WO2019103065A1

WO2019103065A1 - Humanoid robot

Info

Publication number: WO2019103065A1
Application number: PCT/JP2018/043070
Authority: WO
Inventors: 掃部　雅幸; 創柚木崎; 美宇鈴木
Original assignee: 川崎重工業株式会社
Priority date: 2017-11-24
Filing date: 2018-11-21
Publication date: 2019-05-31
Also published as: JP2019093498A; JP6924129B2; CN111417497A; CN111417497B

Abstract

A humanoid robot that comprises: a pair of plate members (10, 10); a finger member (20) that is arranged such that a base end part thereof is sandwiched between the pair of plate members (10, 10); and a drive mechanism (30) that drives the finger member (20). By means of the drive mechanism (30), the finger member (20) operates such that a tip end part thereof is positioned further to the inside than tip ends of the plate members (10) but protrudes from side surfaces of the plate members (10).

Description

Humanoid robot

The present invention relates to a humanoid robot.

A biped walking humanoid robot is known in which a hand portion of a hand is configured to be storable by a stowing mechanism (see, for example, Patent Document 1). In the biped walking humanoid robot disclosed in Patent Document 1, when the inclination of the body is detected from the detection signal of the posture sensor, the hand storage mechanism is drive-controlled to store the tip of the hand in the storage position. Thus, when the robot falls or the like, the hand portion is protected from an impact such as colliding with the floor surface.

Patent No. 3673869

However, in the humanoid robot disclosed in Patent Document 1 described above, the entire hand tip portion is stored in the storage position of the hand storage mechanism, so there is a problem that the hand portion is enlarged.

The present invention is intended to solve the above-described conventional problems, and it is an object of the present invention to provide a robot whose hands can be miniaturized as compared with a conventional humanoid robot.

In order to solve the above-mentioned conventional problems, a humanoid robot according to the present invention comprises: a pair of plate members; and a finger member arranged such that a base end thereof is sandwiched between the pair of plate members; A drive mechanism for driving a finger member, wherein the tip of the finger member is positioned more inward than the tip of the plate member by the drive mechanism, and the finger member protrudes from the side surface of the plate member To work.

Thereby, since it is not necessary to store the whole finger member in a plate member, a small-sized plate member can be used. Therefore, it is possible to miniaturize the hand as compared with the conventional humanoid robot.

According to the humanoid robot of the present invention, the hand can be miniaturized as compared with the conventional humanoid robot.

FIG. 1 is a schematic view showing a schematic configuration of a humanoid robot according to the first embodiment. FIG. 2 is a functional block diagram schematically showing a configuration of a control device in the humanoid robot shown in FIG. FIG. 3 is a perspective view schematically showing a schematic configuration of a humanoid robot hand shown in FIG. FIG. 4 is a front view of the hand shown in FIG. FIG. 5 is an exploded plan view of the drive mechanism of the hand shown in FIG. 6 is a side view of the hand shown in FIG. FIG. 7 is a side view of the hand shown in FIG. FIG. 8 is a side view of the hand shown in FIG. FIG. 9 is a side view of the hand shown in FIG. FIG. 10 is a side view of the hand shown in FIG. FIG. 11 is a schematic view showing a schematic configuration of a fourth bevel gear of the hand shown in FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, the same or corresponding parts are denoted by the same reference numerals, and redundant description will be omitted. Further, in all the drawings, components for explaining the present invention are extracted and illustrated, and the other components may be omitted. Furthermore, the present invention is not limited to the following embodiments.

Embodiment 1
The humanoid robot according to the first embodiment includes a pair of plate members, a finger member arranged such that the base end thereof is sandwiched between the pair of plate members, and a drive mechanism for driving the finger member. And the drive mechanism causes the finger to operate such that its tip is positioned inward from the tip of the plate and protrudes from the side surface of the plate.

Further, in the humanoid robot according to the first embodiment, the drive mechanism may be configured to rotate the finger member about the proximal end of the finger member.

Furthermore, the humanoid robot according to the first embodiment further includes a control device, and the control device performs an operation when the humanoid robot falls, an operation when the humanoid robot stands up, and four humanoid robots. When performing at least one of the walking motions, the drive mechanism is driven to position the tip of the finger member inward of the tip of the plate member and the side surface of the plate member The finger member may be operated to protrude from the end.

Hereinafter, an example of a humanoid robot according to the first embodiment will be described with reference to FIGS. 1 to 11.

[Configuration of humanoid robot]
FIG. 1 is a schematic view showing a schematic configuration of a humanoid robot according to the first embodiment.

As shown in FIG. 1, a humanoid robot 100 according to the first embodiment has a body 101, a head 102, a hand 120, a pair of

arms

103 and 103, a pair of

legs

104 and 104, and a torso. And a controller 110 disposed in the housing 101. The configuration of the hand 120 will be described later.

The head 102 is connected to the torso 101 via a neck joint 105. In the neck joint 105, a drive mechanism (not shown) for swinging (rotating) the head 102 relative to the body 101 is disposed.

Similarly, the arm 103 is connected to the torso 101 via a shoulder joint 106. In the shoulder joint 106, a drive mechanism for swinging (rotating) the arm 103 relative to the body 101 is disposed (not shown).

Also, the leg 104 is connected to the torso 101 via the hip joint 107. In the hip joint 107, a drive mechanism for swinging (rotating) the leg 104 relative to the trunk 101 is disposed.

The drive mechanism disposed at each joint is composed of an actuator (for example, an electric motor (servo motor)) and drive members such as a rack and pinion and a belt and pulley.

Further, in the robot 100 according to the first embodiment, the control device 110 controls the pair of

legs

104 and 104 to walk on two legs, and the pair of

arms

103 and 103 and the pair of

legs

104 and 104 , And are configured to walk on four legs.

In the first embodiment, the controller 110 is disposed in the body 101. However, the present invention is not limited to this. The form in which control device 110 is arranged in other composition members, such as head 102, may be adopted, and the form in which control device 110 is arranged outside humanoid robot 100 may be adopted.

Here, the configuration of the control device 110 will be described with reference to FIG.

FIG. 2 is a functional block diagram schematically showing a configuration of a control device in the humanoid robot shown in FIG.

As shown in FIG. 2, the control device 110 includes an arithmetic unit 110 a such as a CPU, a storage unit 110 b such as a ROM and a RAM, and a servo control unit 110 c. The control device 110 may be, for example, a robot controller provided with a computer such as a microcontroller.

The control device 110 may be configured of a single control device 110 that performs centralized control, or may be configured of a plurality of control devices 110 that perform distributed control in cooperation with each other. In the first embodiment, the storage unit 110 b is arranged in the control device 110. However, the present invention is not limited to this, and the storage unit 110 b is provided separately from the control device 110. May be adopted.

The storage unit 110 b stores information such as a basic program and various fixed data. The arithmetic unit 110a controls various operations of the humanoid robot 100 by reading and executing software such as a basic program stored in the storage unit 110b. That is, the calculation unit 110a generates a control command of the humanoid robot 100, and outputs this to the servo control unit 110c. The servo control unit 110 c is configured to control the drive of the servomotor provided at each joint of the robot 100 based on the control command generated by the calculation unit 110 a.

Next, the hand 120 of the humanoid robot 100 according to the first embodiment will be described with reference to FIGS. 3 to 11.

FIG. 3 is a perspective view schematically showing a schematic configuration of a humanoid robot hand shown in FIG. FIG. 4 is a front view of the hand shown in FIG. FIG. 5 is an exploded plan view of the drive mechanism of the hand shown in FIG. 6 to 10 are side views of the hand shown in FIG. FIG. 11 is a schematic view showing a schematic configuration of a fourth bevel gear of the hand shown in FIG.

In FIGS. 3 to 10, the longitudinal direction, the lateral direction, and the vertical direction of the hand are represented as the longitudinal direction, the lateral direction, and the vertical direction in the figure. In FIGS. 6 to 10, the leftmost plate member is omitted.

As shown in FIG. 3 to FIG. 11, the hand 120 of the humanoid robot 100 according to the first embodiment is a pair of

plate members

10, 10 erected from the upper surface of the bottom plate 50, and their proximal end Is provided with a finger member 20 disposed so as to be sandwiched between the pair of

plate members

10, 10, and a drive mechanism 30 for driving the finger member 20, and the drive mechanism 30 causes the finger member 20 to have its tip end Are disposed inward from the tip of the plate member 10 and are configured to operate so as to protrude from the side surface of the plate member 10.

In the first embodiment, four plate members 10 are disposed, and three finger members 20 are disposed between the pair of

plate members

10, 10, respectively. Not limited to this. For example, three plate members 10 may be disposed, and two finger members 20 may be disposed between the pair of

plate members

10, 10, respectively, or six plate members. 10 may be disposed, and five finger members 20 may be disposed between the pair of

plate members

10, 10, respectively. That is, as long as n + 1 plate members 10 are arranged for n (n is an integer) finger members 20, any form may be adopted.

The drive mechanism 30 includes a substantially rectangular housing 31, a drive motor (electric motor) 32, pulleys 33 and 34, a belt 35, first bevel gear 36 to third bevel gear 38, and first gear 39 to third gear. 41 (see FIG. 5).

The drive motor 32 is disposed at the left end of the housing 31, and the second bevel gear 37 is disposed at the right end. Specifically, the drive motor 32 is disposed such that its output shaft is located outward of the housing 31. Further, a pulley 33 is fixed to the output shaft of the drive motor 32. The second bevel gear 37 is disposed such that its rotation axis 37A is directed in the vertical direction, and the first bevel gear 36 is engaged with the second bevel gear 37. The first bevel gear 36 is disposed such that the proximal end portion of the rotation shaft is positioned outward of the housing 31. Further, a pulley 34 is fixed to the base end of the rotation shaft of the first bevel gear 36. A belt 35 is wound around the

pulleys

33 and 34.

Thus, when the drive motor 32 is driven, the rotational movement is transmitted to the first bevel gear 36 via the pulley 33, the belt 35, and the pulley 34, and the first bevel gear 36 is rotated. With the rotation of the first bevel gear 36, the second bevel gear 37 can rotate.

Further, the first lid member 42 is disposed at the right end of the upper end of the housing 31, and the second lid is disposed above the first lid member 42 so as to abut on the first lid member 42. A member 43 is arranged. A central portion of the first lid member 42 is open, and the rotation shaft 37A of the second bevel gear 37 is inserted through the open portion. The first gear 39 is fixed to the upper end portion of the rotation shaft 37A.

The second lid member 43 is formed in a substantially hexagonal shape in a plan view, and a through hole 43A is provided at the central portion thereof. The first gear 39 is disposed in the through hole 43 </ b> A of the second lid member 43. Further, at the rear of the through hole 43A of the second lid member 43, a recess 43B is provided. Furthermore, the second lid member 43 is provided with a recess 43C so as to surround the through hole 43A.

The second gear 40 is rotatably disposed in the recess 43B of the second lid member 43, and the third gear 41 is rotatably disposed in the recess 43C via the bearing member 44. . The second gear 40 is configured to mesh with the first gear 39. The third gear 41 disposed on the front side of the second lid member 43 is configured to mesh with the first gear 39. Further, the third gear 41 disposed on the rear side of the second lid member 43 is configured to mesh with the second gear 40.

As the bearing member 44, a bearing may be used. Further, the number of teeth and the like of each of the first gear 39 to the third gear 41 are appropriately set such that the three third gears 41 are synchronized.

Thus, when the first gear 39 rotates, the three third gears 41 can rotate in synchronization with each other.

The third bevel gear 38 is fixed to the upper end portion of the rotation shaft 41A of the third gear 41. The third bevel gear 38 meshes with the fourth bevel gear 45 disposed between the pair of plate members 10. The first shaft member 46 is inserted at the rotation center of the fourth bevel gear 45. The base end portion of the first link 21 of the finger member 20 is inserted into the first shaft member 46 via the bearing member 47. Further, the first shaft member 46 is disposed so as to pass through the through hole 10A provided in the plate member 10.

A flat surface 45A parallel to the main surface of the plate member 10 is formed on an inner side (right side surface of the fourth bevel gear 45) of the fourth bevel gear 45 on the tooth tip side (see FIG. 11). The right side surface of the fourth bevel gear 45 is in contact with the left side surface of the bearing member 47, and due to the friction between them, the first link 21 is rotated as the fourth bevel gear 45 rotates within a predetermined range. It is configured to move. Further, the first link 21 is provided with a contact portion 23. The contact portion 23 is a first stopper 61 provided on the main surface on the left side of the plate member 10 when the first link 21 rotates, or a second stopper 62 provided upright from the upper surface of the bottom plate 50; It is arrange | positioned so that it may contact | abut. Here, the predetermined range means between the first stopper 61 provided on the main surface on the left side of the plate member 10 and the second stopper 62 provided upright from the upper surface of the bottom plate 50. Further, a bearing may be used as the bearing member 47.

Further, as shown in FIG. 11, a part of the circumferential surface of the fourth bevel gear 45 is cut out, and a pivoting member 63 is fixed to the cutout portion by a fastening member 64. The pivotal support member 63 pivotally supports the second shaft member 48. The base end of the second link 22 of the finger member 20 is inserted into the second shaft member 48 via the bearing member 49 (see FIGS. 6 to 10). Thus, with the rotation of the fourth bevel gear 45, the base end portion of the second link 22 can revolve with respect to the rotation center of the fourth bevel gear 45. As the bearing member 49, a bearing may be used.

The finger joint member 24 is disposed at the tip of the first link 21 and the second link 22, and the claw member 25 is disposed at the tip of the finger joint 24. Specifically, a through hole is provided at the distal end of the first link 21 and the proximal end of the finger joint member 24, and the shaft member 72 is provided in the through hole via the bearing member 71. Is inserted. Similarly, through holes are respectively provided at the distal end of the second link 22 and the proximal end of the finger joint member 24, and the shaft member 74 is fitted in the through holes via the bearing members 73. It is inserted. Thus, the finger joint member 24 can swing relative to the first link 21 and the second link 22.

The bearing member 71 is rotatably attached to the finger joint member 24. In addition, bearings may be used as the bearing

members

71 and 73.

A through hole is provided in the distal end portion of the finger joint member 24 and the proximal end portion of the claw member 25, and the shaft member 76 is inserted into the through hole via the bearing member 75. . The bearing member 75 is rotatably attached to the finger joint member 24, and the claw member 25 is fixed. Further, as the bearing member 75, a bearing may be used.

Further, the outer peripheral surfaces of the bearing member 71 and the bearing member 75 are formed to be uneven, and are arranged to mesh with each other. Thus, when the bearing member 71 swings, the bearing member 75 swings. Further, as the bearing member 75 swings, the claw member 25 swings.

[Operation and effect of humanoid robot]
Next, the operation and effects of the humanoid robot 100 according to the first embodiment will be described with reference to FIGS. 1 to 11. The following operation is executed by the arithmetic unit 110a of the control device 110 reading a predetermined program stored in the storage unit 110b.

First, as shown in FIGS. 3 and 6, it is assumed that the finger member 20 of the hand 120 is in the open state. When the humanoid robot 100 falls over, when the humanoid robot 100 stands up, and / or when the humanoid robot 100 walks four legs, the control device 110 sets the drive mechanism 30 to at least one of them. Driving is performed, and the finger member 20 is operated (rocked) so that the tip end of the finger member 20 is positioned inward from the tip (upper end) of the plate member 10 and protrudes from the side surface of the plate member 10.

Specifically, as shown in FIG. 7, when the drive mechanism 30 is driven, the finger members 20 disposed on the rear side swing toward the front side and the finger members 20 disposed on the front side. Swings backward. Thereby, the finger member 20 can be moved to a position which is located inward (downward) than the tip (upper end) of the plate member 10 and which protrudes from the side surface of the plate member 10. For this reason, the front end (upper end) of the plate member 10 can be brought into contact with the ground, and the finger member 20 can be prevented from coming into contact with the ground.

Then, as shown in FIG. 8, when the contact portion 23 provided on the first link 21 of the finger member 20 contacts the second stopper 62, the first link 21 can not swing. . On the other hand, the fourth bevel gear 45 further swings because the drive mechanism 30 is driven. As the fourth bevel gear 45 swings, the second link 22 further moves outward of the hand 120. Thus, the finger joint member 24 pivots downward about the shaft member 72 as an axis.

At this time, along with the swinging of the finger joint member 24, the bearing member 71 swings. When the bearing member 71 swings, the bearing member 75 meshing with the bearing member 71 swings. Thereby, the claw member 25 fixed to the bearing member 75 swings, and the claw member 25 is closed (see FIG. 9).

Further, as shown in FIG. 9, when the finger joint member 24 is opened from the state in which the finger joint member 24 is closed, the control device 110 drives the drive mechanism 30. Then, as shown in FIG. 10, the finger member 20 disposed on the rear side swings toward the rear side, and the finger member 20 disposed on the front side swings toward the front side. .

Then, as shown in FIG. 6, when the contact portion 23 provided on the first link 21 abuts on the first stopper 61, the first link 21 can not swing. On the other hand, the fourth bevel gear 45 further swings because the drive mechanism 30 is driven. As the fourth bevel gear 45 swings, the second link 22 further moves outward of the hand 120. Thus, the finger joint member 24 pivots upward with the shaft member 72 as an axis.

At this time, along with the swinging of the finger joint member 24, the bearing

members

71 and 75 swing. Thereby, the claw member 25 fixed to the bearing member 75 swings, and the claw member 25 is in an open state.

In the humanoid robot 100 according to the first embodiment configured as described above, the tip of the finger member 20 is positioned inward of the tip of the plate member 10 by the drive mechanism 30, and It operates so as to protrude from the side of the plate member 10.

Thereby, when the humanoid robot 100 falls over, when the humanoid robot 100 stands up, and / or when the humanoid robot 100 walks four legs, the tip end portion (upper end of the plate member 10) Section) can be made to abut on the ground, and it can control that finger member 20 contacts with the ground.

In addition, by partially protruding the finger member 20 from the side surface of the plate member 10, the plate member 10 can be made smaller. Therefore, the hand 120 can be made smaller than that of the biped humanoid robot disclosed in Patent Document 1. Further, since the hand 120 can be made smaller, the drive mechanism 30 for driving the finger member 20 and the drive mechanism for driving the hand 120 can be made smaller, and the entire humanoid robot 100 can be made compact.

Furthermore, in the humanoid robot 100 according to the first embodiment, a mode having four plate members 10 is adopted. For this reason, the contact area with the ground by the tip part of board member 10 can be enlarged, and the force concerning each board member 10 can be distributed. Therefore, damage to the plate member 10 can be suppressed.

From the above description, many modifications or other embodiments of the present invention will be apparent to those skilled in the art. Accordingly, the above description should be taken as exemplary only, and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the present invention. The structural and / or functional details may be substantially altered without departing from the spirit of the present invention.

The humanoid robot of the present invention is useful in the field of industrial robots because the hand can be miniaturized as compared with conventional humanoid robots.

DESCRIPTION OF SYMBOLS 10 plate member 10A through-hole 20 finger member 21 1st link 22 2nd link 23 contact part 24 finger joint member 25 claw member 30 drive mechanism 31 housing 32 drive motor 33 pulley 34 pulley 35 belt 36 1st bevel gear 37 1st 2 bevel gear 37A rotary shaft 38 third bevel gear 39 first gear 40 second gear 41 third gear 41A rotary shaft 42 first lid member 43 second lid member 43A through hole 43B concave portion 43C concave portion 44 bearing member 45 fourth umbrella Gear 45A Flat 46 First shaft member 47 Bearing member 48 Second shaft member 49 Bearing member 50 Bottom plate 61 First stopper 62 First stopper 62 Second stopper 63 Shaft supporting member 64 Fastening member 71 Bearing member 72 Shaft member 73 Bearing member 74 Shaft member 75 Bearing Member 76 shaft member 100 humanoid robot 101 torso 102 head 103 arm 104 leg 105 neck Section 106 shoulder joint 107 hip 110 controllers 110a calculating unit

110b storing unit

110c servo controller 120 Hand

Claims

A pair of plate members,
A finger member disposed such that its base end is sandwiched between the pair of plate members;
A drive mechanism for driving the finger member,
The humanoid robot operates such that the tip end of the finger member is positioned inward of the tip end of the plate member and protrudes from the side surface of the plate member by the drive mechanism.
The humanoid robot according to claim 1, wherein the drive mechanism is configured to rotate the finger member around a base end of the finger member.
Further comprising a control device,
The control device executes at least one of the operation when the humanoid robot falls, the operation when the humanoid robot stands up, and the operation when the humanoid robot walks four feet Driving the drive mechanism to operate the finger member so that the tip end of the finger member is positioned inward of the tip end of the plate member and protrudes from the side surface of the plate member. The humanoid robot according to claim 1 or 2.