WO2006129857A1

WO2006129857A1 - Walking robot and method of controlling the same

Info

Publication number: WO2006129857A1
Application number: PCT/JP2006/311360
Authority: WO
Inventors: Tomohito Takubo; Tatsuo Arai; Kenji Inoue
Original assignee: Osaka University
Priority date: 2005-06-03
Filing date: 2006-05-31
Publication date: 2006-12-07
Also published as: JPWO2006129857A1

Abstract

A walking robot, comprising six radially projected arm/leg integrated limbs (2) on a robot body (1). In walking on a ceiling, the limb tip pieces (3) of three arm/leg integrated limbs (2) with a phase difference of 120° used as support legs are hooked to the lattice (6) of the ceiling and the remaining three arm/leg integrated limbs (2) used as loose legs are moved in the advancing direction in such a state that the limb tip pieces (3) of the loose legs are extracted from the lattice (6) of the ceiling and, at the same time, and after the gravity center of the robot body (1) is moved in the advancing direction by driving the three support legs, the limb tip pieces (3) of the three loose legs are hooked to the lattice (6) of the ceiling. These operations are performed while alternately replacing the three support legs with the three loose legs.

Description

Description Walking robot and its control method Technical Field ''

The present invention relates to a mouth bot that walks with a plurality of arm and leg integrated limbs protruding from a robot body, and in particular, it is possible to walk on the floor using these arm and leg integrated limbs, and a ceiling. This refers to walking robots that can walk along the road. Background art

Conventionally, various walking robots such as biped robots and quadruped robots have been proposed as robots to walk on the floor (JP-A-2003-71752, 2003-266337, 2004). — See 202676, 2004—2989 & 3, 2004—3142 16, 2005—749 1, 2005-34984, 2005-52896). In addition, a walking robot has been developed by projecting an arm and leg integrated limb that functions as both an arm and a leg to the robot body (Journal of the Robotics Society of Japan, 22-3, pages 411-421). reference).

In addition, a robot that has two legs standing upright has been proposed (see Japanese Patent Publication No. 2004-299045) having a load sensor as shown in FIG. In the robot, as shown in FIG. 16, the load sensor includes a diaphragm (109) to which a strain gauge (107) is attached, a driver (104) that presses the diaphragm (109), and a pressure from the ground. The operating body (105) that receives and presses the driving body (104), the panel (106) interposed between the driving body (104) and the dedicated body (105), and the cylindrical portion (101) that accommodates these members ) And a lid (102), and a flange (108) protruding from the operation body (105) is sandwiched between the case body (100) and the diaphragm (109). Operation body The reciprocation of (105) is restricted within a certain range.

In the load sensor 1, the operating body (105) is displaced upward in FIG. 16 by the force applied to the sole of the robot when walking, and the panel (106) contracts accordingly, and the spring (10 The driving body (104) is driven by the elastic repulsive force of 6), and the driving body (104) presses and deforms the diaphragm (10). As a result, strain is generated in the strain gauge (107), and the force applied to the bottom of the robot is detected by a bridge circuit (not shown) connected to the strain gauge (107).

By the way, when a walking robot is used for various tasks, if the robot can be walked along the ceiling, its usefulness is extremely high. However, so far no robot has been known to walk along the ceiling.

Further, in the load sensor 1 shown in FIG. 16, a spring (106) is interposed in series between the drive body (104) and the operating body (105), and the spring (106) is within a range where it is elastically deformed. Therefore, it is necessary to select the elastic constant of the spring (106) according to the magnitude of the external force received by the operating body (105). For example, when the panel (106) having a small elasticity constant is adopted when the external force received by the operating body (105) is large, the panel (106) is completely contracted by the action of the external force, and is no longer the panel (106). The function of detecting the external force using the elastic repulsive force of the sensor is impaired. Therefore, conversely, if a panel (106) with a large elastic constant is adopted, the amount of deformation of the panel (106) according to the magnitude of the external force will be reduced, which will reduce the sensitivity of the strain gauge (107). Become.

In this way, in a robot equipped with a conventional load sensor, it is necessary to adopt a spring specification according to the magnitude of the force received by the sole during walking, and the detection value of the weight sensor is used for simple walking control. This is not a big problem when used, but for example, in a robot that uses several of its legs as arms for various tasks, the range of magnitude of external force to be detected is extremely wide. There is a problem that it is extremely difficult to construct a load sensor suitable for controlling such a robot.

Accordingly, a first object of the present invention is to provide a robot capable of walking along the ceiling. And a control method thereof.

A second object of the present invention is a robot having a plurality of arm and leg integrated limbs protruding from the robot body, and at least one of the plurality of arm and leg integrated limbs is integrated. In a robot that uses the limbs as arms and walks with at least the remaining three arms and legs integrated limbs, especially when using the arms and legs integrated limbs as arms, a wide range of forces acting on the arms and legs integrated limbs are applied. It is to provide a walking robot that can be detected with a simple configuration. Disclosure of the invention

In order to achieve the first object of the present invention, the walking robot according to the present invention is configured by projecting four or more arm / limb integrated limbs (2) on the robot body (1). A shaft body (5) projects from the distal end of each arm / leg integrated limb (2), and the distal end of the shaft body (5) has a radius around the axis of the shaft body (5). The outer limb tip piece (3) is extended outward from the shaft body (5) in the direction, and it is possible to walk on the floor using at least three arm-limb integrated limbs (2). In addition, it is possible to walk along the ceiling by hooking the limb pieces (3) of at least three arms and legs integrated limb (2) on the grid (6) installed on the ceiling.

In a specific configuration, the leg tip piece (3) has a hemispherical shape having a diameter larger than the outer diameter of the shaft body (5) and bulging toward the distal end side. Therefore, it is easy to move the limb tip piece (3) of the arm-limb integrated limb (2) to the ceiling lattice (6) and to move the limb tip piece (3) away from the lattice (6). It is possible to achieve both.

In the walking robot according to the present invention, in the process of walking on the ceiling, at least three arm-leg integrated limbs (2) with their limb tips (3) hooked on the ceiling grid (6), these three arms A force in a direction to approach each other or a force to separate from each other is generated in the leg integration limb (2). Thus, there is no possibility that the robot arm main body (1) falls off the lattice (6) because the three arm / leg integrated limbs (2) are securely hooked on the lattice (6). More specifically, the walking robot according to the present invention has six arms and legs integrated limbs (2) projecting radially on the robot body (1), and performs control for walking along the ceiling. The three limbs (2) having a phase difference of 120 degrees are the supporting legs (2a), and the limb tips (3) of these supporting legs (2a) are the lattice of the ceiling. (6) and the remaining: ^ arm / limb integrated limb (2) as the free leg (2b), and the limb tip piece (3) of these free leg (2b) as the ceiling grid (6 3) Move the three free legs (2b) in the direction of travel while they are pulled out from), and at the same time drive the three support legs (2a) to move the center of gravity of the robot body (1) in the forward direction. After the movement, the action of pulling the limb tip (3) of the three free legs (2b) on the ceiling grid (6), the three support legs (2a) and the three free legs (2 b) To walk Te.

According to the walking robot control method of the present invention described above, in the process of walking along the ceiling while alternately switching the three support legs (2 a) and the three free legs (2 b), With the limb tip piece (3) of the support leg (2 a) hooked on the grid (6), move the robot body (1) and move the limb tip piece of the three support legs (2 a) ( Since the center of gravity can be maintained inside the triangle formed by 3), ceiling walking with a stable posture is realized.

In order to achieve the second object of the present invention described above, a walking robot according to the present invention has a plurality of arm and leg integrated limbs (2) protruding from a robot body (1), and the plurality of arm legs. The limb is walked by the integrated limb (2), and each arm-leg integrated limb (2) is provided with a limb tip mechanism (20) at the tip.

Here, the limb tip mechanism (20) includes a frame (50) fixed to the distal end portion of the arm-leg integrated limb (2), and a shaft attached to the frame (50) so as to be capable of reciprocating in the axial direction. A body (5), a limb tip piece (3) provided at the distal end of the shaft body (5), and the frame (50) facing the base end face of the shaft body (5) And a spring (7) that is interposed between the frame (50) and the shaft body (5) and biases the shaft body (5) toward the pressure sensor (9). ) And the reciprocation of the shaft (5) relative to the frame (50) is restricted within a predetermined range And a stopper device.

Specifically, the stopper device includes a first stopper (52) and a second stopper (53) fixed to the shaft body (5), and a frame (50) facing both the stoppers (52) (53). ) Provided with a first stopper receiving portion and a second stopper receiving portion, and the shaft body (5) has a contracted position where the first stopper (52) contacts the first stopper receiving portion, and a first stopper receiving portion. The two stoppers (53) can reciprocate between the extended positions in contact with the second stopper receiving portion, and at the neutral position where no external force acts on the limb tip piece (3), the first stopper (52) and The second stopper (53) is spaced apart from the first stopper receiving portion and the second stopper receiving portion.

In the robot of the present invention, the spring (7) is interposed between the frame (50) and the shaft body (5) to urge the shaft body (5) toward the pressure sensor (9), As a result, a constant preload is applied to the pressure sensor (9).

In this state, when an external force (pressing force) in the pressing direction acts on the limb tip piece (3), the pressing force is directly transmitted to the pressure sensor (9) through the shaft body (5). Here, the elastic repulsive force of the spring (7) and the pressing force acting on the limb tip piece (3) act on the pressure sensor (9) in a parallel relationship, and the resultant force is the pressure sensor (9). Will be detected. Therefore, the pressing force acting on the limb tip piece (3) can be obtained by subtracting the elastic repulsion force of the spring (7) from the detected value of the pressure sensor (9).

On the other hand, when an external force (tensile force) in the pulling direction acts on the limb piece (3), the bow I tension force is offset by the pressing force received by the pressure sensor (9) by the elastic repulsive force of the spring (7). Thus, a force obtained by subtracting the tensile force from the elastic repulsion force acts on the pressure sensor (9), and the force is detected by the pressure sensor (9). Therefore, the tensile force acting on the limb tip piece (3) can be obtained by subtracting the detection value of the pressure sensor (9) from the elastic repulsion force of the spring (7).

In the process of increasing the pressing force acting on the limb tip piece (3), the shaft body (5) is displaced toward the pressure sensor (9) side. As a result, the first stopper (52) For pressure sensor (9) Immediately before the pressing force reaches the limit value, it contacts the first stopper receiving part. As a result, the pressing force acting on the pressure sensor (9) is prevented from exceeding the limit value and becoming excessive, thereby protecting the pressure sensor (9).

Also, in the process of increasing the tensile force acting on the limb tip piece (3), the shaft body (5) is displaced away from the pressure sensor-(9), and as a result, the second stopper (53) Contact the second stopper receiving part. As a result, the shaft body (5) is prevented from coming off, thereby protecting the limb tip mechanism (20).

In a specific configuration, the shaft body (5) projects from the front end surface of the frame (50) by a predetermined length at the neutral position, and the limb tip piece (3) extends from the front end surface of the frame (50). It has a shape that expands in the radial direction from the tip of the protruding shaft body (5). According to this specific configuration, various work can be performed by hooking the limb tip piece (3) to the object. At this time, the tensile force acting on the limb tip piece (3) is detected by the pressure sensor (9), and the operation of the arm / limb integrated limb (2) is controlled based on the detected bow I tension force.

According to the walking robot of the present invention, at least one arm-leg integrated limb is used as an arm among a plurality of arm-leg integrated limbs while the remaining at least three arm-leg integrated limbs are used as legs. When walking, it is possible to detect a wide range of forces acting on the arm-limb integrated limb, which is the arm, with a simple configuration. Brief description of the drawings

FIG. 1 is a perspective view of a walking robot according to the present invention having six arms and legs integrated limbs. FIG. 2 is a perspective view showing a working state of the walking robot.

FIG. 3 is a perspective view of the walking robot looking up from above at the ceiling.

FIG. 4 is a perspective view of the walking robot as it looks down on the ceiling from above.

FIG. 5 (a) and FIG. 5 (b) are perspective views of the shape of the limb tip piece of the arm-leg integrated limb as seen from two different directions.

Fig. 6 (a) and Fig. 6 (b) respectively show a part of the limb tip piece hooked on the lattice. It is a fracture front view.

FIG. 7 is a diagram illustrating the first step in the control for walking on the ceiling. FIG. 8 is a diagram illustrating a second step in the control for walking on the ceiling. FIG. 9 is a diagram illustrating a third step in the control for walking on the ceiling. FIG. 10 is a diagram illustrating the fourth step in the control for walking on the ceiling. FIG. 11 is a diagram for explaining the fifth step in the control for walking on the ceiling. FIG. 12 is a diagram for explaining the sixth step in the control for walking on the ceiling. FIG. 13 is a perspective view of a limb tip mechanism deployed in the walking robot of the present invention.

FIG. 14 is a perspective view of the limb tip mechanism as seen from another angle.

FIG. 15 (a), FIG. 15 (b) and FIG. 15 (c) are a series of partially broken side views illustrating the operation of the limb tip mechanism.

FIG. 16 is a cross-sectional view showing a conventional load sensor of a robot.

Figures 17 (a) and 17 (b) show a back view of a walking robot with six arm and leg integrated limbs, with the arm and leg integrated limbs extended, and bending these arm and leg integrated limbs upward. FIG.

'' Fig. 18 (a) and 18 (b) show a plan view of a walking robot with five arm and leg integrated limbs, with the arm and leg integrated limbs extended, and these arm and leg integrated limbs facing downward. It is a perspective view of the state bent.

19 (a) and 19 (b) show a plan view of a walking robot equipped with four arm and leg integrated limbs, with the arm and leg integrated limbs extended, and these arm and leg integrated limbs facing downward. It is a perspective view of the state bent. BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings. As shown in FIG. 1, a walking robot according to the present invention has a robot main body (1) having six peripheral walls having a hexagonal plan shape, and an outer peripheral surface of the robot main body (1) with a phase difference of 60 degrees from each other. It consists of six arm and leg integrated limbs (2) projecting in a projectile shape, and these six arm and leg integrated limbs (2) can be used for walking and working.

The arm-leg integrated limb (2) is composed of a first limb (21), a second limb (22), a third limb (23), and a fourth limb (24) as shown in the figure. The one limb (21) can rotate around the axis A 1 extending horizontally from the horizontal robot body (1), and the second limb (22) has an axis A 2 extending in the lead straight direction. The third limb (23) is rotatable about an axis A3 orthogonal to the axes A1 and A2, and the fourth limb (24) is an axis A parallel to the axis A3. Can be rotated around 4.

Each joint of the arm and leg integrated limb (2) has a first motor (41), a second motor (42), and a second motor (42) for rotationally driving the four limbs (21) to (24). The third morning (43) and the fourth morning (44) are connected. The robot body (1) has a built-in control device (not shown) for controlling these modules (41) to (44).

A frame (50) is fixed to the tip of each arm and leg integrated limb (2), the shaft (5) passes through the frame (50), and the limb is inserted into the tip of the shaft (5). It has a tip (3). As shown in FIGS. 5 (a) and 5 (b), the limb tip piece (3) has an outer diameter larger than the outer diameter of the shaft body (5) and is positioned at the shaft center of the shaft body (5). It consists of a metal disc (31) fixed in a vertical position with respect to it and a synthetic resin hemisphere (32) fixed to the surface of the disc (31).

In the above walking robot, for example, as shown in FIG. 2, while walking using the four arms and legs integrated limbs (2) as legs, the two arms and legs integrated limbs (2) are used to hold an object. Various operations such as transportation can be performed. In addition, as shown in Fig. 3 and Fig. 4, draw at least three limb tips (3) of the arm / limb integrated limb (2) against the grid (6) installed on the ceiling, and place it on the ceiling. It is also possible to walk along.

When walking on the ceiling, for example, as shown in FIGS. 7 to 12, three arm-limb integrated limbs (2) having a phase difference of 120 degrees from each other are used as support legs (2a), and these support legs (2a ) And the remaining three arm-leg integrated limbs (2) as the free legs (2 b), and the limbs of these free legs (2 b) The tip piece (3) or ceiling grid (6) The three free legs (2b) are moved in the direction of travel while being removed, and the center of gravity of the robot body (1) is moved in the direction of travel. Walk along the ceiling while alternating the three support legs (2a) and the three free legs (2b) with the action of hooking the limb tip piece (3) on the ceiling grid (6) .

In addition, when the three support legs (2a) are hooked on the lattice (6), the force F 1 in the direction in which these three support legs (2a) are brought closer to each other as shown in FIG. 6 (a). Or force F 2 in the direction of separating from each other as shown in FIG. 6 (b). As a result, the three support legs (2a) are securely hooked on the bar (61) of the grid (6), and the walking robot does not fall off the grid (6).

When the walking robot according to the present invention is walked along the ceiling, the following control is executed. First, as shown in FIGS. 7 (a) and 7 (b), with the three support legs (2a) hooked on the grid (6), the three free legs (2b) are removed from the grid (6). Extract. Here, the center of gravity G of the robot is set to the inner side of the triangle whose apex is the locking point of the three support legs (2 a) with respect to the lattice (6), preferably about the center. When pulling out the three free legs (2b) from the grid (6), move the robot body close to the grid (6) and then return the robot body to the standard 'height position, By pulling 2b) out of the grid (6), the free leg (2b) can be pulled out over a wide working range. As the robot body returns to the reference height, the center of gravity G slightly drops.

Next, as shown in FIGS. 8 (a) and 8 (b), when the three free legs (2b) are moved in the traveling direction, the three supporting legs (2a) are moved in the direction opposite to the traveling direction. By driving, the center of gravity G of the robot is moved in the direction of travel.

Next, as shown in Figs. 9 (a) and 9 (b), the three free legs (2b) are inserted into the openings of the lattice (6), and each leg tip is raised to a position higher than the lattice (6) Let When inserting the three free legs (2b) into the openings of the grid (6), the robot body is moved closer to the grid (6) so that the free leg (2b) can be inserted in a wide working range. After that, return the robot body to the standard height position. As the robot moves closer to the grid (6), The center of gravity G rises slightly.

Subsequently, as shown in FIGS. 10 (a) and 10 (b), the three free legs (2b) are driven in a direction approaching each other, and each limb tip piece is hooked on the bar of the lattice (6). As a result, the limb tip of at least one free leg (2b) is caught at the intersection of the two bars.

Then, as shown in Fig. 1 l (a) (b), the three arms and legs integrated limb (2), which had been the swing leg (2 b) until now, was used as the support leg (2 a). The two arms and legs, which were the legs (2a), are used as the free leg (2b), and the support leg (2a) and the free leg (2b) are switched. As a result, the robot body is supported on the grid (6) by three new support legs (2a), and the triangle with the engagement point of the three support legs (2a) with respect to the grid (6) as a vertex. The center of gravity G of the robot is set to the inside, preferably approximately the center.

Then, as shown in FIGS. 12 (a) and 12 (b), the new three free legs (2b) are moved away from each other, the limb tips are detached from the lattice (6), The leg (2b) can be extracted from the grid (6). After that, in the same way as the above step, while gradually replacing the three support legs (2a) and the three free legs (2b), gradually moving the robot's center of gravity in the advancing direction The walking in the state suspended from the ceiling is advanced. 'Note that the above-mentioned movements of the six arm / limb integrated limbs (2) in the ceiling walk are the same as those of the four motors (41) to (44) installed in each arm / leg integrated limb (2) shown in Fig. 1. It can be easily realized by driving and controlling at least three of the motors and operating at least three joints.

As described above, according to the present invention, since the walking robot can be walked along the ceiling with a stable posture, the field of activity of the walking robot in indoor and outdoor work has been dramatically expanded. The usefulness is extremely high.

In the walking robot according to the present invention, as shown in FIG. 13 and FIG. 14, the limb provided with the frame (50) integrated with the fourth limb (24) at the tip of the arm / limb integrated limb (2). It is possible to deploy the previous mechanism (20). The frame (50) includes a distal end portion of the fourth limb (24), a pair of arm portions (24a) (24a) projecting from the distal end portion, and the arm portions (24a) (24a) And a cylindrical member (84) (83) respectively attached to the front plate portion (81) and the rear plate portion (82) of the frame (8). Yes. The shaft (5) passes through the frame (8), and the shaft (5) is supported by the cylindrical members (84) and (83) so as to be reciprocally movable in the axial direction.

^ At the tip of the shaft (5) protruding from the body (8), a metal disc (31) having a larger outer diameter than the shaft (5) and a synthetic resin hemisphere ( The limb tip (3) consisting of 32) is fixed. In addition, a pressure sensor (9) is installed at the distal end of the fourth limb (24) so as to face the end surface on the proximal end side of the shaft body (5), thereby constituting a single-axis load cell. .

A disc-shaped spring receiving member (51) is fixed to the shaft body (5) at a position inside the frame body (8) and away from the rear plate portion (82). 8) A coiled spring (7) is interposed between the front plate part (81) and the spring receiving member (51), and the shaft (5) is attached to the pressure sensor (9). It is fast. Further, the vehicle body (5) has a predetermined distance from the rear plate (82) to the cylindrical member (83) between the spring receiving member (51) and the rear plate (82) of the frame (8). The disc-shaped first stopper (52) is fixed, and the disc-shaped second stopper (53) is fixed so as to face the inner surface of the front plate portion (81). .

'' In the above limb tip mechanism (20), as shown in FIG. 15 (a), the first stopper (52) and the second stopper (53) are in the unloaded state where no external force acts on the limb tip piece (3). The shaft (5) and the cylindrical members (83) and (84) are separated from each other, and the shaft (5) can move back and forth in the axial direction within a certain range. In this state, the shaft body (5) is urged by the spring (7) with a constant force toward the pressure sensor (9), and thereby the pressure sensor (9) has a constant force. Preload is applied. Therefore, the pressure sensor (9) detects the force in the positive direction and the negative direction with this state as an equilibrium point.

When the pressing force F 1 acts on the limb tip piece (3) as shown in FIG. 15 (b), the pressing force F 1 is directly transmitted to the pressure sensor (9) through the shaft body (5). Here, the elastic repulsive force of the spring (7) and the pressing force acting on the limb tip piece (3) act on the pressure sensor (9) in parallel with each other, and the resultant force is applied by the pressure sensor (9). Will be detected. Obedience Thus, by subtracting the elastic repulsion force of the spring (7) from the detected value of the pressure sensor (9), the pressing force F1 acting on the limb tip piece (3) can be obtained.

In the process of increasing the pressing force F 1 acting on the limb tip piece (3), the shaft (5) is displaced toward the pressure sensor (9) side, and if the pressing force F 1 becomes excessive, Fig. 15 (b ), The first stopper (52) contacts the cylindrical member (83) of the rear plate (82) of the frame (8). As a result, it is possible to prevent the pressing force acting on the pressure sensor (9) from exceeding the limit value (maximum strain allowable value) and to protect the pressure sensor (9). .

When tension F2 acts on the limb tip piece (3) as shown in FIG. 15 (c), the tension force F2 is offset by the pressing force received by the pressure sensor (9) by the elastic repulsion force of the spring (7). A force obtained by subtracting the tensile force from the elastic repulsion force acts on the pressure sensor (9), and the force is detected by the pressure sensor (9). Therefore, by subtracting the detected value of the pressure sensor (9) from the elastic repulsive force of the spring (7), the tensile force F2 acting on the limb tip piece (3) can be obtained.

Tensile force acting on the limb tip (3): In the process of increasing F 2, the shaft body (5) is displaced away from the shoal sensor — (9), and if the tensile force F 2 becomes excessive, As shown in FIG. 15 (c), the second stopper (53) contacts the inner surface of the front plate portion (81) of the frame (8). As a result, the shaft body (5) is prevented from coming off, which prevents disassembly of the limb tip mechanism (20).

It should be noted that the second strainer (53) is brought into contact with the front plate (81) of the frame (8) before the end surface of the shaft (sa) is completely separated from the pressure sensor (9). It is also possible to adopt a configuration in which the second stopper (53) is brought into contact with the front plate (81) of the frame (8) after the end surface of the shaft (5) is separated from the pressure sensor (9). Thus, according to the configuration, the work using the limb tip piece (3) can be continued regardless of the maximum value of the tensile force that can be measured by the pressure sensor (9).

In a walking robot equipped with the above-mentioned limb tip mechanism (20), the force acting on the limb tip piece (3) does not go through the spring (7) but directly through the shaft (5). sensor (9), the elastic constant of the spring (7) allows the preload to the pressure sensor (9) to be appropriately sized regardless of the magnitude of the force acting on the limb tip (3). Can be designed to a certain value.

Therefore, out of the six arms / limbs integrated limb (2), at least three arms / limbs integrated limb (2) is used as a leg and one or more arms / limbs integrated limb (2) is When working with the arm, the arm-leg integrated limb (2) and the arm-limb integrated limb (2) are interchanged during the walking process. Based on the force detection by the limb tip mechanism (20) of the leg integrated limb (2), the gait is controlled appropriately, and at the same time, the force detection by the limb tip mechanism (20) of the arm-limb integrated limb (2) becomes an arm. Based on this, it is possible to appropriately control work such as object gripping.

In particular, when various work is performed by hooking the limb tip piece (3) of one or a plurality of arm-limb integrated limbs (2) to the object, the tensile force acting on the limb tip piece (3) is pressure. The movement of the arm / limb integrated limb (2) can be controlled based on the detected tensile force detected by the sensor (9).

In the limb tip mechanism (20), a pressure sensor (9) and a mechanism (end effector) for transmitting the force acting on the limb tip piece (3) to the pressure sensor (9) are: Since the structure is different without being integrated with each other, the walking robot of the present invention can be operated in a new environment in which the range of the force acting on the limb tip (3) is different. Replacing only the pressure sensor (9) or replacing the spring (7) makes it possible to easily cope with this. However, it is easy to change the design and maintenance of the limb tip mechanism (20).

Further, in the walking robot according to the present invention, as shown in FIG. 17 (a), the six arm-limb integrated limbs (2) projecting radially about the central axis of the robot body (1) are provided. As shown in Fig. 17 (b), it is possible to bend upward on a plane perpendicular to the central axis, and of these, walk along the ceiling using at least three arms and legs integrated limb (2). It is possible to make it. . In the walking robot according to the present invention, the number of arms and legs integrated limbs (2) is not limited to six, and may be five as shown in FIGS. 18 (a) and 18 (b). As shown in FIG. 19 (a) and FIG. 19 (b), the number may be four, but in either configuration, the multiple arms / legs integrated limb (2) has the central axis of the robot body (1) as the center axis. As the center, the projections are radially projected toward the direction orthogonal to the central axis with the same angular difference. With such a configuration, the robot work range is ensured evenly in all directions. According to the configuration in which the plurality of arm / limb integrated limbs (2) can be bent to both sides of the plane around the plane orthogonal to the central axis, at least three arm / leg integrated limbs (2) are connected to the plane. It is possible to bend on the floor and walk on the floor, and bend at least three arms and legs integrated limb (2) to the upper side of the plane without inverting the robot body (1) This makes it possible to walk along the ceiling.

Claims

The scope of the claims

1. Four or more arm / limb integrated limbs (2) project from the robot body (1), and a shaft (5) projects from the tip of each arm / leg integrated limb (2). The distal end portion of the shaft body (5) is provided with a limb tip piece (3) having an outer shape that is radially outward from the shaft body (5) about the axis of the shaft body 5 (5). It is possible to walk on the floor using at least three arm and leg integrated limbs (2), and at least three arm and leg integrated limbs (2) limb tips (3) are installed on the ceiling A walking mouth bot that is able to walk along the ceiling by hooking it on the grid (6).

10 2. Four or more arm / limb integrated limbs (2) project from the robot body (1), and a tip of each arm / leg integrated limb (2) is provided with a limb tip piece (3). The arm and leg integrated limbs (2) or more are projected radially from the central axis of the mouth bot body (1) in the direction perpendicular to the central axis with the same angular difference. The integrated limb (2) has a plurality of joints, and can be bent to both sides of the plane around a plane perpendicular to the central axis.

15. It is possible to walk on the floor by bending at least three arm / limb integrated limbs (2) to the lower side of the plane and at least three arm / limb integrated limbs (2). A walking robot capable of walking along the ceiling by bending the upper side of the plane and hooking the limb tip piece (3) on a grid (6) installed on the ceiling.

3. The limb tip piece (3) has a diameter larger than the outer diameter of the shaft body (5) and has a 20 hemispherical shape swelled toward the distal end side. Walking robot.

4. In the process of walking on the ceiling, with the limb tip pieces (3) of at least three arms and legs integrated limb (2) hooked on the grid (6) of the ceiling, these three arms and legs integrated limb (2) The walking robot according to any one of claims 1 to 3, wherein force is generated in a direction in which the robots approach each other.

25 5. In the process of walking on the ceiling, with the limb tip pieces (3) of at least three arm and leg integrated limbs (2) hooked on the grid (6) of the ceiling, these three arm and leg integrated limbs (2 ) The walking robot according to any one of claims 1 to 3, wherein a directional force is generated.

6. The robot arm (1) has six arms and legs integrated limbs (2) projecting radially with a phase difference of 60 degrees, and three arms having a phase difference of 120 degrees with each other in the process of walking on the ceiling. The leg integration limb 5 (2) is the support leg (2 a), and the limb tip pieces (3) of these support legs (2 a) are hooked on the ceiling grid (6) and the remaining three arm legs are integrated. With the limb (2) as the free leg (2b), the limb tip piece (3) of these free legs (2b) is extracted from the ceiling grid (6), and the three free legs (2 b) is moved in the direction of travel, and at the same time, the center of gravity of the robot body (1) is moved in the direction of travel, and then the limb tips (3) of the three free legs (2b) are moved to the ceiling grid (6 10) The movement of 10) is carried out by walking along the ceiling while alternately switching the three support legs (2a) and the three free legs (2b). The walking robot described in any

7. Six arm and leg integrated limbs (2) project radially from the robot body (1) with a phase difference of 60 degrees, and a shaft (5) is attached to the tip of each arm and leg integrated limb (2). The shaft body (5)

15. The tip of 15 is provided with a limb tip piece (3) having an outer shape extending radially outward from the shaft body (5) in the radial direction around the axis of the shaft body (5). It is possible to walk on the floor using the arm and leg integrated limb (2), and at least three arm and leg integrated limbs (2) with the limb tip pieces (3) installed on the ceiling ( 6) In a walking robot that can be hooked and walk along the ceiling,

20 Using the three arm / limb integrated limbs (2) with a phase difference of 120 degrees as the support legs (2 a), hook the limb tip pieces (3) of these support legs onto the ceiling lattice (6), With the remaining three arms and legs integrated limb (2) as the free leg (2b), the limb tip piece (3) of these free leg (2b) is extracted from the ceiling case (6), While moving the three free legs (2b) in the direction of travel, the center of gravity of the robot body (1) is moved in the direction of travel by driving the three support legs (2a).

25 After moving, the action of hooking the limb tip piece (3) of the three free legs (2 b) on the ceiling grid (6) is done with the three support legs (2 a) and the three free legs ( 2 While alternating between b) and the ceiling A walking robot control method characterized by walking along a robot.

8. While maintaining the position of the center of gravity of the robot body (1) inside the triangle with the point of engagement with the lattice (6) of the limb tip piece (3) of the three support legs (2 a) The method for controlling a walking robot according to claim 7, wherein the engaging / disengaging operation of the swing leg (2b) of the book with respect to the scale (6) is performed.

9. The robot body (1) has a plurality of arm-leg integrated limbs (2) protruding from the robot arm and walks with these arm-leg integrated limbs (2). ) Has a limb tip mechanism (20) at the tip, and the limb tip mechanism (20) has a frame (50) fixed to the tip of the arm-leg integrated limb (2), and an axis on the frame (50). A shaft body (5) attached so as to be capable of reciprocating in the direction, a limb tip piece (3) provided at the distal end portion of the shaft body (5), and an end face on the proximal end side of the shaft body (5) A pressure sensor (9) installed on the frame (50) opposite to the frame (50), and the shaft body (5) interposed between the frame (50) and the shaft body (5). ) And a stopper that restricts the reciprocation of the shaft body (5) relative to the frame (50) within a predetermined range.

10. The stopper device includes a first stopper (52) and a second stopper (53) fixed to the shaft body (5), and a frame (50) facing both the stoppers (52) (53). ) Provided with a first stopper receiving portion and a second stopper receiving portion, and the shaft body (5) has the first stopper (52) in contact with the first stopper receiving portion. In the neutral position where the external force does not act on the limb tip piece (3), and the second stopper (53) can reciprocate between the extended position where the second stopper (53) contacts the second stopper receiving portion. The walking robot according to claim 9, wherein the first stopper (52) and the second stopper (53) are spaced apart from the first stopper receiving part and the second stopper receiving part, respectively.

1 1. The first stopper (52) is in contact with the first stopper receiving portion immediately before the pressing force of the shaft (5) against the pressure sensor (9) reaches a predetermined limit value. The walking robot according to item 0.

1 2. The second stopper (53) has the end face of the shaft (5) separated from the pressure sensor (9). The walking robot according to claim 10, wherein the walking robot is in contact with the second stopper receiving portion at the same time or before and after.

1 3. The shaft body (5) projects from the front end surface of the frame (50) by a predetermined length at the neutral position, and the limb tip piece (3) projects from the front end surface of the frame (50). The walking robot according to any one of claims 9 to 12, which has a shape that expands in a radial direction from a tip of the body (5).

14. The plurality of arm-leg integrated limbs (2) project radially from the outer peripheral surface of the robot body (1), and each arm-leg integrated limb (2) has a plurality of joints, and at least one The walking according to any one of claims 9 to 13, wherein the arm / limb integrated limb (2) is used as an arm and the remaining three arms / limbs integrated limb (2) is used as a leg. robot.