WO2020080330A1 - Robot humanoïde - Google Patents

Robot humanoïde Download PDF

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Publication number
WO2020080330A1
WO2020080330A1 PCT/JP2019/040381 JP2019040381W WO2020080330A1 WO 2020080330 A1 WO2020080330 A1 WO 2020080330A1 JP 2019040381 W JP2019040381 W JP 2019040381W WO 2020080330 A1 WO2020080330 A1 WO 2020080330A1
Authority
WO
WIPO (PCT)
Prior art keywords
humanoid robot
exhaust
heat
clothing
receiving member
Prior art date
Application number
PCT/JP2019/040381
Other languages
English (en)
Japanese (ja)
Inventor
正樹 永塚
祥介 山之上
隆太 酒井
辻中　克弥
加奈 小澤
Original Assignee
Thk株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2019184137A external-priority patent/JP7355589B2/ja
Application filed by Thk株式会社 filed Critical Thk株式会社
Priority to EP19872830.5A priority Critical patent/EP3868525A4/fr
Priority to CN201980060255.8A priority patent/CN112703095B/zh
Priority to US17/282,045 priority patent/US20210360989A1/en
Publication of WO2020080330A1 publication Critical patent/WO2020080330A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A41—WEARING APPAREL
    • A41D—OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
    • A41D13/00—Professional, industrial or sporting protective garments, e.g. surgeons' gowns or garments protecting against blows or punches
    • A41D13/002—Professional, industrial or sporting protective garments, e.g. surgeons' gowns or garments protecting against blows or punches with controlled internal environment
    • A—HUMAN NECESSITIES
    • A41—WEARING APPAREL
    • A41D—OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
    • A41D13/00—Professional, industrial or sporting protective garments, e.g. surgeons' gowns or garments protecting against blows or punches
    • A41D13/002—Professional, industrial or sporting protective garments, e.g. surgeons' gowns or garments protecting against blows or punches with controlled internal environment
    • A41D13/005—Professional, industrial or sporting protective garments, e.g. surgeons' gowns or garments protecting against blows or punches with controlled internal environment with controlled temperature
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • the present invention relates to a humanoid robot.
  • the present application claims priority based on Japanese Patent Application No. 2018-195397 filed in Japan on October 16, 2018 and Japanese Patent Application No. 2019-184137 filed in Japan on October 04, 2019, The contents are incorporated here.
  • Patent Document 1 discloses a protective wear for a humanoid robot that covers the entire body of the humanoid robot and suppresses the intrusion of dust and outside water.
  • This humanoid robot protective suit uses a material having a high heat dissipation property (nylon fiber, a material having a multi-layer structure of nylon fiber and polyurethane foam resin, etc.) in order to radiate the heat of the humanoid robot to the outside.
  • this humanoid robot protective suit is provided with a cooling air supply / exhaust port around the control device where heat is generated to take in air and discharge heated air.
  • the humanoid robot has a large number of joints, and heat generating portions are scattered throughout the body. For this reason, in order to air-cool the heat generating part of the whole body, it is necessary to blow air all over the whole body of the humanoid robot. However, depending on the posture of the humanoid robot, the air flow path may be narrowed, and a portion where the air flow is blocked may occur. Then, the heat generating part of the whole body cannot be cooled sufficiently.
  • the present invention provides a humanoid robot capable of effectively cooling the whole body.
  • a humanoid robot includes a heat exhaust clothing that covers the humanoid robot, and a blower that is provided in the humanoid robot or the heat exhaust clothing and blows external air into the interior.
  • An air flow passage is provided between the heat exhaust suit and the outer shell of the humanoid robot.
  • the whole body of the humanoid robot can be effectively cooled.
  • FIG. 3 is a front view of the humanoid robot wearing the heat exhaust clothing according to the first embodiment of the present invention. It is a rear view of the humanoid robot shown in FIG. It is a front view which shows the structure inside the heat exhaust suit of the humanoid robot shown in FIG. It is a rear view which shows the structure of the diaphragm
  • FIG. 7 is a sectional view taken along the line AA of the receiving member shown in FIG. 6.
  • FIG. 11 is a front view of a humanoid robot which shows an example of application of a receiving member and a flow control member in a 2nd embodiment of the present invention.
  • FIG. 11 is a front view of a humanoid robot wearing a heat exhaust suit according to a third embodiment of the present invention.
  • FIG. 11 is a rear view of the humanoid robot shown in FIG. 10. It is sectional drawing of the wrist part of the humanoid robot in 3rd Embodiment of this invention.
  • FIG. 1 is a front view of a humanoid robot 1 wearing a heat exhaust suit 5 according to the first embodiment of the present invention.
  • FIG. 2 is a rear view of the humanoid robot 1 shown in FIG.
  • FIG. 3 is a front view showing the internal structure of the heat exhaust clothing 5 of the humanoid robot 1 shown in FIG.
  • the humanoid robot 1 of the present embodiment includes a robot body 2, a lifter 3, and a moving carriage 4.
  • the robot body 2 is the part that hits the upper body of a person.
  • the robot body 2 is configured so as to be able to perform an operation close to that of a human upper body.
  • the robot body 2 is covered with heat exhaust clothing 5, and has a blower 6 on the back surface.
  • the lifter 3 is a part that hits a leg of a lower half of a person.
  • the lifter 3 is capable of bending up and down and is connected to the lower portion of the robot body 2.
  • the mobile trolley 4 is a part that hits the foot of the lower body of a person.
  • the moving carriage 4 is connected to the lower part of the lifter 3.
  • Such a humanoid robot 1 can be suitably used as a service robot that provides a predetermined service to visitors at an event venue or the like. It goes without saying that the humanoid robot 1 can also be used as a service robot.
  • a bipedal leg may be connected to the lower portion of the robot body 2 to form a bipedal walking robot.
  • the robot body 2 includes a body portion 10, two arm portions 11 (limb portions) connected to the upper left and right of the body portion 10, and a single body portion connected to the upper portion of the body portion 10.
  • the head 12 is provided.
  • the traveling direction of the humanoid robot 1 is the X-axis positive direction
  • the left-hand direction when viewed from the humanoid robot 1 is the Y-axis positive direction
  • the antigravity direction in the humanoid robot 1 is the Z-axis positive direction.
  • the X axis is the roll axis
  • the Y axis is the pitch axis
  • the Z axis is the yaw axis.
  • the body portion 10 includes a neck portion 13 to which the head portion 12 is connected and a waist portion 14 to which the lifter 3 is connected.
  • the head 12 is connected to the neck 13 so as to be swingable about a yaw axis (Z axis) and a pitch axis (Y axis), for example.
  • the head 12 is equipped with a camera 12a for photographing the outside.
  • a base plate 15 that touches the pelvis of a person is provided below the waist 14.
  • the lifter 3 is connected to the lower surface of the base plate 15.
  • the two arm portions 11 include an upper arm portion 21 closer to the shoulder and a lower arm portion 22 closer to the hand, which are connected to each other so that they can be bent with the elbow as a boundary.
  • a hand portion 24 is connected to the tip of the lower arm portion 22 via a wrist portion 23.
  • the wrist portion 23 connects the lower arm portion 22 and the hand portion 24 so as to be swingable around, for example, a roll axis (X axis).
  • the robot body 2 has a body that imitates a human skeletal structure.
  • the spine portion 16 extending in the Z-axis direction and various bone portions 17 formed of sheet metal, the hip bone portion 18 connected to the spine portion 16 so as to support the spine portion 16, and the like,
  • a skeleton structure of the upper body of the robot body 2 (hereinafter, simply referred to as “upper body skeleton structure”) is formed.
  • the neck portion 13 of the humanoid robot 1 is connected to the spine portion 16, and the head portion 12 is further arranged on the neck portion 13.
  • Drive units 19 for driving the upper half of the body are arranged on both left and right sides of the spine portion 16 in between.
  • the bone portion 17 includes a rib portion 17a, a sternum portion 17b, and a clavicle portion 17c.
  • the rib portion 17a is connected to the spine portion 16 and supports the back side of the left and right drive units 19.
  • the sternum 17b connects the left and right drive units 19 on the front side.
  • the clavicle portion 17c is connected to the spine portion 16 and the neck portion 13 above the drive unit 19, and is also connected to the left and right shoulder portions.
  • a predetermined space (also referred to as an internal ventilation channel 100 in the following) is formed in the upper body skeleton structure of the humanoid robot 1 by these bone parts 17 and spine parts 16, and the left and right drive units 19 are provided in the predetermined space.
  • the drive units 19 are arranged so as to be accommodated, and the drive unit 19 is supported with respect to each bone portion 17. As a result, the two drive units 19 are mounted inside the body 10.
  • the inner contour of the humanoid robot 1 refers to a frame (inner surface) inside the bone portion 17 and the spine portion 16 that surrounds the space in which the drive unit 19 is housed.
  • the outer shell of the humanoid robot 1 refers to the outer frame (outer surface) of the bone part 17 and the spine part 16 that faces the above space.
  • the body portion 10 of the present embodiment has an exposed frame, and a space on the inner shell side and a space on the outer shell side of the humanoid robot 1 communicate with each other through a gap between the frames.
  • the surface of the arm 11 is covered with a skin 11a made of plastic or the like.
  • the inner contour of the humanoid robot 1 refers to the inner side (inner surface) of the skin portion 11a.
  • the outer shell of the humanoid robot 1 refers to the outer side (outer surface) of the skin portion 11a.
  • the skin portion 11a may be omitted.
  • the inside of the frame supporting a motor (not shown) may be called the inner contour of the humanoid robot 1, and the outside of the frame may be called the outer contour of the humanoid robot 1.
  • the drive unit 19 connects the arm 11 to the body 10 so as to be swingable around, for example, the roll axis (X axis).
  • the robot internal structure for this operation is the present invention. Since it does not form the core, detailed description thereof is omitted in this specification.
  • the drive unit 19 see, for example, Japanese Patent No. 6104876, which is a known document. Further, since the link mechanism such as the shoulder joint, the neck joint, the wrist / ankle joint, etc. of the humanoid robot 1 does not form the core of the present invention, the detailed description thereof will be omitted in this specification.
  • Japanese Patent No. 5763359 and Japanese Patent No. 5877686 may be adopted.
  • the configuration described in Japanese Patent No. 5782846, which is a known document may be adopted.
  • the wrist / ankle joint for example, the configuration described in Japanese Patent No. 5722747, which is a known document, may be adopted.
  • the configuration described in the publicly known Japanese Patent Laid-Open No. 2017-82803 may be adopted.
  • the heat exhaust clothing 5 covers the robot body 2 except for the head 12 and the hand 24.
  • the ventilation volume of the fabric forming the heat exhaust suit 5 is, for example, preferably 10 cm3 / cm2 ⁇ s or less, and more preferably 6 cm3 / cm2 ⁇ s or less in JIS L1096A method (Frazier method). With this ventilation amount, the heat exhaust clothing 5 is excellent in waterproofness and windproofness.
  • the woven fabric that constitutes the fabric of the heat exhaust clothing 5 is not particularly limited, and examples thereof include a plain plain weave, a twill weave, a satin weave, a modified plain weave, a modified twill weave, a modified satin weave, a modified weave, and a plain weave.
  • the dough preferably has a mass (unit weight) per unit area of 40 to 200 g / m 2, and more preferably 60 to 180 g / m 2.
  • a resin laminate made of polyurethane as a material for these fabrics or a coated fabric is also effective.
  • the fibers constituting the fabric of the exhaust heat suit 5 are not particularly limited, and for example, polyester fibers such as polyethylene terephthalate, polytrimethylene terephthalate, polybutylene terephthalate, polyurethane fibers, polyamide fibers, acetate fibers, cotton fibers, Rayon fiber, ethylene vinyl alcohol fiber, nylon fiber and the like can be used.
  • polyester fibers such as polyethylene terephthalate, polytrimethylene terephthalate, polybutylene terephthalate, polyurethane fibers, polyamide fibers, acetate fibers, cotton fibers, Rayon fiber, ethylene vinyl alcohol fiber, nylon fiber and the like can be used.
  • the heat exhaust suit 5 has a base body composed of a front body 30 (see FIG. 1), back bodies 31a and 31b (see FIG. 2), a collar 32, and sleeves 33a and 33b.
  • the back bodies 31 a and 31 b cover the back side of the humanoid robot 1 and are openably and closably closed by a line fastener 34.
  • the line fastener 34 extends in the antigravity direction from the lower portion of the rear body 31 a, 31 to reach the collar 32.
  • the air flow rate of the line fastener 34 in the closed state is preferably equal to or less than the air flow rate of the fabric of the heat exhaust clothing 5.
  • the rear bodies 31a and 31b are formed with openings 31a1 and 31b1 in which the left and right blowers 6 are arranged.
  • the blower 6 of this embodiment is provided on the humanoid robot 1 side and is fixed to the rib portion 17a described above.
  • the suction port of the blower 6 is exposed to the outside of the heat exhaust clothing 5 through the openings 31a1 and 31b1.
  • the blower 6 is configured to suck outside air through a suction port and blow it into the upper body skeleton structure of the humanoid robot 1 described above.
  • the blower 6 may be provided on the heat exhaust clothing 5 side, and in this case, the blower 6 may be sewn to the back bodies 31a and 31b.
  • Reinforcing parts 31a2 and 31b2 are formed on the peripheral edges of the openings 31a1 and 31b1 to increase strength by folding cloth.
  • the reinforcing portions 31a2 and 31b2 are in close contact with the periphery of the blower 6 by utilizing the elasticity of the cloth of the heat exhausting clothing 5. Thereby, the airtightness of the gap between the exhaust heat suit 5 and the blower 6 is ensured.
  • the opening peripheral portions (reinforcing portions 31a2, 31b2) of the openings 31a1, 31b1 may be sandwiched between the main body of the blower 6 and the suction port cover to secure the airtightness.
  • the blower 6 is not particularly limited, and if the blower total pressure in the case of standard air is less than about 30 kPa (JIS B 0132: 2005 blower / compressor term), for example, a fan (a blower of less than 10 kPa) is also used.
  • a blower (a blower having a pressure of 10 kPa or more and less than 30 kPa) may be used, and the type thereof may be a volume type or a turbo type.
  • the blower 6 of this embodiment is a fan of less than 10 kPa, and more specifically, uses a fan motor in which a fan and a motor are integrated.
  • the fan motor is a turbo axial fan.
  • a turbo type centrifugal fan may be used.
  • the exhaust heat garment 5 puts the inside of the exhaust heat garment 5 into which the outside air is sent by the blower 6 into a positive pressure state, and the air blast flow passage 101 (FIG. (See FIG. 3) is provided.
  • the narrowed portion 40 is formed in each opening 35 of the heat exhaust clothing 5 through which the neck portion 13, the waist portion 14, and the arm portion 11 of the humanoid robot 1 pass.
  • a receiving member 50 that comes into contact with the throttle portion 40 provided on the heat exhaust clothing 5 is provided on each of the openings 35 on the robot body 2 side.
  • the receiving member 50 is a substantially cylindrical block body.
  • the receiving member 50 includes an outer peripheral surface 51 that comes into contact with the narrowed portion 40, and an annular protrusion 52 that projects radially outward from the outer peripheral surface 51.
  • the annular protrusions 52 are provided at both ends of the receiving member 50 in the axial direction in which the central axis of the receiving member 50 extends.
  • the receiving member 50 has an axial length and an outer diameter according to each opening 35 of the heat exhaust clothing 5.
  • Such a receiving member 50 may be formed of a resin material or the like which is relatively light in weight relative to a metal material.
  • a narrowed portion 40b having a hook-and-loop fastener 41 is provided at a cuff portion 35b of the opening 35 of the heat exhausting clothing 5 through which the arm 11 is passed.
  • a slit 35b1 extending toward the shoulder side of the humanoid robot 1 is formed in the cuff portion 35b.
  • the surface fastener 41 connects the cloths on both sides of the slit 35b1 while overlapping (squeezing) the cloths on both sides of the slit 35b1.
  • the outer peripheral surface 51 of the receiving member 50 is in contact with the portion narrowed by the surface fastener 41 over the entire circumference. As a result, the airtightness of the gap between the receiving member 50 (arm portion 11) and the narrowed portion 40b (heat exhaust clothing 5) is ensured.
  • the narrowed portion 40a provided in the neck portion 35a through which the neck portion 13 is inserted is made of the cloth when the collar 32 is closed by the line fastener 34, as shown in FIG. It is in close contact with the receiving member 50 by utilizing its elasticity. As a result, the airtightness of the gap between the receiving member 50 (neck portion 13) and the narrowed portion 40a (heat exhaust clothing 5) is ensured.
  • the surface fastener 41 may be provided in the narrowed portion 40a as in the above-described narrowed portion 40b.
  • FIG. 4 is a rear view showing the configuration of the throttle portion 40c in the hem mouth portion 35c of the heat removal clothing 5 according to the first embodiment of the present invention.
  • the waist 14 of the humanoid robot 1 is viewed from the back side with the back bodies 31a and 31b opened.
  • the narrowed portion 40c has an inner cloth 42 that is fixed over the entire inner circumference of the back bodies 31a and 31b (and the front body 30).
  • the inner cloth 42 may be formed of the same cloth as the heat exhaust clothing 5.
  • the inner cloth 42 is formed in a band shape that circulates around the waist portion 14 (receiving member 50).
  • the upper end sides of the inner cloth 42 other than the both ends 42a and 42b are fixed to the inner side of the heat exhausting clothing 5 by a sewing thread or the like.
  • Both ends 42a and 42b of the inner cloth 42 are provided with surface fasteners 43 for connecting the both, which are connectable in an annular shape.
  • a stretchable flat rubber or the like is woven or sewn on the lower end side of the inner cloth 42 to form an elastic stretchable portion 42c which can be brought into close contact with the outer peripheral surface 51 of the receiving member 50.
  • the airtightness of the gap between the receiving member 50 (waist portion 14) and the narrowed portion 40c (heat exhaust clothing 5) is ensured.
  • the cuff 35b is provided with an exhaust port 36 that communicates with the air flow passage 101 (see FIG. 3) inside the heat exhaust clothing 5.
  • the exhaust port 36 is formed by a slit 35b1 that extends toward the shoulder side of the surface fastener 41 (receiving member 50) in the narrowed portion 40b. That is, the air taken in from the blower 6 on the back side of the humanoid robot 1 shown in FIG. 2 exhausts heat from the internal ventilation channel 100 passing through the inner contour (in the upper body skeleton structure) of the humanoid robot 1 shown in FIG.
  • the air passes through the air flow passage 101 passing between the clothes 5 and the outer shape of the humanoid robot 1 and is discharged to the outside from the exhaust port 36 of the cuff portion 35b shown in FIG. 1 (note that in FIG. 1 and FIG.
  • the air flow in and out of the thermal suit 5 is indicated by a thick line arrow).
  • the humanoid robot 1 is put on the exhaust heat suit 5, and the outside air is sent to the inside of the exhaust heat suit 5 by the blower 6, so that the heat generating part (driving part) of the whole body of the humanoid robot 1 is driven. Heated air is exhausted from the cuff portion 35b at the end of the humanoid robot 1.
  • the ventilation passage 101 is provided between the heat exhausting clothing 5 and the outer shell of the humanoid robot 1, for example, the arm portion 11 which often has a complicated posture.
  • a flow path through which air passes is secured between the skin portion 11a and the sleeves 33a and 33b, and it is possible to prevent the air from being blocked.
  • the exhaust heat suit 5 covering the humanoid robot 1 and the blower 6 provided in the humanoid robot 1 or the exhaust heat suit 5 for sending the outside air into the inside are provided,
  • the air flow passage 101 between the heat exhaust clothing 5 and the outer shell of the humanoid robot 1 the whole body of the humanoid robot 1 can be effectively cooled.
  • a lightweight and airtight cloth such as the heat exhaust clothing 5
  • the skin portion 11a may be omitted in the arm portion 11 as well, whereby further weight reduction and cost reduction can be achieved.
  • the exhaust heat suit 5 is provided with the throttle portion 40 that forms the blower flow path 101 by making the inside a positive pressure state.
  • the amount of air passing through the neck portion 13, the waist portion 14, and the arm portion 11 of the humanoid robot 1 that escapes from the respective openings 35 of the heat exhaust clothing 5 is reduced, and the inside of the heat exhaust clothing 5 is in a positive pressure state. You can When the inside of the heat exhaust clothing 5 is in a positive pressure state, the heat exhaust clothing 5 swells, and the heat exhaust clothing 5 floats from the outer shell of the humanoid robot 1 in a portion other than the throttle portion 40.
  • the humanoid robot 1 is provided with the receiving member 50 that comes into contact with the throttle portion 40 provided on the heat exhaust clothing 5.
  • the narrowed portion 40 can contact the outer peripheral surface 51 of the flat receiving member 50, so that a gap is less likely to be formed between the two. For this reason, it is easier to secure the airtightness than when the narrowed portion 40 contacts the exposed frame of the humanoid robot 1 or the like.
  • the receiving member 50 is described as a columnar body, but may be a polygonal columnar body, a sphere, an ellipse, or the like as long as it is a solid body having a flat (smooth) surface.
  • a cuff portion 35b is formed in the heat exhaust clothing 5 as an opening portion 35 through which the arm portion 11 of the humanoid robot 1 passes, and the cuff portion 35b communicates with the air flow passage 101.
  • An exhaust port 36 is provided.
  • the heat exhaust clothing 5 is formed with the hem mouth portion 35c as the opening portion 35 through which the waist portion 14 of the humanoid robot 1 is passed, and the narrowed portion 40c is provided inside the hem mouth portion 35c.
  • the throttle portion 40c is provided inside the hem opening portion 35c so as to be doubled, and thus air leakage can be suppressed without deteriorating the design (design) of the heat exhaust clothing 5. Thereby, the appearance of the humanoid robot 1 suitable for the service robot can be obtained.
  • the internal ventilation channel 100 that communicates with the ventilation channel 101 is formed inside the humanoid robot 1. According to this configuration, the air taken in by the blower 6 once flows into the inside of the robot body 2 (inside the ribs in the case of a human being), and is blown into the above-mentioned blow passage 101 from there, The heat can be efficiently exhausted. For this reason, the air-cooling action peculiar to the humanoid robot 1 which cannot be performed by a human is obtained.
  • FIG. 5 is a block diagram of the throttle part 40b and the receiving member 50 in the cuff part 35b of the heat exhaust clothing 5 in 2nd Embodiment of this invention.
  • the narrowed portion 40b of the second embodiment has an inner cloth 44 that is fixed over the entire inner circumference of the sleeve 33a (similarly to the sleeve 33b) of the heat exhaust clothing 5.
  • the inner fabric 44 may be formed of the same fabric as the heat exhaust clothing 5.
  • the inner cloth 44 is formed in an annular shape that circulates around the wrist 23 (receiving member 50), and the radially outer side thereof is fixed to the inner side of the heat exhaust clothing 5 with a sewing thread or the like. Further, a stretchable rubber band 45 or the like is woven or sewn on the inner side in the radial direction of the inner cloth 44, and is in close contact with the outer peripheral surface 51 of the receiving member 50.
  • a second annular protrusion 53 is formed between the pair of annular protrusions 52 (first annular protrusions), which is suitable for the narrowed portion 40b.
  • a groove having a width is formed. This ensures the airtightness of the gap between the receiving member 50 (wrist portion 23) and the narrowed portion 40b (heat exhaust clothing 5).
  • FIG. 6 is a perspective view of the receiving member 50 according to the second embodiment of the present invention.
  • FIG. 7 is a perspective view of the receiving member 50 shown in FIG. 6 viewed from another direction.
  • 8 is a sectional view of the receiving member 50 shown in FIG. 6 taken along the line AA.
  • the receiving member 50 of the second embodiment is formed with a vent hole 54 through which air passes.
  • a plurality of vent holes 54 are formed by penetrating the top wall portion 50a of the receiving member 50 formed in a cylindrical shape with a top in the axial direction in which the central axis of the receiving member 50 extends.
  • the vent holes 54 are formed in a substantially fan shape, and a plurality of vent holes 54 are formed at intervals in the circumferential direction around the central axis of the disc-shaped top wall portion 50a.
  • One of the plurality of vent holes 54 is formed with a recess 54a in which an operation piece 61 described later is accommodated.
  • a plurality of fixing holes 55a for fixing to the wrist portion 23 are formed in the top wall portion 50a radially inward of the vent hole 54 at intervals in the circumferential direction.
  • a through hole 55b for passing a wire or a link member (not shown) that connects the wrist portion 23 and the hand portion 24 is formed in the central portion on the inner side in the radial direction of the fixing hole 55a of the top wall portion 50a. Is formed.
  • a plurality of engagement protrusions 57 projecting radially inward are provided inside the peripheral wall portion 50b of the receiving member 50 suspended from the peripheral edge portion of the top wall portion 50a. And a plurality of them are formed.
  • the engagement protrusion 57 extends linearly from the open end of the peripheral wall portion 50b to the front side on the back side of the top wall portion 50a.
  • An annular boss portion 56 is formed on the back side of the top wall portion 50a so as to project in the vertical direction of the peripheral wall portion 50b.
  • the fixing hole 55a and the through hole 55b described above are formed in the annular boss portion 56. That is, the annular boss portion 56 is arranged radially inward of the above-described vent hole 54.
  • a flow rate adjusting member 60 that adjusts the size of the opening area of the vent hole 54 is rotatably engaged with the inside of the receiving member 50 around the central axis of the receiving member 50.
  • the flow rate adjusting member 60 is a disc member having an insertion hole 62 through which the annular boss portion 56 is inserted in the central portion thereof, and a plurality of ventilation holes 63 are arranged radially outside the insertion hole 62. Is equipped with.
  • the ventilation holes 63 (second ventilation holes) of the flow rate adjusting member 60 are formed to have the same number, shape, and arrangement as the ventilation holes 54 (first ventilation hole) of the receiving member 50.
  • an engagement piece 64 protruding outward in the radial direction is formed on the outer peripheral surface of the flow rate adjusting member 60.
  • the engagement piece 64 is inserted in a gap (undercut portion) between the top wall portion 50 a of the receiving member 50 and the engagement protrusion 57.
  • a plurality of the engaging pieces 64 are formed in such a size that they can be inserted into the respective gaps of the engaging protrusions 57 that are adjacent to each other in the circumferential direction shown in FIG. 7.
  • an operation piece 61 that can be operated from the front side of the top wall portion 50 a of the receiving member 50 is attached to the flow rate adjusting member 60.
  • the operation piece 61 is arranged so as to pass through the ventilation port 54 in which the groove 54a is formed.
  • the rotation angle of the flow rate adjusting member 60 with respect to the receiving member 50 in the circumferential direction is limited to a certain range. In this range, at least a part of the engagement piece 64 engages with the engagement protrusion 57 of the receiving member 50 in the axial direction. This prevents the flow rate adjusting member 60 from falling onto the receiving member 50.
  • the shaft portion of the operation piece 61 is provided with a screw or the like so as to be attachable to and detachable from the flow rate adjusting member 60.
  • the rotation angle restriction of the flow rate adjusting member 60 can be easily released, and the flow rate adjusting member 60 can be easily disassembled from the receiving member 50.
  • the area where the vent hole 54 of the receiving member 50 and the vent hole 63 of the flow rate adjusting member 60 overlap is increased or decreased, and the passing member 50 is passed.
  • the flow rate of the air to be used can be adjusted. This makes it possible to control the positive pressure state inside the exhaust heat suit 5. For example, when the air intake capacity (air volume) of the blower 6 is low, the opening area of the vent hole 54 is reduced to increase the wind pressure inside the heat exhaust clothing 5 and effectively cool the entire humanoid robot 1 by air. It becomes possible. Further, when the intake capacity (air volume) of the blower 6 is high, it is possible to promote the replacement of the air inside the exhaust heat suit 5 by increasing the opening area of the ventilation port 54.
  • the narrowed portion 40b is provided inside the cuff portion 35b.
  • the throttle portion 40b is provided inside the cuff portion 35b and is doubled, so that air leakage can be suppressed without deteriorating the design (design) of the heat exhaust clothing 5.
  • the receiving member 50 and the flow rate adjusting member 60 of the second embodiment described above may be provided in the humanoid robot 1 in a form as shown in FIG. 9.
  • FIG. 9 is a front view of the humanoid robot 1 showing an application example of the receiving member 50 and the flow rate adjusting member 60 according to the second embodiment of the present invention.
  • the humanoid robot 1 shown in FIG. 9 includes the receiving member 50 and the flow rate adjusting member 60 of the second embodiment described above near the elbows and shoulders of the arm 11.
  • the line fastener 34 exhaust port 36
  • the sleeves 33a and 33b of the heat exhausting clothing 5 includes the sleeves 33a and 33b of the heat exhausting clothing 5 and the front body 30 (rear body. 31a, 31b).
  • each of the flow rate adjusting members 60 by operating each of the flow rate adjusting members 60, air can be focused on the portion inside the exhaust heat suit 5 where heat is particularly generated, and air cooling can be advanced.
  • the line fastener 34 of the front body 30 is opened, the flow rate adjusting member 60 near the shoulder is operated, and the ventilation of the receiving member 50 is performed.
  • the air By reducing the opening area of the mouth 54, the air can be focused on the body portion 10.
  • the linear fasteners 34 of the sleeves 33a and 33b are opened, the flow rate adjusting member 60 near the elbow is operated, and the receiving member 50 is operated.
  • the receiving member 50 and the flow rate adjusting member 60 of the second embodiment may be provided at a plurality of locations corresponding to the heat generating portion of the whole body of the humanoid robot 1.
  • FIG. 10 is a front view of the humanoid robot 1 wearing the heat removal suit 5 according to the third embodiment of the present invention.
  • FIG. 11 is a rear view of the humanoid robot 1 shown in FIG.
  • FIG. 12 is a sectional view of the wrist 23 of the humanoid robot 1 according to the third embodiment of the present invention.
  • an intake port 70 for taking in external air from the wrist 23 of the humanoid robot 1 to the air flow passage 101 is provided.
  • an exhaust port 36 communicating with the air flow passage 101 is provided in a collar portion 35a through which the neck 13 of the humanoid robot 1 passes. That is, the collar portion 35a does not have the above-described throttle portion 40a, and the neck portion 13 does not have the above-mentioned receiving member 50.
  • the narrowed portion 40 is provided inside at least one of the openings 35 (the cuff portion 35b and the hem mouth portion 35c) excluding the collar portion 35a.
  • the blower 6 is not provided on the back surface of the humanoid robot 1, and the blower 6 is provided on the wrist portion 23 of the humanoid robot 1.
  • the wrist 23 of the humanoid robot 1 inhales air and the neck 13 of the humanoid robot 1 exhausts air.
  • the humanoid robot 1 of the third embodiment is provided with a front hanging plate 7 for displaying a logo or the like covered by the heat exhaust clothing 5 on the outside.
  • the exhaust heat suit 5 of the third embodiment is a three-quarter sleeve in which the sleeves 33a and 33b extend to the lower arm portion 22, and from the lower arm portion 22 to the wrist portion 23 and the hand portion 24. Are covered by the exhaust heat gloves 80.
  • An intake port 70 is formed in the heat exhaust gloves 80.
  • a narrowed portion 40b is provided on the cuff portion 35b, and the narrowed portion 40b is in contact with the outer contour of the lower arm portion 22 over the entire circumference.
  • the heat removal gloves 80 have a glove portion 81, a wrist cover portion 82, and an arm cover portion 83.
  • the glove portion 81 covers the hand portion 24.
  • a material having good elasticity for the movable portion or a non-slip silicone material for the fingertip may be used. Since the glove portion 81 does not basically form the above-mentioned air flow passage 101, it does not have to have the air permeability like the heat exhaust suit 5.
  • the wrist cover part 82 covers the wrist part 23.
  • the wrist cover portion 82 is made of a highly breathable mesh-like cloth, and the mesh of the wrist cover portion 82 forms the intake port 70.
  • the wrist portion 23 has a wrist body 23a and a cylindrical or U-shaped wrist cover 23b surrounding the wrist body 23a.
  • the wrist cover portion 82 of the heat exhaust gloves 80 covers at least the gap between the hand portion 24 and the wrist cover 23b.
  • the above-mentioned internal ventilation channel 100 is formed inside the wrist cover 23b.
  • the blower 6 is provided in the internal ventilation passage 100 in the wrist portion 23.
  • the blower 6 it is preferable to use a blower fan having the suction port 6a on the upper and lower surfaces in the axial direction and the discharge port 6b on the side surface in the radial direction. Since the blower fan has higher wind pressure and higher directivity than the axial fan, it is possible to efficiently cool the arm portion 11 in which the flow passage is relatively narrower than the body portion 10.
  • the arm cover portion 83 covers the lower arm portion 22.
  • the arm cover portion 83 has a narrowed portion 40d at an arm opening through which the lower arm portion 22 passes.
  • the narrowed portion 40d is formed of the above-described surface fastener or the like, and is in contact with the outer contour of the lower arm portion 22 over the entire circumference.
  • the arm cover portion 83 may be formed of the same material as that of the heat exhaust suit 5 in order to prevent the air taken in from the intake port 70 from leaking.
  • the outside air is taken into the inside from the wrist 23 of the humanoid robot 1 (the intake port 70 of the heat removal gloves 80). As shown in FIG. 12, the taken-in air is sucked into the blower 6 provided in the internal ventilation passage 100 of the wrist portion 23, and the lower arm portion 22 (specifically, the internal ventilation passage 100 of the lower arm portion 22). Is discharged toward.
  • the air that has passed through the internal ventilation passage 100 of the lower arm portion 22 flows into the above-described air passage passage 101, cools the upper arm portion 21 of the humanoid robot 1 from the shoulder portion, and the body portion 10, and passes through the neck portion 13.
  • the heat is exhausted from the collar portion 35a (exhaust port 36) of the thermal clothing 5.
  • the intake port 70 that takes in external air from the wrist 23 of the humanoid robot 1 into the air flow passage 101 is provided, the arm that has many movable parts and generates a lot of heat.
  • the part 11 can be cooled intensively.
  • the exhaust air is directed to the body portion 10 side rather than the arm portion 11, the object gripped by the hand portion 24 or the like is not exhausted. Therefore, for example, the humanoid robot 1 can be used hygienically even when serving in a restaurant or the like.
  • the blower 6 since the blower 6 is provided on the wrist 23 of the humanoid robot 1, it is possible to efficiently cool the arm 11 whose flow path is relatively narrower than that of the body 10. . Further, as the blower 6, it is preferable to use a blower fan having a higher wind pressure and a higher directivity than the axial fan.
  • a collar portion 35a is formed in the heat exhaust clothing 5 as an opening portion 35 through which the neck portion 13 of the humanoid robot 1 passes, and the collar portion 35a is provided with an air flow passage 101. Since the exhaust port 36 that communicates is provided, the chimney effect is obtained, and the air cooled by the arm 11 and the body 10 to obtain heat and become lighter can be efficiently exhausted from the neck 13. Although the chimney effect cannot be obtained, the exhaust port 36 may be provided in the hem opening portion 35c to exhaust the air from the lower portion of the body portion 10.
  • the throttle portion 40c is provided inside the hem mouth portion 35c of the heat exhaust clothing 5 (first embodiment), and the throttle portion 40b is provided inside the cuff portion 35b of the heat exhaust clothing 5.
  • the throttle portion 40a may be similarly provided inside the collar portion 35a of the heat exhausting clothing 5.
  • the lower body of the humanoid robot 1 is exemplified by the lifter 3 and the moving carriage 4, but the lower body of the humanoid robot 1 has two legs (limbs). It may be in the form.
  • the heat exhaust clothing 5 may be an overall (joint) in which the upper and lower garments are integrated.
  • the exhaust port 36 may be formed at the hem opening through which the legs of the two legs pass.
  • the flow rate adjusting member 60 is exemplified as a slide type, but the form thereof is not particularly limited as long as the size of the opening area of the ventilation port 54 of the receiving member 50 can be adjusted.
  • the inner cloth 44 of the narrowed portion 40b shown in FIG. 5 is formed of the same cloth as the heat exhaust clothing 5, but for example, the inner cloth 44 is breathable. It may be formed from a mesh-shaped material having a high air permeability so that a predetermined amount of air can pass from the periphery of the receiving member 50.
  • the exhaust port 36 is provided in the collar portion 35a, but the exhaust port 36 may be provided in another place such as under the armor of the heat exhausting clothing 5.
  • an auxiliary blower for assisting exhaust may be provided near the exhaust port 36 (for example, the shoulder of the humanoid robot 1 near the collar 35a).
  • the sleeves 33a and 33b of the heat removal clothing 5 are three-quarter sleeves that extend to the lower arm portion 22, and the lower arm portion 22 to the wrist portion 23 and the hand portion 24 are discharged.
  • the lower ends of the sleeves 33 a and 33 b of the thermal exhaust clothing 5 are fixed near the lower ends of the lower arm portions 22 by the squeezing section 40 such as a surface fastener, and
  • the upper end of the arm cover part 83 may be fixed to the vicinity of the upper end of the wrist part 23 by a diaphragm part 40 such as a surface fastener.
  • the joint between the lower arm portion 22 and the wrist portion 23 does not have to be covered with the heat removal gloves 80 to the heat removal clothing 5.
  • the internal ventilation channel 100 of the wrist 23 is in communication with the ventilation channel 101 of the body section 10 via the internal ventilation channel 100 of the lower arm 22. According to this configuration, even when the wrist portion 23 rotates the wrist with respect to the lower arm portion 22 more than a human being, at the joint portion between the lower arm portion 22 and the wrist portion 23, the heat removal gloves 80 or The concern about the twist of the heat suit 5 and the blockage of the air flow passage 101 due to the twist is eliminated. Further, it becomes easy to wear the exhaust heat suit 5 and the exhaust heat gloves 80 on the humanoid robot 1.

Landscapes

  • Engineering & Computer Science (AREA)
  • Environmental & Geological Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Textile Engineering (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un robot humanoïde (1) équipé : d'un vêtement de dissipation de chaleur (5) qui recouvre le robot humanoïde (1) ; et d'une soufflante qui est fournie au robot humanoïde (1) ou au vêtement de dissipation de chaleur (5) et soufflant vers l'intérieur de l'air extérieur, un passage de circulation de soufflage d'air (101) étant situé entre le vêtement de dissipation de chaleur (5) et l'enveloppe externe du robot humanoïde (1).
PCT/JP2019/040381 2018-10-16 2019-10-15 Robot humanoïde WO2020080330A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP19872830.5A EP3868525A4 (fr) 2018-10-16 2019-10-15 Robot humanoïde
CN201980060255.8A CN112703095B (zh) 2018-10-16 2019-10-15 人型机器人
US17/282,045 US20210360989A1 (en) 2018-10-16 2019-10-15 Humanoid robot

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2018-195397 2018-10-16
JP2018195397 2018-10-16
JP2019-184137 2019-10-04
JP2019184137A JP7355589B2 (ja) 2018-10-16 2019-10-04 人型ロボット

Publications (1)

Publication Number Publication Date
WO2020080330A1 true WO2020080330A1 (fr) 2020-04-23

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Application Number Title Priority Date Filing Date
PCT/JP2019/040381 WO2020080330A1 (fr) 2018-10-16 2019-10-15 Robot humanoïde

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Country Link
WO (1) WO2020080330A1 (fr)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
JP2022019509A (ja) * 2020-07-15 2022-01-27 株式会社サンエス 冷却衣服

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JPS614876B2 (fr) 1980-02-13 1986-02-13 Ajinomoto Kk
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EP1136196A1 (fr) * 2000-03-21 2001-09-26 Günther Battenberg Procédé et dispositif pour la climatisation de robots
JP2004183157A (ja) 2002-12-04 2004-07-02 Tokyu Construction Co Ltd 人間型ロボット用保護着
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JP5872846B2 (ja) 2011-10-27 2016-03-01 Thk株式会社 ロボットの関節構造及びこの関節構造が組み込まれた人間型ロボット
JP5877686B2 (ja) 2011-10-27 2016-03-08 Thk株式会社 ロボットの関節構造及びこの関節構造が組み込まれた人間型ロボット
JP2017082803A (ja) 2015-10-22 2017-05-18 Thk株式会社 自在継手及びロボットの関節構造
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JP2018195397A (ja) 2017-05-15 2018-12-06 アイシン精機株式会社 燃料電池システム
JP2019184137A (ja) 2018-04-06 2019-10-24 三菱日立パワーシステムズ株式会社 ボイラ用伝熱管の溶接構造および溶接方法

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JPS5722747B2 (fr) 1972-04-10 1982-05-14
JPS614876B2 (fr) 1980-02-13 1986-02-13 Ajinomoto Kk
JPH09254076A (ja) * 1996-03-25 1997-09-30 Fanuc Ltd ロボットの保温構造
JP2001239492A (ja) * 2000-02-24 2001-09-04 Mekano Electronic Kk 介護用ロボットにおける外部被覆構造
EP1136196A1 (fr) * 2000-03-21 2001-09-26 Günther Battenberg Procédé et dispositif pour la climatisation de robots
JP2004183157A (ja) 2002-12-04 2004-07-02 Tokyu Construction Co Ltd 人間型ロボット用保護着
JP2010125546A (ja) * 2008-11-26 2010-06-10 Kawada Kogyo Kk ロボット用のプロテクトサポータおよびカバー
JP5763359B2 (ja) 2011-02-09 2015-08-12 株式会社堀場製作所 保険料算出システム及び運行配置決定システム
JP5872846B2 (ja) 2011-10-27 2016-03-01 Thk株式会社 ロボットの関節構造及びこの関節構造が組み込まれた人間型ロボット
JP5877686B2 (ja) 2011-10-27 2016-03-08 Thk株式会社 ロボットの関節構造及びこの関節構造が組み込まれた人間型ロボット
JP2015074852A (ja) * 2013-10-09 2015-04-20 株式会社セフト研究所 空調服の空気排出口調整機構
JP2017082803A (ja) 2015-10-22 2017-05-18 Thk株式会社 自在継手及びロボットの関節構造
JP2018131713A (ja) * 2017-02-16 2018-08-23 株式会社セフト研究所 空調衣服の服本体
JP2018141256A (ja) * 2017-02-28 2018-09-13 株式会社サンエス 冷却風排出機構
JP2018195397A (ja) 2017-05-15 2018-12-06 アイシン精機株式会社 燃料電池システム
JP2019184137A (ja) 2018-04-06 2019-10-24 三菱日立パワーシステムズ株式会社 ボイラ用伝熱管の溶接構造および溶接方法

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022019509A (ja) * 2020-07-15 2022-01-27 株式会社サンエス 冷却衣服
JP7433657B2 (ja) 2020-07-15 2024-02-20 株式会社サンエス 冷却衣服

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