WO2004087381A1 - 脚式移動ロボット - Google Patents
脚式移動ロボット Download PDFInfo
- Publication number
- WO2004087381A1 WO2004087381A1 PCT/JP2004/002441 JP2004002441W WO2004087381A1 WO 2004087381 A1 WO2004087381 A1 WO 2004087381A1 JP 2004002441 W JP2004002441 W JP 2004002441W WO 2004087381 A1 WO2004087381 A1 WO 2004087381A1
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- WO
- WIPO (PCT)
- Prior art keywords
- crank
- axis
- ankle
- leg
- motor
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20299—Antirattling elements
Definitions
- the present invention relates to a legged mobile robot, and more particularly, to a leg of a legged mobile robot.
- the technology relating to the legged mobile robot, particularly to the legs of the legged mobile robot, is described in, for example, Japanese Patent No. 2592340 (the left column on page 5, FIG. 2, FIG. 6, etc.).
- the technology is known.
- an electric motor (80) for driving a knee joint is arranged on a thigh link (70), and an electric motor (88) for driving an ankle joint is connected to a lower leg link (86).
- the reducers (84) (92) arranged coaxially with the axes of the joints via the belts (82) (90) the driving force required for walking can be obtained. It is configured to obtain.
- the weight of the leg especially the terminal side (that is, the foot side) be lightweight so as to reduce the inertial force generated in the leg during movement.
- the weight of the leg especially the terminal side (that is, the foot side) be lightweight so as to reduce the inertial force generated in the leg during movement.
- the following: 9) A motor for driving the ankle joint is arranged on the backward link, and a reducer for reducing the output is arranged coaxially with the axis of the ankle joint. As a result, the weight at the distal end of the leg became heavy, leaving room for improvement in terms of reducing the inertial force. Disclosure of the invention
- an object of the present invention is to provide a legged mobile robot capable of reducing the weight of the distal end side of the leg and thereby reducing the inertial force generated in the leg when moving.
- a legged mobile robot that includes a knee joint that connects a thigh link and a lower leg link, and a leg that has an ankle joint that connects the lower leg link and a foot, and that drives and moves the leg.
- the speed reducer is arranged on the lower leg link.
- a large driving force is required to rotate the ankle joint of the robot around the left-right axis (left-right direction perpendicular to the direction of travel). Therefore, in general, a large and heavy motor is used for rotating the ankle joint about the left and right axes. Therefore, as described in claim 1 described later, a motor for rotating the ankle joint of the robot around the left and right axes is arranged at the same position as the knee joint or at the thigh link, and the output of the motor is reduced.
- the reducer By placing the reducer on the lower leg link, the weight at the distal end of the leg can be reduced (the position of the center of gravity of the leg is far from the distal end). Inertia force can be reduced.
- the reason why the reducer is placed on the lower leg link is that if too many components are placed on the thigh link, the appearance of the legs may be impaired, and if there are multiple legs, they are likely to interfere. This is to prevent the
- the motor is arranged on the thigh link, and the output of the motor is set to an intermediate shaft arranged coaxially with the axis of the knee joint.
- the transmission is transmitted to the speed reducer via the transmission.
- the motor that rotates the ankle joint of the robot around the left and right axis is arranged on the thigh link, and the output is parallel to the axis of the knee joint (more specifically, the left and right axis, that is, the left and right axis of the ankle joint).
- the transmission is transmitted to the reduction gear via an intermediate shaft disposed coaxially with the reduction gear. Therefore, in addition to the effects described in claim 1, the knee joint is driven, and the motor and the reduction gear Even if the relative position changes, the output of the motor can be accurately transmitted to the speed reducer. Furthermore, the structure is compact, so that the appearance of the legs is not impaired.
- the present invention provides a first transmission element for transmitting rotation of the intermediate shaft to the speed reducer, and an output of the speed reducer as described in claim 3, which will be described later.
- At least one of the second transmission elements transmitting to the left and right axes of the joint is configured to be disposed inside the lower leg link.
- the second transmission element is provided by a rod mechanism that connects an output shaft of the speed reducer and a left and right axis of the ankle joint with a rod. Configured.
- the second transmission element for transmitting the output of the speed reducer to the left and right axes of the ankle joint is constituted by a rod mechanism that connects the output shaft of the speed reducer and the left and right axes of the ankle joint with a rod (rigid member).
- a large driving force output from the speed reducer can be reliably transmitted to the left and right axes.
- the rod mechanism includes a first crank having a midpoint fixed to an output shaft of the speed reducer, and a left-right axis of the ankle joint.
- a first crank connected to one end of the first crank and one end of the second crank; a second rod connected to one end of the second crank; and a second end of the first crank to a second crank.
- a second rod connected to the other end of the crank.
- the mouth mechanism that transmits the output of the reduction gear to the left and right axes of the ankle joint is provided by the first crank with the middle point fixed to the output shaft of the reduction gear, A fixed second crank, one end of the first crank, a first rod connected to one end of the second crank, and another end of the first crank and a second crank. Since the first rod is constituted by the second rod connected to the end, the rotation of the first crank displaces the first rod and the second rod in opposite directions. When the displacement is converted to the rotational force of the second crank, it acts to assist each other's transmission force, so that in addition to the effects described in claim 1 and the like, the transmission efficiency is improved. Can be improved. Furthermore, even if one of the rods is damaged, the output of the reducer can be transmitted to the left and right axes of the ankle joint by the other rod, so Performance can be improved.
- the distance between the first port and the second rod is smaller than the width of the lower leg link! Configured to set to /, value.
- the distance between the first rod and the second rod is set to a value smaller than the width of the lower leg link, in addition to the effects described in claim 1 and the like, the structure is improved. It is more compact and does not impair the appearance of the legs.
- the present invention provides, as described in claims 7 and 8 described below, an angle between one end of the first crank and a middle point and the other end, and an angle between one end of the second crank and the middle of the second crank.
- the angle between the point and the other end is set to approximately 180 degrees.
- the angle between one end of the first crank, the middle point, and the other end, and the angle between the one end of the second crank, the middle point, and the other end are each set to approximately 180 degrees.
- the mouth mechanism is configured to be a parallel link mechanism, the transmission force of the first rod and the transmission force of the second rod are balanced (coupled). No additional stress acts on bearings supporting the left and right shafts.
- the present invention provides, as described in claims 9 and 10 described below, an angle formed between one end of the first crank, a middle point, and the other end, and an angle formed between the one end of the second crank and the other end.
- the angle formed between the midpoint and the other end is configured to be changed according to the gait when the robot moves.
- the angle between one end of the first crank, the middle point, and the other end, and the angle between the one end of the second crank, the middle point, and the other end are determined by the gait when the robot moves.
- the output of the speed reducer is minimized. It can be efficiently converted to the rotational force of the left and right axes.
- the size of the motor and speed reducer can be reduced, and the weight at the end of the leg can be reduced to reduce the '1' prize power generated when moving, and the structure can be made compact and the appearance can be impaired. Can be prevented.
- the angle formed between one end of the first crank, the middle point, and the other end, and the angle formed between the one end of the second crank, the middle point, and the other end are determined in the vicinity of landing of the leg and when leaving the floor. It is configured to be set in the vicinity based on the torque acting on the foot.
- the angle formed between one end of the first crank, the middle point, and the other end, and the angle formed between the one end of the second crank, the middle point, and the other end are set near the landing of the leg and at the time of leaving the floor. Since it is configured to be set based on the torque acting on the foot near the time, in addition to the effects described in claim 1, etc., it is necessary to generate the largest torque on the left and right axes of the ankle joint.
- the output of the speed reducer can be converted to the rotational force of the left and right axes most efficiently in the vicinity of the floor and the vicinity of leaving the bed.
- the size of the motor and speed reducer can be reduced, the weight at the end of the legs can be reduced, and the inertial force generated during movement can be reduced, and the structure can be made compact to prevent the appearance from being impaired. be able to.
- the present invention provides the first crank and the second crank with an angle formed by the one end, the middle point, and the other end, respectively, as described in claims 13 to 16 described below.
- An angle changing mechanism for changing the angle is provided.
- the first crank and the second crank are each provided with the angle changing mechanism for changing the angle formed between one end, the midpoint, and the other end of the first crank and the second crank.
- the angle can be easily changed.
- the present invention includes a leg having a knee joint connecting the thigh link and the lower leg link, and an ankle joint connecting the lower leg link and the foot, as described in claim 17 described below,
- a first motor that rotates the ankle joint about the left-right axis of the robot
- a second motor that rotates the ankle joint about the front-rear axis of the robot.
- the first motor and the second motor are arranged on the large ffig link, and the output of the first motor is arranged on the first joint coaxially with the axis of the knee joint.
- the output of the second motor is transmitted to the left-right axis of the ankle joint via an intermediate axis, and the output of the second motor is transmitted to the front-rear axis of the ankle joint via a second intermediate axis arranged coaxially with the axis of the knee joint. It was configured to communicate.
- the first motor that rotates the ankle joint around the left-right axis (the left-right direction orthogonal to the traveling direction)
- the second motor that rotates the ankle joint around the front-rear axis (the traveling direction) Since it is configured to be placed on the thigh link, the weight at the distal end of the leg can be reduced (the center of gravity of the leg is far from the distal end), and thus the leg is generated when the robot moves.
- the output of the first motor and the second motor is transmitted to each axis of the ankle joint via a first intermediate axis and a second intermediate axis disposed coaxially with the axis of the knee joint, respectively.
- the output of the motor can be accurately transmitted to the ankle joint.
- the structure is compact, the appearance of the legs is not impaired.
- the present invention includes a leg having a knee joint connecting the thigh link and the lower leg link, and an ankle joint connecting the lower leg link and the foot, as described in claim 18 described below,
- a first motor that rotates the ankle joint about the left-right axis of the robot
- a second motor that rotates the ankle joint about the front-rear axis of the robot.
- the second motor is disposed at the same position as the knee joint or at the thigh link, and the first motor is separated from the knee joint by the second motor at the thigh link. It was configured to be placed at the specified position.
- a motor used to rotate the ankle joint about the left and right axes is selected to be larger and heavier than a motor used to rotate the ankle joint about the front and rear axes. Therefore, as described in claim 18 described below, a second motor for rotating the ankle joint around the front-rear axis is arranged at the same position as the knee joint or at the thigh link, and the ankle joint is moved to the left and right axes.
- the output of the first motor to be rotated around is arranged in the thigh link at a position more distant from the knee joint than the second motor (that is, at a position farther from the distal end of the leg).
- the weight on the distal side of the leg can be reduced (the center of gravity of the leg is farther from the distal side), thereby reducing the inertial force generated in the leg when moving.
- FIG. 1 is a schematic diagram schematically showing a legged mobile robot according to one embodiment of the present invention, focusing on a joint structure of a leg.
- FIG. 2 is a right side view showing in detail a right leg of the robot schematically shown in FIG.
- FIG. 3 is a sectional view taken along line III-III of FIG.
- FIG. 4 is a right side view showing the end side from the lower leg link when the ankle Y axis shown in FIG. 2 is rotated by 160 degrees.
- FIG. 5 is a right side view showing a distal end side of a leg lower leg link in a legged mobile robot according to a second embodiment of the present invention.
- FIG. 6 is a right side view similar to FIG. 4, showing the end side from the lower leg link when the ankle Y axis shown in FIG. 5 is rotated by 160 degrees.
- FIG. 7 is a right side view similar to FIG. 5, showing a distal end side of a leg lower leg link in a legged mobile robot according to a third embodiment of the present invention.
- FIG. 8 is a right side view showing the end side from the lower leg link when the ankle Y axis shown in FIG. 8 is rotated by ⁇ degrees.
- FIG. 9 is a time chart 1 showing the torque acting around the ankle and the axis acting on the foot when the mouth bot moves.
- FIG. 10 is a time chart showing the rotation angle of the ankle ⁇ axis when the robot moves.
- FIG. 11 is a right side view similar to FIG. 5, showing a terminal side of a leg lower leg link in a legged mobile robot according to a fourth embodiment of the present invention.
- FIG. 12 is an enlarged explanatory view of the first crank shown in FIG.
- FIG. 13 is an enlarged explanatory view of the second crank shown in FIG. BEST MODE FOR CARRYING OUT THE INVENTION
- FIG. 1 is a schematic diagram schematically showing a legged mobile robot according to this embodiment, more specifically, a bipedal walking port bot with a focus on a joint structure of a leg.
- a bipedal walking robot (hereinafter referred to as a “robot”) 10 includes left and right legs 12 R and 12 L (R on the right side, L on the left side; the same applies hereinafter).
- the left and right legs 12R, 12L are the waist (hip) joints 18R, 18L connecting the upper body 14 and the thigh links 16R, 16L, respectively, the thigh links 16R, 16L, and the lower leg link 20R.
- 20L, and ankle joints 26R, 26L connecting the crus links 20R, 20 and the feet 241, 24L.
- the waist joints 18R and 18L are, specifically, waist Z-axes 18RZ and 18LZ that rotate the distal side (foot side) of the thigh links 16R and 16L around the gravity axis (Z-axis).
- Waist X-axis 18 RX, 18 LX that rotates around the back and forth axis (X axis, ie, the direction of travel) around the retreat link 16R, 16 L, and the end of the thigh link 16 R, 16 L
- It consists of waist Y-axes 18 RY and 18 LY that rotate around the left and right axes (Y axis, that is, the direction orthogonal to the traveling direction and the direction of gravity) (pitch direction).
- the knee joints 22R and 22L are composed of knee Y-axes 22RY and 22LY that rotate the lower ends of the lower leg links 20R and 20L around the left and right axes.
- the ankle joints 26 R and 26 L are ankle X axes 26 RX and 26 LX that rotate the feet 24 R and 24 L around the front and rear axes, and an ankle Y axes that rotate the foot 24 R and 24 L around the left and right axes. 26 RY,
- a well-known 6-axis force sensor between the ankle joint 26R, 26L and the foot 24R, 24L A well-known 6-axis force sensor between the ankle joint 26R, 26L and the foot 24R, 24L
- An inclination sensor 32 is installed on the upper body 14 to detect the inclination of the robot 10 with respect to the Z axis and its angular velocity.
- the electric motor that drives each axis is provided with a temporary encoder (not shown) that detects the amount of rotation.
- the outputs of the six-axis force sensors 30R and 30L and the inclination sensor 32 are input to the control unit 34 housed in the upper body 14.
- the control unit 34 has a memory (Not shown), and the control value of the electric motor driving each axis is calculated based on the input detection value.
- the upper body 14 is connected with arms and heads as described in, for example, International Publication WO 02/40226 A1 pamphlet, and their structures are directly related to the gist of the present invention. Since they do not have them, illustration and description are omitted.
- the legs 12R and 12L of the robot 1 will be described in detail with reference to FIGS.
- the right leg 12R will be described as an example.
- the left and right legs 12R and 12L are symmetrical, the following description is also applicable to the left leg 12L.
- FIG. 2 is a right side view showing the leg portion 12R schematically shown in FIG. 1 in detail.
- FIG. 3 is a sectional view taken along the line III-III in FIG.
- the thigh link 16R is provided with an electric motor 40 (hereinafter referred to as “ankle X-axis electric motor”) for driving the X-axis 26RX of the ankle joint 26R (hereinafter referred to as “ankle X-axis"). Be placed.
- the Y axis 26RY of the ankle joint 26R (hereinafter referred to as “ankle Y axis”) is located at a position separated from the knee joint 22R from the electric motor 40 for the ankle X axis (ie, upward in the direction of gravity).
- An electric motor 42 (hereinafter referred to as “ankle Y-axis electric motor”) for driving the knee joint 22R and an electric motor 44 (hereinafter referred to as “knee Y-axis” for driving the knee joint 22R). Electric motor ”).
- the output (rotational output) of the knee Y-axis electric motor 44 is reduced by a reduction gear 50 (hereinafter referred to as “Knee Y axis 22 RY”) coaxially with the knee Y axis 22 RY via a belt 48 (hereinafter referred to as “Knee Y axis belt”). Shaft reducer).
- the output speeded by the knee Y-axis reducer 50 is directly transmitted to the knee Y-axis 22RY.
- the output of the electric motor 44 for the knee Y-axis arranged on the thigh link 6R is transmitted to the moon mill Y-car 22 RY via the belt 48 for the knee Y-axis and the speed reducer 50 for the knee Y-axis. .
- the output (rotational output) of the electric motor 42 for the ankle Y-axis is a belt 52 (hereinafter referred to as “ The first ankle Y-axis belt) is transmitted to an intermediate shaft 54 (hereinafter referred to as an ankle ⁇ -axis intermediate shaft j) arranged coaxially with the knee ⁇ axis 22 RY.
- the rotation of the intermediate shaft 54 for rotation is performed via a belt 56 (the first transmission element described above; hereinafter, referred to as a “belt for a second ankle Y-axis”), and the reduction gear 58 ( (Hereinafter referred to as “ankle Y-axis reducer”).
- the second ankle Y-axis belt 56 is disposed inside the lower leg link 2OR, specifically, inside the outline thereof.
- the ankle Y-axis speed reducer 58 is arranged such that its output shaft 58 o is parallel to the Y-axis direction.
- the output decelerated by the ankle Y-axis speed reducer 58 is transmitted to the ankle Y-axis 26 RY via the mouth mechanism 60 (the second transmission element described above).
- the rod mechanism 60 includes a first crank 62, a second crank 64, a first rod 66, and a second rod 68 formed by a rigid member.
- a first crank 62 having a substantially rhombic shape in plan view is fixed to the output shaft 58 o of the ankle Y-axis reduction gear.
- the first crank 62 has a pin joint 62a1 formed at one end 62a (an end located forward in the traveling direction of the robot 10) and a second end 62b (a robot A pin joint 6 2 b 1 is formed at the end located at the rear in the traveling direction).
- the first crank 62 is provided at the midpoint between one end 62a and the other end 62b, specifically, a pin joint 62a1 formed at one end and a pin joint 62 formed at the other end.
- the midpoint 62c of 2b1 is fixed to the output shaft 58o of the ankle Y-axis reducer.
- the one end 62 a of the first crank 62, the midpoint 62 c and the other end 62 b have an angle of 180 degrees, that is, they are arranged on the same straight line. It is set as follows. In other words, the phase difference between the rotation trajectories of the pin joint 62 a 1 formed at one end and the pin joint 62 b 1 formed at the other end is set to 180 degrees.
- a second crank 64 is fixed to the ankle Y axis 26 RY.
- the second crank 64 has a substantially rhombic shape in a plan view, and a pin joint 64 a 1 is formed at one end 64 a thereof (the end located forward in the traveling direction of the robot 10).
- a pin joint 6 4 b 1 is formed at the end 6 4 b (the end located at the rear in the traveling direction of the robot 10).
- the second crank 64 has a midpoint between its one end 64a and the other end 64b, specifically, At the pin joint 6 4 a 1 formed at one end and the pin joint 6 4 b 1 formed at the other end, at the midpoint 6 4 c, the pin joint 6 4 a 1 is fixed to the ankle Y axis 26 RY, and the one end 6 4 a and The midpoint 64c and the other end 64b are set such that their angle is 180 degrees, that is, they are arranged on the same straight line. In other words, the phase difference between the rotational trajectories of the pin joint 64a1 formed at one end and the pin joint 64b1 formed at the other end is set to 180 degrees.
- the distance between the pin joint 6 2a1 formed at one end of the first crank and the pin joint 6 2b1 formed at the other end, and the pin joint 6 formed at one end of the second crank is set to a value smaller than the width of the lower leg link 20 R (width in the X-axis direction).
- the pin joint 62 a1 formed at one end of the first crank and the pin joint 64 a1 formed at one end of the second crank are connected via a first rod 66.
- the pin joint 62b1 formed at the other end of the first crank and the pin joint 64b1 formed at the other end of the second crank are arranged in parallel with the first rod 66.
- the separation distance is set to a value smaller than the width (width in the X-axis direction) of the lower leg link 20 R, the separation distance between the first rod 66 and the second rod 68 is also lower. The value is smaller than the width of R (width in the X-axis direction).
- the output of the electric motor 42 for the ankle Y-axis arranged on the thigh link 16 R is the first belt 52 for the ankle Y-axis, the intermediate shaft 54 for the ankle Y-axis, and the second It is transmitted to the ankle Y axis 26 RY via the ankle Y axis belt 56, the ankle Y axis reducer 58, and the rod mechanism 60.
- the output (rotation output) of the electric motor 40 for the ankle X-axis is arranged coaxially with the knee Y-axis 22 RY via a belt 72 (hereinafter referred to as a “first ankle X-axis belt”). It is transmitted to the intermediate shaft 7 4 (hereinafter referred to as “ankle X-axis intermediate shaft”). The rotation of the ankle X-axis intermediate shaft 74 is transmitted to a passive shaft 78 arranged in parallel with the ankle Y-axis 26 RY via a belt 76 (hereinafter referred to as a “second ankle X-axis belt”). Is done.
- a drive bevel gear 80 is fixed to an end of the passive shaft 78, and the gear 80 is engaged with a driven bevel gear 82 fixed to an end of the ankle X-axis 26 RX. That is, the output of the electric motor 40 for the ankle X-axis disposed on the thigh link 16R is output from the first ankle X-axis belt 72, the ankle X-axis intermediate shaft 74, and the second ankle X-axis belt. The transmission is transmitted to the ankle X-axis 26 RX through the drive shaft 76, the passive shaft 78, the drive bevel gear 80, and the dry bevel gear 82.
- FIG. 4 is a right side view showing the end side from the lower leg link 20R when the ankle Y axis 26 RY is rotated by one hundred sixty degrees (in this embodiment, the ankle joint 26
- the rotation in the direction in which R is bent is defined as one (minus) rotation angle
- the rotation in the direction in which the ankle joint 26R is extended is defined as + (plus) rotation angle).
- the electric motor 42 for the ankle Y axis that rotates the ankle Y axis 26RY (26 LY) of the robot 10 is connected to the thigh link 16R (16L).
- the ankle Y-axis reducer 58 that reduces the output of the ankle Y-axis electric motor 42 is arranged on the lower leg link 20R (20L), so that the end of the leg 12R (12L) Side (the ground side, that is, the foot 24R (24L) side) is reduced in weight, in other words, the position of the center of gravity of the leg 12R (12L) can be made farther from the distal end side. Inertial force generated in the legs 12R (12L) when the robot moves is reduced.
- the electric motor 40 for the ankle X-axis which rotates the ankle X-axis 26RX (26 LX), is arranged on the thigh link 16R (16L), so that the distal end of the leg 12R (12L) Therefore, it is possible to further reduce the weight of the leg portion 12R (12L) during the movement of the robot 10, thereby further reducing the power of the I prize.
- the ankle Y-axis electric motor 42 is selected to be larger and heavier than the ankle X-axis electric motor 40. Therefore, in this embodiment, the ankle Y-axis electric motor 42 is separated from the knee joint 22R (22L) force by the ankle X-axis electric motor 40 (ie, the foot 24R (24L ) (Located on the hip joint 18R (18L) side)). This makes it possible to further reduce the weight of the distal end of the leg 12R (12L), thereby further reducing the poverty generated in the leg 12R (12L) during movement. Can be.
- the ankle Y-axis electric motor 42 and the ankle X-axis electric motor 40 that drive the ankle joint 26 R (26 L) are placed on the large j5 retraction link 16 R (16 L), the knee joint 22 R (22 L) When the is driven, the relative position between each motor and the ankle joint 26R (26L) changes. Therefore, in this embodiment, the outputs of the electric motor 42 for the ankle Y axis and the electric motor 40 for the ankle X axis are respectively connected to the knee joint Y axis 22RY (22 LY).
- the second ankle ⁇ -axis velorette 56 that transmits the rotation of the ankle Y-axis intermediate shaft 54 to the ankle Y-axis reducer 58 is arranged inside the lower leg link 2 OR (20 L). Therefore, the structure can be made more compact, so that the appearance of the legs 12R (12L) is not impaired. In addition, since the distance between the first rod 66 and the second rod 68 is set to a value smaller than the width of the lower leg link 20R (20L), the structure can be made more compact, and Leg 12R (12 L) does not impair the appearance.
- the output of the ankle Y-axis reducer 58 is transmitted to the ankle Y-axis 26RY (26 LY) by two rods made of rigid members, the output from the ankle Y-axis reducer 58 is output. Large driving force can be reliably transmitted.
- the angle formed between one end 62a of the first crank, the middle point 62c, and the other end 62b, and the angle formed between one end 64a of the second crank, the middle point 64c, and the other end 64b, are also shown. Each of them is set at 180 degrees, in other words, since the mouth mechanism 60 is a parallel link mechanism, the transmission force of the first rod 66 and the transmission force of the second rod 68 are balanced. Therefore, no additional stress acts on the bearing 84 (bearing, shown in Fig. 3) that supports the ankle Y-axis 26RY (26 LY).
- FIG. 5 is a right side view showing the distal side of the leg lower leg link in the legged mobile robot according to the second embodiment
- FIG. 6 is a view showing the ankle Y axis rotated by 160 degrees
- FIG. 5 is a right side view similar to FIG. 4, showing an end portion side of the lower leg link when it is made to work.
- one end 62a of the first crank 62, a midpoint 62c and the other end 62b are formed.
- the angle was set to 90 degrees.
- the phase difference between the rotation trajectories of the pin joint 62 a1 formed at one end of the first crank 62 and the pin joint 62b1 formed at the other end is 90 degrees.
- the second crank 6 4 is so shaped that the angle formed between its one end 64 a, the midpoint 64 c and the other end 64 b is 9 °, in other words, the second crank 6 4
- the phase difference between the rotational trajectories of the pin joint 64a1 formed at one end of 4 and the pin joint 64b1 formed at the other end was set to be 90 degrees.
- the torque acting on the ankle joint is generally determined by the gait. Therefore, in the third embodiment, the angle formed by one end 62 a of the first crank, the midpoint 62 c and the other end 62 b, and one end 64 a of the second crank The angle between the middle point 6 4c and the other end 6 4b is changed according to the gait when the robot 10 moves. Specifically, the ankle determined from the gait Y axis 2 6 RY , 2 6 L Set based on torque around Y.
- FIG. 7 is a right side view similar to FIG. 5, showing a distal end side of a leg link of a leg portion of a leg-type moving port pot according to a third embodiment.
- FIG. 8 is a right side view showing the end side from the lower leg link when the ankle ⁇ axis is rotated by ⁇ degrees.
- FIG. 9 is a time chart showing torque around the ankle ⁇ axis 26 RY, 26 L ⁇ generated when the robot 10 moves.
- the torque around the ankle ⁇ axis 26 RY, 26 LY takes the maximum positive and negative values near the time of leaving the floor and the time of landing of the legs 12 R, 12 L, respectively.
- a maximum torque in the + (positive) direction is generated near the time when the legs 12R and 12L leave the floor
- a maximum torque in one (negative) direction is generated near the time when the legs are left.
- the torque in the + direction means the torque in the direction in which the ankle joints 26R, 26L are extended
- the one-way torque means the torque in the direction in which the ankle joints 26R, 26L are bent.
- the output of the ankle Y-axis reducer 58 can be most effectively converted into the rotational force of the ankle Y-axis 26 RY, 26 LY at the midpoint 62 c and one end 62 a (pin joint 62) of the first crank.
- a 1), and the line connecting the midpoint 64c of the second crank and one end 64a (pin joint 64a1) is orthogonal to the first rod 66, or
- the line connecting the midpoint 62c and the other end 62b (pin joint 62b1) and the line connecting the midpoint 64c and the other end 64b (pin joint 64b1) of the first crank are the second line.
- the rod 68 At right angles to the rod 68.
- the third embodiment when the maximum torque acts around the ankle Y-axis 26RY, 26LY, one end 62a of the first crank is connected to the midpoint so that the above condition is satisfied.
- the angle formed between 62c and the other end 62b and the angle formed between one end 64a of the second crank, the midpoint 64c, and the other end 64b are set.
- the output of the ankle Y-axis reducer 58 is minimized in the vicinity of landing and leaving the legs 12R and 12L, which need to generate the maximum torque on the ankle Y-axis 26RY and 26LY.
- the positions of one end and the other end with respect to the midpoint of each crank are set so that the torque of the ankle Y-axis 26 RY, .26 LY can be efficiently converted.
- FIG. 10 is a time chart showing the rotation angles of the ankle Y-axis 26 RY and 26 LY when the robot 1 ⁇ moves.
- the rotation angle of the ankle Y axis 26 RY, 26 LY is near when the legs 12 R, 12 L on which the maximum torque in the + direction acts are at the time of leaving the floor. .
- the rotation angle of the ankle Y-axis 26 RY and 26 LY is in degrees.
- one end 62 a of the first crank and one end 64 a of the second crank are connected to each other when the rotation angle of the ankle Y axis 26 RY becomes steep.
- the line connecting one end 62 a of the first crank to the midpoint 6.2 c is a line connecting the end 64 a of the second crank to the midpoint 64 c, respectively. It was set to be orthogonal to.
- the angle between one end 62 a of the first crank, the middle point 62 c, and the other end 62 b, that is, one end 64 a of the second crank, the middle point 64 c, and the other end 64 b are set to ⁇ degrees ( ⁇ : ⁇ + ⁇ ), in other words, the phase difference between the rotation trajectories at one end and the other end is set to ⁇ .
- the angle formed between one end 62 a of the first crank 62, the midpoint 62 c and the other end 62 b, and one end of the second crank 64 is changed according to the gait of the robot 10. Specifically, the ankle Y axis determined from the gait Y axis 2 6 RY (2 6 LY ) It is set based on the maximum torque around.
- the output of the machine 58 can be most efficiently converted to a rotational force of 2.6 RY (26 LY) on the ankle Y axis. Therefore, the electric motor for the ankle Y-axis And the ankle Y-axis reducer 58 can be downsized, the weight at the distal end of the leg 12 R (12 L) can be reduced, and the inertial force generated during movement can be reduced. Can be prevented from becoming compact and the appearance being impaired.
- the torque acting on the ankle joint is determined by the gait. Therefore, if the gait and movement environment of the robot change, the rotation angle of the ankle and the axle, which needs to generate the maximum torque, also changes. Therefore, it is desirable that the angle between one end of each crank, the midpoint, and the other end can be easily changed.
- each of the first crank 62 and the second crank 64 has an angle changing mechanism for changing an angle formed between one end, a middle point, and the other end. It was made to provide.
- FIG. 11 is a right side view similar to FIG. 5, showing a distal end side of a leg link of a leg of a legged mobile robot according to a fourth embodiment.
- the first crank 62 includes an angle changing mechanism 92 for changing an angle formed by one end 62a, a midpoint 62c and the other end 62b.
- the second crank 64 has an angle changing mechanism 94 that changes the angle formed by one end 64 a, the midpoint 64 c and the other end 64 b.
- FIG. 12 is an enlarged explanatory view of the first crank 62.
- the first crank 62 is divided into a first arm 62A on one end 62a side and a second arm 62B on the other end 62b side.
- the first arm 62A and the second arm 62B are rotatably mounted on the output shaft 58o of the ankle Y-axis reducer.
- the first arm 62A and the second arm 62B are provided with a hole 62A1 and a hole 62B1, respectively.
- the angle changing mechanism 92 includes a key 92a to be inserted into the hole 62A1, a key 92b to be inserted into the hole 62B1, and an ankle Y-axis reducer. Output shaft fixed to 5 8 o And a specified spline 92c. That is, after the first arm 62A is rotated to align the hole 62A1 with an arbitrary groove 92c1 of the spline 92c, the key 92a is inserted into the hole 62A1 and the groove 92c1 aligned with the hole 62A1. By doing so, the first arm 62A can be fixed at an arbitrary angle.
- the second arm 62B After rotating the second arm 62B to align the hole 62B1 with an arbitrary groove 92c1 of the spline 92c, the key 92b is inserted into the hole 62b.
- the second arm 62B can be fixed at an arbitrary angle, as shown by the broken line in FIG. In other words, the angle between the one end 62a of the first crank, the midpoint 62c, and the other end 62b can be changed to any angle.
- the key 92a and the key 92b are smaller than the hole 62A1, the hole 62B1, and the groove 92c1, but this is for convenience of understanding. Are formed so as to be contacted without any gap.
- FIG. 13 is an enlarged view of the second crank 64.
- the second crank 64 similarly to the first crank 62, also includes a first arm 64A on one end 64a side and a second arm 64B on the other end 64b side. And they are rotatably mounted on the ankle Y-axis 26 RY. Also, holes 64A1 and 64B1 are formed in the first arm 64A and the second arm 64B, respectively.
- the angle changing mechanism 94 includes a key 94a to be inserted into the hole 64A1, a key 94b to be inserted into the hole 64B1, and a spline 94c fixed to the ankle Y-axis 26RY. Therefore, after rotating the first arm 64A and aligning the hole 64A1 with the arbitrary groove 94c1 of the spline 94c, the key 94a is inserted into the hole 64A1 and the groove aligned therewith. By inserting the first arm 64A into the 94c1, the first arm 64A can be fixed at an arbitrary angle.
- the second arm 64B After the second arm 64B is rotated to align the hole 64B1 with an arbitrary groove 94c1 of the spline 94c, the key 94b is pressed.
- the second arm 64B is fixed at an arbitrary angle by inserting it into the hole 64B1 and the groove 94c1 aligned with it, as shown by the broken line in the figure. can do. In other words, the angle formed by the one end 64a of the second crank, the midpoint 64c, and the other end 64b can be changed to an arbitrary angle.
- the key 94a and the key 94b are shown smaller than the hole 64A1, the hole 64B1 and the groove 94c1, but this is for convenience of understanding. Without contact.
- each of the first crank 62 and the second crank 64 has one end 62a, 64a, the midpoint 62c, 64c, and the other end. Since the angle changing mechanisms 92 and 94 for changing the angle formed by 62b and 64b are provided, the angle can be easily changed.
- the knee joints 22R and 22L that connect the thigh links 16R and 16L and the lower leg links 2OR and 20L, and the lower leg A legged mobile robot 10 having legs 12R, 12L having ankle joints 26R, 26L for connecting links and feet 24R, 24L, and driving and moving the legs, A motor (electric motor 42 for ankle Y-axis) that rotates the robot around the left and right axes (ankle Y-axis 26RY, 26 LY), and a reducer (ankle Y-axis reducer 58) for reducing the output of the motor.
- the motor is arranged at the same position as the knee joint or at the thigh link, and the speed reducer is arranged at the lower leg link.
- the motor is disposed on the thigh link, and the output of the motor is controlled by an intermediate shaft (an ankle Y-axis intermediate shaft 54) arranged coaxially with the knee joint axis (knee Y-axis 22RY, 22LY).
- the transmission is transmitted to the speed reducer via the transmission.
- a first transmission element (a second ankle Y-axis belt 56) for transmitting the rotation of the intermediate shaft to the speed reducer; and a second transmission element for transmitting the output of the speed reducer to the left and right axes of the ankle joint.
- At least one of the transmission elements (mouth mechanism 60), specifically, the first transmission element, is arranged inside the lower leg link.
- a rod mechanism for connecting the second transmission element with an output shaft 58o of the speed reducer and a left and right axis of the ankle joint by a rod (a first rod 66 and a second mouth 68). 60.
- the rod mechanism may include a first crank 62 having a midpoint 62 c fixed to an output shaft of the speed reducer, and a second crank 62 having a midpoint 64 c fixed to the left and right axes of the ankle joint.
- a first rod 66 coupled to one end 62 a of the first crank and one end 64 a of the second crank, and another end 62 b of the first crank And a second rod 68 connected to the other end 64b of the second crank.
- the distance between the first rod 66 and the second rod 68 is set to a value smaller than the width (width in the front-rear direction) of the lower leg link.
- the angle between the one end 62 a of the first crank, the middle point 62 c and the other end 62 b, and the one end 64 a of the second crank is set to approximately 180 degrees.
- an angle formed between one end 62 a of the first crank, a midpoint 62 c and the other end 62 b, and the second crank is changed according to the gait of the robot when it moves.
- first crank 62 and the second crank 64 each have an angle changing mechanism 92 for changing an angle formed by the one end, the midpoint, and the other end. , 94 are provided.
- the knee joints 22 R and 22 L connecting the thigh links 16 R and 16 L and the lower leg links 2 OR and 20 L are provided.
- Leg-type movement that includes a leg 1 2R, 12 L having an ankle joint 26 R, 26 L connecting the lower leg link and the foot 24 R, 24 L, and drives and moves the leg.
- the ankle joint is rotated around the left and right axis (ankle Y axis 26 RY, 26 LY) of the robot.
- the first motor (the ankle Y-axis electric motor 42) and the second motor (the ankle X-axis electric motor for rotating the ankle joint around the robot's front-rear axis (ankle X-axis 26RX, 26LX)) Motor 40), the first motor and the second motor are arranged on the thigh link, and the output of the first motor is output to the axis of the knee joint (knee Y axis 22RY, 22 LY) To the left and right axes of the ankle joint via a first intermediate axis (intermediate axis 54 for an ankle Y axis) disposed coaxially with the knee joint, and outputs the output of the second motor coaxially with the axis of the knee joint. Is transmitted to a front-rear axis of the ankle joint via a second intermediate axis (intermediate axis 74 for an ankle X-axis) disposed at the center of the ankle joint.
- the knee joints 22R and 22L connecting the thigh links 16R and 16L and the lower leg links 20R and 20L, the lower leg link and the foot A legged mobile robot 10 having legs 12R, 12L having ankle joints 26R, 26L connecting 24R, 24L, and driving and moving the legs,
- the first motor (the ankle Y-axis electric motor 42) that rotates around the axis (ankle Y-axis 26RY, 26 LY) and the ankle joint around the front-rear axis (the ankle X-axis 26RX, 26LX) of the robot
- a second motor electric motor 40 for the ankle X-axis
- the thigh link is located at a position separated from the knee joint by the second motor (the waist joints 18R and 18L sides). It was configured to.
- a biped walking robot having two legs has been described as an example of a legged mobile robot, but a legged mobile port bot having one or three or more legs may be used. .
- the electric motor 42 for the ankle Y axis and the electric motor 40 for the ankle X axis are both arranged at the large [3] retreat links 16R and 16L, but are arranged at the same position as the knee joints 22R and 22Y. You may do it.
- the second ankle Y-axis belt ⁇ / reto 56 and the rod mechanism 60 only the second ankle Y-axis belt 56 is arranged inside the lower leg links 20R and 20L.
- the rod mechanism 60 may be disposed inside the lower leg links 20R and 20L.
- the angle between one end 62a of the i-th crank, the midpoint 62c and the other end 62b, and one end 64a of the second crank, the midpoint 64c and the other end 64 is set to 180 degrees, respectively, but it is not necessarily strictly 180 degrees, and if it is approximately 180 degrees, the desired effect can be sufficiently obtained. Obtainable.
- the angle formed between one end 62a of the first crank, the middle point 62c, and the other end 62b, and one end 64a of the second crank, the middle point 64c, and the other end 64 is not limited to the angle described above, and it is needless to say that the angle should be appropriately set according to the gait of the robot 10 and the moving environment.
- angle changing mechanisms 92 and 94 are not limited to the above-described configuration, and any configuration may be used as long as the angle between the first arm and the second arm can be arbitrarily changed and fixed. Absent.
- the motor to be used is not limited to the electric motor, but may be a hydraulic motor or the like.
- a motor for rotating the ankle joint of the robot about the left-right axis is located at the same position as the knee joint, and 1 / is arranged on the thigh link, and the output of the motor is reduced. Since the machine is arranged on the lower leg link, the weight at the distal end of the leg can be reduced, thereby reducing the inertial force generated in the leg when the robot moves.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE602004024510T DE602004024510D1 (de) | 2003-03-31 | 2004-02-27 | Beweglicher roboter mit beinen |
US10/515,928 US7111696B2 (en) | 2003-03-31 | 2004-02-27 | Legged mobile robot |
EP04715521A EP1609567B1 (en) | 2003-03-31 | 2004-02-27 | Leg type movable robot |
KR1020047019217A KR100629226B1 (ko) | 2003-03-31 | 2004-02-27 | 레그식 이동 로봇 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003094984A JP4299567B2 (ja) | 2003-03-31 | 2003-03-31 | 脚式移動ロボット |
JP2003-094984 | 2003-03-31 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004087381A1 true WO2004087381A1 (ja) | 2004-10-14 |
Family
ID=33127421
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/002441 WO2004087381A1 (ja) | 2003-03-31 | 2004-02-27 | 脚式移動ロボット |
Country Status (6)
Country | Link |
---|---|
US (1) | US7111696B2 (ja) |
EP (1) | EP1609567B1 (ja) |
JP (1) | JP4299567B2 (ja) |
KR (1) | KR100629226B1 (ja) |
DE (1) | DE602004024510D1 (ja) |
WO (1) | WO2004087381A1 (ja) |
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CN109693726A (zh) * | 2018-11-27 | 2019-04-30 | 西北工业大学 | 一种仿生机械腿关节传动装置 |
US20220226984A1 (en) * | 2021-01-15 | 2022-07-21 | Beijing Xiaomi Mobile Software Co., Ltd. | Legged robot and leg assembly thereof |
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JP4397412B2 (ja) * | 2007-12-07 | 2010-01-13 | 株式会社タカラトミー | ロボット玩具およびその組立方法 |
KR101484943B1 (ko) * | 2008-05-30 | 2015-01-21 | 삼성전자 주식회사 | 보행로봇 |
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JP5539040B2 (ja) | 2010-06-04 | 2014-07-02 | 本田技研工業株式会社 | 脚式移動ロボット |
JP5728081B2 (ja) * | 2011-05-25 | 2015-06-03 | 株式会社日立製作所 | ロボットの頭部構造及びその頭部駆動方法 |
US8914151B2 (en) * | 2011-07-05 | 2014-12-16 | The State Of Oregon Acting By And Through The State Board Of Higher Education On Behalf Of Oregon State University | Apparatus and method for legged locomotion integrating passive dynamics with active force control |
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CN111376311A (zh) | 2018-12-29 | 2020-07-07 | 深圳市优必选科技有限公司 | 一种小臂结构及机器人 |
CN110259653A (zh) * | 2019-05-05 | 2019-09-20 | 西安培华学院 | 一种人体运动发电装置 |
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CN112744312B (zh) * | 2020-12-04 | 2023-05-30 | 北京理工大学 | 仿生机器人及其腿部结构 |
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CN112873195A (zh) * | 2021-01-22 | 2021-06-01 | 北京理工大学 | 仿人机器人及其高集成模块化仿人机械臂 |
CN114379669B (zh) * | 2021-12-31 | 2022-12-27 | 德清县浙工大莫干山研究院 | 一种可重构的四足移动平台 |
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US20220226984A1 (en) * | 2021-01-15 | 2022-07-21 | Beijing Xiaomi Mobile Software Co., Ltd. | Legged robot and leg assembly thereof |
US11890756B2 (en) * | 2021-01-15 | 2024-02-06 | Beijing Xiaomi Robot Technology Co., Ltd. | Legged robot and leg assembly thereof |
Also Published As
Publication number | Publication date |
---|---|
US20050167167A1 (en) | 2005-08-04 |
JP4299567B2 (ja) | 2009-07-22 |
EP1609567B1 (en) | 2009-12-09 |
KR100629226B1 (ko) | 2006-09-27 |
EP1609567A1 (en) | 2005-12-28 |
EP1609567A4 (en) | 2008-04-09 |
DE602004024510D1 (de) | 2010-01-21 |
US7111696B2 (en) | 2006-09-26 |
KR20050014843A (ko) | 2005-02-07 |
JP2004298997A (ja) | 2004-10-28 |
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