper cover 81 is pulled by the arm 72 which swings backward in the pitching direction together with the foot 53R (53L), and moves downward along the guide 71. The lower cover 82 is pulled by the foot 53R (53L) and moves downward. Also in this case, the angle of the pitching direction with respect to the lower leg 52R (52L) of the lower cover 82 hardly changes.

At this time, the intermediate cover 93 is pushed up so that the lower end thereof comes in contact with the foot portion 53R (53L) and slides the outer surface of the second cover 92 in accordance with the swing of the foot portion 53R (53L). .

Moreover, in one pair of rods 64, when one is pulled upward and the other is pressed downward, the foot portions 53R and 53L can be rocked in the rolling direction. With reference to FIGS. 2 and 7, the leg 3R on the right will be described in detail as an example. The electric motor 61Ra on the inner side (left) is driven to press the inner rod 64 downward, and the outer side (right side). When the electric rod 61Rb of FIG. 7 is driven to pull the outer rod 64 upward, as shown in FIG. 7 (a), the foot 53R moves outward in the rolling direction from the state of FIG. 7 (b). Abduction.

On the contrary, when the inner rod 64 is pulled upward and the outer rod 64 is pushed downward, as shown in FIG. 7C, the foot 53R is in the rolling direction from the state of FIG. 7B. It is torn inward.

In the embodiment, the electric motor 61Ra, 61Rb, 61La, 61Lb, the driving pulley 62a, the belt 62b, the driven (moving) pulley 62c, the crank arm 63 and the rod 64 are seen. The rocking mechanism of the invention is configured.

According to this embodiment, although the upper cover 81 and the lower cover 82 move to an up-down direction, pitching with respect to lower leg part 52R, 52L irrespective of the fluctuation | variation in the pitching direction of the foot part 53R, 53L. It can be maintained with little change in the angle of the direction.

Thus, as shown in Figs. 5 and 6, a legged mobile robot capable of swinging the foot portions 53R and 53L in a wide movable range of about 75 degrees in total, about 60 degrees to the front side in the pitching direction and about 15 degrees to the rear side in the pitching direction. In (1), the upper cover 81, the lower cover 82 and the rod 64 can be prevented from restricting the movable range of the ankle joint, so that the upper cover 81 and the lower cover 82 The two covers of the can properly cover the front of the pair of rods 64 and the ankle joints 43R, 43L.

In addition, when the portions of the ankle joints 43R and 43L are seen from the front side, only two upper covers 81 and two lower covers 82 are visible, so that the external appearance can be made clean, improving designability, and Mars can be increased.

In addition, since the lower cover 82 is formed in a substantially hemispherical shape, as shown in FIG. 7, even when the foot portions 53R and 53L swing in the rolling direction, the two covers 81 and 82 are used. The front of the pair of rods 64 and the ankle joints 43R, 43L can be covered properly.

On the rear side where the rod 64 is not arranged, the ankle joints 43R and 43L are formed by sliding three covers of the first cover 91, the second cover 92, and the intermediate cover 93 in a bellows shape. The back of the can be properly covered.

In addition, in this embodiment, although the rod 64 is connected to the front of foot 53R, 53L, even if the rod 64 is connected to the back of foot 53R, 53L, this invention is similarly applied. can do. In this case, the upper cover 81 and the lower cover 82 are disposed on the rear side of the ankle joints 43R and 43L, and the first cover 91, the second cover 92 and the intermediate cover 93 are ankles. What is necessary is just to arrange | position in front of joint 43R, 43L.

Next, another embodiment of the present invention will be described. In the present embodiment, the rod 65 is connected to the rear of the foot portions 53R and 53L.

As shown in FIG. 8, the guide 75 extended in the up-down direction is provided in the back side of lower leg part 52R, 52L. The guide 75 is provided with the upper cover 85 freely swingable (rolling up and down freely) along the guide 75 through the rollers 85a.

In the ankle pitching joints 43aR and 43aL of the ankle joints 43R and 43L, the upper end of the approximately + -shaped swinging members 43cR and 43cL swinging in the pitching direction with respect to the lower thighs 52R and 52L is upward. The lower end of the substantially L-shaped arm 76 for the upper cover 85 extending toward is swingably connected in the pitching direction. And the connection part 85b formed in the back side of the substantially middle part of the up-down direction of the upper cover 85 is connected to the front-end | tip of the arm 76 freely in the rolling direction. In this way, the upper cover 85 is swingably connected to the swinging members 43cR and 43cL in the pitching direction and the rolling direction via the arm 76.

The foot cover 53R, 53L is located in the back of the rod 65, and the lower cover 86 of a substantially hemispherical shape is formed. Further, the lower tread cover 52aR (52aL) is fixed to the lower thigh portions 52R and 52L, and the lower thigh cover 52aR (52aL) covers the rear side of the rod 65.

As a result, the rear side of the rod 65 and the ankle joint 43R, 43L is provided between the lower leg cover 52aR (52aL), the lower cover 86, and the lower leg cover 52aR (52aL) and the lower cover 86. Covered by an upper cover 85 disposed in the upper cover 85.

The hemispherical 1st cover 95 is formed in foot part 53R, 53L in the part (side) and the side (front) opposite to which the rod 65 is connected. Moreover, the hemispherical 2nd cover 96 arrange | positioned inside the 1st cover 95 is provided in the lower end part of lower leg part 52R, 52L freely in the rolling direction. The first cover 95 is positioned between the second cover 96 and a hemispherical intermediate cover 97 is freely swinged in the pitching direction.

The upper end part of the intermediate cover 97 is provided with a locking part 97a protruding inward. The locking portion 97a is freely locked to the protrusion 96a which protrudes outward, which is provided at the lower end of the second cover 96.

Thereby, the front side of the ankle joint 43R, 43L is the intermediate cover 97 arrange | positioned between the 1st cover 95, the 2nd cover 96, and the 1st cover 95 and the 2nd cover 96. As shown in FIG. Covered by).

The leg type mobile robot 1 of embodiment drives electric motor 61Ra, 61Rb (61La, 61Lb), and presses a pair of rod 65 below, and as shown in FIG. 9, a foot part 53R (53L) can be rocked forward with respect to the lower leg 52R (52L).

At this time, the lower cover 86 swings downward in accordance with the swing of the foot 53R (53L), and a gap is generated between the lower cover 86 and the lower thigh cover 52aR (52aL). However, the upper cover 85 is pressed through the arm 76 to the swinging members 43cR and 43cL swinging downward in the pitching direction together with the foot 53R (53L), so as to follow the guide 75 downward. Go to. As a result, the upper cover 85 covers the gap generated between the lower cover 86 and the lower cover 52aR (52aL).

At this time, the intermediate cover 97 is pushed up so that the lower end thereof comes in contact with the foot 53R (53L) and slides the outer surface of the second cover 96 in accordance with the swing of the foot 53R (53L). .

On the contrary, when the pair of rods 65 are pulled upward, the foot portions 53R (53L) can swing back in the pitching direction with respect to the lower legs 52R (52L), as shown in FIG.

At this time, the lower cover 86 swings upward according to the swing of the foot 53R (53L), and a gap does not occur between the lower cover 52aR (52aL). The upper cover 85 is pressed upward through the arm 76 swinging upward in the pitching direction together with the foot 53R (53L), and moves upward along the guide 75. As a result, the upper cover 85 is accommodated between the lower cover 86 and the lower cover 52aR (52aL).

At this time, the intermediate cover 97 swings downward together with the first cover 95 due to its own weight, but is moved downward from the intermediate cover 97 at the point where the engaging portion 97a is engaged with the protrusion 96a. The fluctuation is prevented and covers the gap between the first cover 95 and the second cover 96.

According to this embodiment, although the upper cover 85 moves to an up-down direction, it does not change the angle of the pitching direction with respect to the lower leg part 52R, 52L almost regardless of the fluctuation | variation in the pitching direction of the foot part 53R, 53L. It can be maintained without.

Accordingly, as shown in FIGS. 9 and 10, in the legged mobile robot 1 capable of swinging the foot portions 53R and 53L in a wide movable range, the upper cover 85 and the lower cover 86 Interfering with the rod 65, it is possible to prevent the movable range of the ankle joint from being limited, so that the two covers of the upper cover 85 and the lower cover 86, a pair of rod 65 and the ankle joint 43R, 43L) can be covered properly.

In addition, when the portions of the ankle joints 43R and 43L are seen from the rear side, since only two of the upper cover 85 and the lower cover 86 are seen, the appearance can be made clean, and the designability is improved, Affinity can be improved.

In addition, since the lower cover 86 is formed in a substantially hemispherical shape, even when the foot portions 53R and 53L swing in the rolling direction, the pair of rods 65 and the ankle are provided by the two covers 85 and 86. The rear of the joints 43R and 43L can be covered as appropriate.

On the front side where the rod 65 is not arranged, the ankle joints 43R and 43L are formed by sliding the three covers of the first cover 95, the second cover 96, and the intermediate cover 97 in a bellows shape. The back of the can be properly covered.

In addition, in this embodiment, although the rod 65 is connected to the back of foot 53R, 53L, even if the rod 65 is connected to the front of foot 53R, 53L, this invention is similarly applied. can do. In this case, the upper cover 85 and the lower cover 86 are disposed on the rear side of the ankle joints 43R and 43L, and the first cover 95, the second cover 96, and the intermediate cover 97 are ankles. What is necessary is just to arrange | position to the back side of joint 43R, 43L.

In addition, the structure of each joint and arrangement | positioning of a joint are not limited to each embodiment. For example, the ankle joint 43R (43L) may not rock the foot 53R, 53L in the rolling direction.

In addition, the present invention, the second member is connected to the lower end of the first member through the joint, the lower end is connected to the second member to retract the rod extending to the first member side through the joint to the first member to the second member A rocking structure having a rocking mechanism for rocking relative to the rocker, the first member cover being fixed to the first member and covering the first member, the lower cover positioned outside the rod and connected to the second member, and the second member. What is necessary is just to provide the upper cover which is freely connected to the rocking member to rock via a arm, and is free to move between a 1st member and the said lower cover along the guide extended in the up-down direction provided in the 1st member.

In addition, the swinging structure of the present invention is not limited to that applied to the ankle joint of the legged mobile robot as described above, but can also be applied to joints of robots such as wrist joints, and joints provided by other than the robot.

1 legged mobile robot (swing structure)
2 upper body
21 control unit
22 tilt sensor
3R, 3L leg
31R, 31L 6-axis force sensors
41R, 41L Hip Joint
42R, 42L Knee Joint
43R, 43L Ankle Joint (Joint)
43aR, 43aL Ankle Pitching Joints
43bR, 43bL Ankle Rolling Joints
43cR, 43cL rocking members
51R, 51L Thigh
52R, 52L lower leg (first member)
52aR, 52aL Lower Cover (First Member Cover)
53R, 53L foot (second member)
61Ra, 61Rb, 61La, 61Lb Electric Motor
62a driven pulley
62b belt
62c driven pulley
63 crank arm
64, 65 load
64a, 65a ball joint
64b, 65b joint
71, 75 guide
72, 76 cancer
73 screws
74 torsion springs (pressurizing means)
81, 85 top cover
81a, 85a roller
81b fixing member
81c top
81d bend
82, 86 lower cover
91, 95 first cover
92, 96 second cover
92a, 96a protrusions
93, 97 middle cover
93a, 97a locking parts

Claims (7)

The lower leg is connected to the lower part of the thigh through the knee joint, the lower leg is connected to the lower leg via the ankle joint, and the lower end is connected to the foot by extending the rod extending to the lower thigh side. A leg type mobile robot having a leg having a rocking mechanism that swings with respect to the lower leg,
A lower cover fixed to the lower part and covering the lower part;
A lower cover positioned outside the rod and connected to the foot;
And an upper cover freely coupled to the rocking member that swings together with the foot through an arm, and freely movable between the lower cover and the lower cover along a guide extending in the vertical direction provided in the lower leg. Legged mobile robot. The method of claim 1, wherein the lower cover is swingably connected to the foot, and is pressed outward by a pressing means, the arm is fixed to the swinging member, the upper cover is swingably connected to the arm, In addition, the upper end of the lower cover leg-type mobile robot, characterized in that the sliding freely configured along the inner surface of the lower end of the upper cover. The legged mobile robot according to claim 1, wherein the lower cover is fixed to the foot, the arm is swingably connected to the rocking member, and the upper cover is connected to the arm. The leg type mobile robot according to any one of claims 1 to 3, wherein the rod is connected at the front side in the pitching direction than a portion connected to the ankle joint of the foot. The hemispherical first cover according to any one of claims 1 to 3, which is fixed to a portion opposite to the side to which the rod of the foot portion is connected;
A hemispherical second cover disposed outside or inside the first cover and provided freely swinging in the rolling direction at the lower end of the lower thigh;
A hemispherical intermediate cover disposed between the first cover and the second cover and installed on the first cover so as to swing freely in the pitching direction;
The upper end part of this intermediate cover is provided with the engaging part which hangs on the lower end part of the said 2nd cover, The leg type mobile robot characterized by the above-mentioned. The hemispherical first cover of claim 4, which is fixed to a portion opposite to the side to which the rod of the foot is connected;
A hemispherical second cover disposed outside or inside the first cover and provided freely swinging in the rolling direction at the lower end of the lower thigh;
A hemispherical intermediate cover disposed between the first cover and the second cover and installed on the first cover so as to swing freely in the pitching direction;
The upper end part of this intermediate cover is provided with the engaging part which hangs on the lower end part of the said 2nd cover, The leg type mobile robot characterized by the above-mentioned. The second member is connected to the lower end of the first member via a joint, and the first member is connected to the second member through the joint by retracting a rod connected to the second member and extending to the first member. As a rocking structure having a rocking mechanism for rocking,
A first member cover fixed to the first member and covering the first member;
A lower cover positioned outside the rod and connected to the second member;
An upper cover freely coupled to an oscillating member that oscillates with the second member through an arm and free to move between the first member and the lower cover along a guide extending in an up and down direction provided in the first member; A rocking structure comprising a.

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