WO2020080366A1

WO2020080366A1 - Garment

Info

Publication number: WO2020080366A1
Application number: PCT/JP2019/040511
Authority: WO
Inventors: 隆太酒井; 辻中　克弥; 加奈小澤; 正樹永塚; 祥介山之上
Original assignee: 美津濃株式会社; Thk株式会社
Priority date: 2018-10-16
Filing date: 2019-10-15
Publication date: 2020-04-23
Also published as: JPWO2020080366A1

Abstract

The present invention provides a means for efficiently cooling a robot. Provided is a garment (1) to be worn on a robot, the garment being provided with cylindrical parts that each cover the forearm, the joint, and a second portion of said robot. The cylindrical parts each include an outer cylindrical portion (45) and an inner cylindrical portion (44). The outer cylindrical portion (45) is situated at the leading end part of the cylindrical part so as to cover the forearm (125). The inner cylindrical portion (44) is situated on the inner circumferential side of the outer cylindrical portion (45). The inner cylindrical portion (44) has a first end (44a) and a second end. The first end (44a) is situated on the leading end side of the cylindrical part. The second end is situated on the side opposite to the first end (44a). The second end is connected to the inner circumferential surface of the outer cylindrical portion (45). The first end (44a) includes a diameter reduction part where the diameter of the inner cylindrical portion (44) is reduced.

Description

clothes

The present invention relates to clothes that a robot wears.

Conventionally, a robot including a movable limb including a joint is known (see, for example, JP 2012-148366 A). Japanese Patent Laying-Open No. 2012-148366 discloses a robot capable of moving a limb by using a motor as an actuator.

See Japanese Patent Laid-Open No. 2012-148366

⑦ The actuators such as motors used for controlling the robot motion as described above generate heat to some extent during operation. However, Japanese Patent Laid-Open No. 2012-148366 does not particularly mention a cooling method for removing heat generated from such an actuator. From the viewpoint of stable operation of the robot, it is necessary to appropriately cool the actuators installed in the joints and the like of the robot to prevent the above heat from adversely affecting the mechanism and operation of the robot.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a means for efficiently cooling a robot.

A garment according to the present disclosure is a garment to be worn by a robot in which a first part and a second part are connected via a joint part, and a part of the first part, the joint part, and the second part of the robot. And a cylindrical portion that covers and. The tubular portion includes an outer tubular portion and an inner tubular portion. The outer tubular portion is located at the tip of the tubular portion and covers a part of the first portion. The inner tubular portion is located on the inner peripheral side of the outer tubular portion. The inner cylinder portion has a first end portion and a bold portion. The first end portion is located on the tip side of the tubular portion. The second end is located on the opposite side of the first end. The second end portion is connected to the inner peripheral surface of the outer tubular portion. The first end portion includes a reduced diameter portion that reduces the diameter of the inner tubular portion.

According to the above, the robot can be cooled efficiently.

It is a front schematic diagram of the clothes which concern on this Embodiment. It is a rear schematic diagram of the clothes shown in FIG. It is a cross-sectional schematic diagram of the cuffs in the clothes shown in FIG. It is a cross-sectional schematic diagram of the pleated part of the sleeve in the clothes shown in FIG. It is a front schematic diagram which shows the state which attached the clothes shown in FIG. 1 to the robot. FIG. 2 is a schematic rear view showing a state in which the clothes shown in FIG. 1 are attached to a robot. FIG. 2 is a schematic cross-sectional view for explaining a configuration near a cuff and a flow of cooling air when the clothes shown in FIG. 1 are attached to a robot. It is a schematic diagram which shows the flow of the cooling wind in the state which attached the clothes shown in FIG. 1 to the robot. It is a schematic diagram which shows the flow of the cooling wind in the state which attached the clothes shown in FIG. 1 to the robot of a different structure. FIG. 10 is a schematic cross-sectional view for explaining the configuration near the cuffs and the flow of cooling air in the state shown in FIG. 9. It is a rear schematic diagram of the 1st modification of the clothes shown in FIG. It is a front schematic diagram of the 2nd modification of the clothes shown in FIG. FIG. 13 is a schematic front view showing a state where the clothes shown in FIG. 12 are attached to a robot. It is a schematic diagram which shows the flow of the cooling wind in the state which attached the clothes shown in FIG. 12 to the robot.

An embodiment of the present invention will be described below with reference to the accompanying drawings. In the following drawings, corresponding parts are designated by the same reference numerals, and the description thereof will not be repeated.

<Clothing composition>
FIG. 1 is a schematic front view of the garment according to the present embodiment. FIG. 2 is a schematic rear view of the clothes shown in FIG. FIG. 3 is a schematic cross-sectional view of the cuffs of the garment shown in FIG. FIG. 4 is a schematic sectional view of the pleated portion of the sleeve in the garment shown in FIG. The garment 1 shown in FIGS. 1 to 4 is the garment 1 to be worn by the robot 100, and includes a tubular portion 60 that is a sleeve portion and a main body portion to which the tubular portion 60 is connected.

The tubular portion 60 includes a tubular root portion 12 connected to the main body portion, a tubular pleat portion 16 corresponding to an elbow portion, and a tubular sleeve tip portion 15. The pleated portion 16 connects the root portion 12 and the sleeve tip portion 15. The pleated portion 16 is arranged so as to cover a portion corresponding to an elbow joint of an arm of the robot wearing the clothes 1. As shown in FIG. 4, the pleated portion 16 includes a portion in which the sheet-shaped member 51 forming the tubular portion 60 is bent a plurality of times. The portion of the pleat portion 16 in which the member 51 is bent a plurality of times is arranged in a part of the tubular portion 60 in the outer peripheral direction. The member 51 may be a cloth made of resin or natural fiber. In the pleated portion 16, an elastic lining member 52 for holding a shape is arranged inside so that the member 51 forming the tubular portion 60 can be maintained in a bent state.

As shown in FIG. 3, the sleeve tip portion 15 of the tubular portion 60 includes an outer tubular portion 45 and an inner tubular portion 44. The inner tubular portion 44 is located on the inner peripheral side of the outer tubular portion 45. The inner tubular portion 44 includes a first tubular body 41, a second tubular body 42, and a reduced diameter portion 43. The first tubular body 41 is located on the root portion 12 (see FIG. 1) side of the tubular portion 60. The second end portion 44 b, which is the end portion of the first tubular body 41 on the root portion 12 side, is connected to the inner peripheral surface of the outer tubular portion 45. The second tubular body 42 is connected to the end of the first tubular body 41 opposite to the second end 44b. The reduced diameter portion 43 is connected to the end of the second tubular body 42 on the opposite side of the end connected to the first tubular body 41. That is, the reduced diameter portion 43 is formed on the first end portion 44 a located on the tip side of the inner cylindrical portion 44. The diameter of the first end 44a is smaller than the diameter of the second end 44b. The reduced diameter portion 43 includes an elastic member such as a strip of rubber.

The main body part mainly includes a front part 11, a back part 31, an inner peripheral cover part 18, and a hem cover part 14. The front part 11 is a part that covers the front side of the body of the robot when the clothes 1 are attached to the robot. A front side first opening 21 and a front side second opening 22 which are windows for sensors installed in the body of the robot are formed in the front section 11. A transparent film is installed so as to cover the front-side second opening 22. In addition, you may install a transparent film also in the front side 1st opening part 21. Alternatively, the transparent film may not be installed in the front-side second opening 22. The shape of the front-side first opening 21 is rectangular. The front-side second opening 22 is arranged below the front-side first opening 21. The shape of the front-side second opening 22 is substantially square. The shape and arrangement of the front-side first opening 21 and the front-side second opening 22 can be set arbitrarily.

The back part 31 is joined to the front part 11. The back surface portion 31 is a portion that covers the back surface side of the body portion of the robot when the clothes 1 are attached to the robot. A rear side first opening 23 and a rear side second opening 24 are formed in the rear surface part 31 in order to expose a fan installed in the body part of the robot for sucking cooling air. The back side first opening 23 and the back side second opening 24 are arranged side by side in the lateral direction. The shapes of the back side first opening 23 and the back side second opening 24 are quadrangular. The arrangement and shape of the back side first opening 23 and the back side second opening 24 can be arbitrarily set according to the fan arrangement and the fan shape in the body of the robot.

A collar 17 that is an opening through which a neck connecting the head of the robot and the body of the robot is inserted is formed on the upper part of the back face 31 and the front face 11. The lower portions of the back surface portion 31 and the front surface portion 11 are hem portions 13. A fastener portion 32 is formed on the back surface portion 31. The fastener part 32 is arranged in the lateral center of the back surface part 31. The fastener portion 32 is formed on the back surface portion 31 so as to extend from the collar portion 17 to the hem portion 13. By opening the fastener part 32, the back surface part 31 can separate the left and right regions of the fastener part 32. Instead of the fastener 32, any other removable member may be arranged. For example, a button, a hook, a surface fastener or the like may be used.

An inner peripheral cover portion 18 is connected to the hem portion 13 located below the front portion 11 and the rear portion 31. The inner peripheral cover portion 18 located below the front surface portion 11 and the rear surface portion 31 has a cylindrical shape so as to surround the outer periphery of the body portion of the robot. An elastic member is arranged at the inner peripheral cover tip portion 18a, which is the lower end region of the inner peripheral cover portion 18. As the elastic member, for example, band-shaped rubber can be used. By disposing the elastic member, the inner peripheral cover tip end portion 18a is reduced in diameter so as to come into contact with the body portion of the robot to which the garment 1 is attached. An opening / closing portion 33 is formed on the back surface side of the inner peripheral cover portion 18 as shown in FIG. The opening / closing portion 33 is arranged so as to extend in the vertical direction from the hem portion 13 side of the back surface portion 31 toward the inner peripheral cover front end portion 18a. The inner peripheral cover portion 18 can be opened left and right by separating the opening / closing portion 33. The opening / closing part 33 is arranged so as to be continuous with the fastener part 32 described above. In the opening / closing part 33, a detachable member such as a surface fastener is arranged.

A skirt cover portion 14 is detachably connected to the skirt portion 13 located below the front surface portion 11 and the rear surface portion 31 so as to surround the outer circumference of the inner peripheral cover portion 18. As a structure for connecting the hem cover portion 14 to the hem portion 13, any structure can be adopted. For example, a hook or a hook-and-loop fastener can be used as the structure. The hem cover portion 14 may be configured to be connected to the hem portion 13 in a state in which a band-shaped member made of cloth or the like is wound so as to surround the outer circumference of the inner peripheral cover portion 18. In the garment 1, the ventilation amount of the material forming the outer cylinder portion 45 and the material forming the inner cylinder portion 44 measured by the A method (Fragile method) specified in JIS L1096 is 10 cm ³ / cm ^2. sec or less, and more preferably 6 cm ³ / cm ² · sec or less.

<Explanation of the usage state in which clothes are attached to the robot>
FIG. 5 is a schematic front view showing a state in which the clothes shown in FIG. 1 are attached to the robot. FIG. 6 is a schematic rear view showing a state in which the clothes shown in FIG. 1 are attached to the robot. FIG. 7 is a schematic cross-sectional view for explaining the configuration near the cuffs and the flow of cooling air when the clothes shown in FIG. 1 are attached to the robot. FIG. 8 is a schematic diagram showing the flow of cooling air when the clothes shown in FIG. 1 are attached to a robot.

As shown in FIGS. 5 to 8, the clothes 1 shown in FIGS. 1 to 4 can be attached to the humanoid robot 100. The robot 100 includes a body portion 109, a head portion 108 connected to an upper portion of the body portion 109, arm portions 118 connected to both sides of the body portion 109, and a base portion 101 located at a bottom portion of the body portion 109. Mainly includes a pillar 103 connected below the base 101 and a moving part 104 connected below the pillar 103. The garment 1 is attached to the robot 100 so as to cover at least a part of the body portion 109, the arm portion 118, and the base portion 101 of the robot 100.

The arm part 118 of the robot 100 includes a first part 128, a joint part 127 and a second part 126 as shown in FIG. The arm portion 118 is connected from the body portion 109 side of the robot 100 so as to be aligned with the second portion 126, the joint portion 127, and the first portion 128. The first portion 128 includes the forearm portion 125 and the hand portion 102. The forearm portion 125 is connected to the joint portion 127. As shown in FIG. 7, the hand portion 102 is connected to the forearm portion 125 via a connecting portion 106 including a partition member. The connection portion 106 is formed with a through hole for passing cooling air as described later. The size of the through hole can be adjusted. The joint portion 127 is provided with a drive source such as a servo motor for rotating and moving the first portion 128 with respect to the second portion 126.

As shown in FIG. 6, in the back surface portion 31 of the garment 1, the fan 107 installed in the body portion 109 of the robot 100 is exposed from the back surface side first opening 23 and the back surface side second opening 24. Further, in the front surface portion 11 of the garment 1, the front surface side first opening portion 21 and the front surface side second opening portion 22 are arranged at positions overlapping with the sensors installed in the body portion 109 of the robot 100.

The inner peripheral cover tip portion 18a of the inner peripheral cover portion 18 of the garment 1 is in contact with the outer periphery of the base portion 101 of the robot 100 by reducing the diameter. Further, at the sleeve tip portion 15 of the tubular portion 60 of the garment 1, the first end portion 44a of the inner tubular portion 44 is reduced in diameter as shown in FIG. Are in contact. The tubular portion 60 is arranged so as to cover the forearm portion 125, the joint portion 127, and the second portion 126 which are a part of the first portion 128 of the robot 100. In the garment 1, in the tubular portion 60, the peripheral length of the end opening 12a at the root 12, which is the portion connected to the front surface portion 11 and the rear surface portion 31, is the outer peripheral length of the joint portion 127 of the robot 100. Is 1.1 times or more and 1.5 times or less.

As described above, with the clothes 1 attached to the robot 100, the outside air is taken in as cooling air from the fan 107 of the body portion 109 of the robot 100 as shown by an arrow 110 in FIG. The taken-in cooling air is supplied to the joint 127 of the arm 118 as shown in FIG. The cooling air that has cooled the joint 127 flows through the inside of the tubular portion 60 toward the hand portion 102 side, as shown by the arrow 110 in FIG. 8. At the tip of the tubular portion 60, as shown in FIG. 7, the cooling air is discharged from the inside of the tubular portion 60 to the outside through the through hole of the connecting portion 106. In this way, the joint 127 can be cooled by the cooling air. Although a part of the cooling air is also discharged from the collar of the clothes 1, the amount of the cooling air discharged can be reduced by making the size of the opening of the collar 17 sufficiently small.

<Explanation of the usage state in which clothes are attached to robots having different configurations>
FIG. 9 is a schematic diagram showing the flow of cooling air when the clothes shown in FIG. 1 are attached to robots having different configurations. FIG. 10 is a schematic cross-sectional view for explaining the configuration near the cuffs and the flow of cooling air in the state shown in FIG.

As shown in FIGS. 9 and 10, the garment 1 shown in FIGS. 1 to 4 may be attached to a robot having a different configuration from the humanoid robot 100 shown in FIGS. 5 to 8. The robot shown in FIGS. 9 and 10 basically has the same configuration as the robot 100 shown in FIGS. 5 to 8, but the blower 124 is arranged on the forearm 125 and the fan 107 (see FIG. 6) is different from the robot 100 shown in FIGS. 5 to 8. As shown by the arrow 110, the blower 124 takes in outside air as cooling air from the hand portion 102 side and blows the cooling air toward the root portion 12 side via the joint portion 127. The cooling air reaches the inside of the main body of the garment 1 from the inner peripheral side of the root portion 12 through the end opening 12a as shown by an arrow 110. The cooling air is discharged to the outside from the collar 17 (see FIG. 2), which is an opening formed in the main body of the garment 1, the back side first opening 23 (see FIG. 2) and the back side second opening 24. It The blower 124 installed on the forearm 125 may have any configuration as long as it can blow air as shown by an arrow 110. For example, as the blower 124, a blower fan in which suction ports are formed on the upper and lower surfaces in the rotating shaft direction of the fan and a discharge port is formed on the side surface located in the radial direction of the rotating shaft may be used, or an axial fan is used. May be.

At the tip of the tubular portion 60 that serves as an intake of outside air, outside air can be introduced into the inside of the tubular portion 60 through the through hole of the connecting portion 106 as shown in FIG. In this case, the inner cylinder portion 44 may be made of a material having air permeability. For example, the inner tubular portion 44 may be made of a mesh-shaped material. The air permeability of the material having air permeability measured by the method A (Fragille type method) defined in JIS L1096 may be 10 cm ³ / cm ² · sec or more.

Alternatively, an opening that connects the flow path 130 and the outside may be formed in the inner tubular portion 44 or the outer tubular portion 45 at the tip of the tubular portion 60. The opening may be openable and closable. The opening functions as an exhaust port or an intake port. For example, a slit may be formed in the inner tubular portion 44 or the outer tubular portion 45 as an opening. The slit may be kept closed by a fixing member such as a button, a hook or a hook and loop fastener. In addition, the above-described opening may be formed in another portion of the tubular portion 60 or the front portion 11 or the back portion 31 of the garment 1.

When the inner cylinder part 44 is made of a material having air permeability as described above, the through hole may not be formed in the connection part 106. Alternatively, a through hole may be formed in the connecting portion 106, but the size of the through hole may not be adjustable.

Here, as shown in FIG. 11, the back side first opening 23 and the back side second opening 24 in the garment 1 may be closed by the closing member 141, or the back side first opening may be provided from the beginning. It is not necessary to provide the portion 23 and the second back side opening 24. FIG. 11 is a schematic rear view of the first modification of the garment shown in FIG. The garment 1 shown in FIG. 11 is a first modification of the garment 1 shown in FIGS. 1 to 4, and basically has the same configuration as the garment 1 shown in FIGS. 1 to 4. The back side first opening 23 and the back side second opening 24 are closed by a closing member 141. In this case, the collar portion 17 becomes the main outlet for cooling air. As a member forming the closing member 141, any material having relatively low air permeability can be used. For example, a resin sheet or the like can be used as the material of the closing member 141. The closing member 141 may be detachable from the back surface portion 31 of the garment 1. For example, the closing member 141 and the back surface portion 31 may be connected by any member such as a hook-and-loop fastener, a button, and a hook.

<Structure of Second Modification of Clothing>
FIG. 12 is a schematic front view of the second modification of the garment shown in FIG. The garment 1 shown in FIG. 12 has basically the same configuration as the garment 1 shown in FIGS. 1 to 4, but the size of the tubular portion 60 and the configuration of the tip portion are shown in FIGS. Clothes 1 are different. In the garment 1 shown in FIG. 12, the tubular portion 60 includes a tubular root portion 12 connected to the main body portion and a tubular pleated portion 16 corresponding to an elbow portion. The portion where the pleated portion 16 is formed is a joint cover portion 151 that covers the joint portion 127 (see FIG. 14) of the robot 100. As shown in FIG. 14, the position of the tip of the joint cover 151 is located closer to the joint 127 than the center of the forearm 125.

A fixing member 152 is arranged at the tip of the tubular portion 60. The fixing member 152 is arranged on the inner peripheral surface of the tubular portion 60. As shown in FIG. 14, the fixing member 152 fixes at least a part of the distal end portion of the tubular portion 60 to the fixing portion 129 of the first portion 128 of the robot 100. The fixed portion 129 is, for example, a ring-shaped member installed in the first portion 128. The fixing portion 129 may be formed with a through hole that connects the distribution path 130 and the outside. Alternatively, the blower 124 shown in FIG. 9 may be used as the fixing unit 129. The fixing member 152 may be, for example, a hook-and-loop fastener. The fixing member 152 may have any configuration as long as the tip portion of the tubular portion 60 can be fixed to the first portion 128. The fixing member 152 detachably fixes the distal end portion of the tubular portion 60 to the first portion 128. Instead of forming the fixing member 152, a reduced diameter portion including an elastic body such as a strip of rubber may be formed at the tip of the tubular portion 60.

<Explanation of the usage state in which the second modified example of the clothes is attached to the robot>
FIG. 13 is a schematic front view showing a state in which the clothes shown in FIG. 12 are attached to the robot. FIG. 14 is a schematic diagram showing the flow of cooling air when the clothes shown in FIG. 12 are attached to the robot.

As shown in FIGS. 13 and 14, the garment 1 shown in FIG. 12 can be attached to the humanoid robot 100. The garment 1 is attached to the robot 100 so as to cover at least a part of the body portion 109, the arm portion 118, and the base portion 101 of the robot 100. However, as shown in FIGS. 13 and 14, the distal end of the joint cover 151 of the garment 1 (the distal end of the tubular portion 60) is located in the middle of the forearm 125 of the robot 100. The fixed portion 129 is arranged in the middle region of the forearm portion 125. The fixing member 152 located at the tip of the tubular portion 60 is connected to the fixing portion 129. The fixed part 129 may have the same structure as the connection part 106 shown in FIG. 7.

Also, gloves 153 are put on the hand portion 102 of the robot 100 and a part of the forearm portion 125. A fixing member (not shown) is arranged at the end of the glove 153 on the side of the forearm 125. The fixing member of the glove 153 is connected to the surface of the forearm 125. A gap is formed between the glove 153 and the tubular portion 60. From a different point of view, the gloves 153 and the tubular portion 60 are arranged so as not to come into contact with each other.

In this way, with the clothes 1 attached to the robot 100, the outside air is taken in as cooling air from the fan 107 of the body 109 of the robot 100, as shown by the arrow 110 in FIG. The cooling air taken in is supplied to the joint 127 of the arm 118 as shown in FIG. The cooling air that has cooled the joint portion 127 flows through the inside of the tubular portion 60 toward the hand portion 102 side as shown by an arrow 110 in FIG. At the tip portion of the tubular portion 60, for example, if the fixing portion 129 has the same configuration as the connecting portion 106 shown in FIG. 7, through the through hole (not shown) of the fixing portion 129 as shown in FIG. Cooling air is discharged from the inside of the tubular portion 60 to the outside. Further, if the fixing member 152 intermittently connects the tip end portion of the tubular portion 60 to the arm portion 118, a gap is formed between the tip end portion of the tubular portion 60 and the surface of the arm portion 118. . In this case, the cooling air may be discharged from the inside of the tubular portion 60 to the outside through the gap. In this way, the joint 127 can be cooled by the cooling air.

Note that the fan 107 is not necessary when a blower is arranged instead of the fixed portion 129. Further, when the blower is arranged at the position of the fixed portion 129, the cooling air is sucked from the tip portion of the tubular portion 60, cools the joint portion 127, and is then discharged to the outside from the collar portion 17 or the like of the clothes 1.

Also, a part of the glove 153 may be formed with a part that acts as an exhaust port or an intake port through which air can flow. The portion may be made of mesh-shaped material, for example. In this case, the end of the glove 153 on the side of the forearm 125 may be connected to the fixed portion 129 formed on the forearm 125 of the robot 100. Alternatively, the end of the glove 153 on the side of the forearm 125 may be fixed to the tip of the tubular portion 60 of the garment 1. By doing so, the space on the inner peripheral side of the glove 153 and the distribution path 130 of the clothes 1 can be connected. Therefore, the air serving as the cooling air can be introduced into the flow passage 130 of the garment 1 from a portion of the glove 153 that functions as an exhaust port or an intake port. Alternatively, the cooling air can be discharged to the outside from the distribution channel 130 via the relevant part of the glove 153.

<Effect>
The garment 1 according to the present embodiment is a garment 1 to be worn by the robot 100 in which the first portion 128 and the second portion 126 are connected via the joint 127, and the first portion 128 of the robot 100 is A tubular portion 60 that covers the forearm portion 125, the joint portion 127, and the second portion 126 that are a part is provided. The tubular portion 60 includes an outer tubular portion 45 and an inner tubular portion 44. The outer tubular portion 45 is located at the tip of the tubular portion 60 and covers the forearm portion 125 that is a part of the first portion 128. The inner tubular portion 44 is located on the inner peripheral side of the outer tubular portion 45. The inner cylinder portion 44 has a first end portion 44a and a second end portion 44b. The first end portion 44a is located on the tip side of the tubular portion 60. The second end 44b is located on the opposite side of the first end 44a. The second end portion 44b is connected to the inner peripheral surface of the outer tubular portion 45. The first end portion 44a includes a reduced diameter portion 43 that reduces the diameter of the inner cylindrical portion 44.

In this case, when cooling air is supplied to the joint part 127 including the actuator in order to cool the joint part 127 with the clothes 1 attached to the robot 100, the first part 128, the joint part 127, and the joint part 127 The cooling air flow passage 130 can be formed between the outer periphery of the second portion 126 and the inner peripheral surface of the tubular portion 60. Further, since the first end portion 44a of the inner tubular portion 44 of the tubular portion 60 includes the reduced diameter portion 43, the diameter is reduced so that the first end portion 44a contacts the surface of the first portion 128 of the robot 100. As a result, the pressure of the cooling air in the distribution path 130 can be increased to some extent. As a result, the tubular portion 60 can be maintained in a state of being swollen by the pressure of the cooling air, and as a result, the circulation path 130 for the cooling air around the joint 127 can be maintained. As a result, the movable portion including the first portion 128, the joint portion 127, and the second portion 126 of the robot 100 can be efficiently cooled by the cooling air.

The garment 1 according to the present embodiment is a garment 1 to be worn by the robot 100 in which the first part 128 and the second part 126 are connected via the joint 127, and as shown in FIGS. The robot 100 includes a tubular portion 60 that covers a part of the first portion 128, the joint portion 127, and the second portion 126. The tubular portion 60 includes a fixing member 152. The fixing member 152 is located at the tip of the tubular portion 60. The fixing member 152 fixes at least a part of the distal end portion of the tubular portion 60 to the first portion 128 of the robot 100. The fixing member 152 is, for example, a surface fastener. The position of the distal end of the tubular portion 60 may be located closer to the joint 127 than the center of the first portion 128 when the robot 100 is wearing the clothes 1.

In this case, when cooling air is supplied to the joint part 127 including the actuator in order to cool the joint part 127 with the clothes 1 attached to the robot 100, the first part 128, the joint part 127, and the joint part 127 The cooling air flow passage 130 can be formed between the outer periphery of the second portion 126 and the inner peripheral surface of the tubular portion 60. Further, since the tip of the tubular portion 60 serving as an inlet or an outlet for the cooling air is arranged at a position relatively close to the joint 127 of the robot 100, the cooling air is supplied to the joint 127 or the joint 127. The cooling air from the can be efficiently exhausted. As a result, the movable part including the joint part 127 of the robot 100 can be efficiently cooled by the cooling air.

In the above-mentioned garment 1, the tubular portion 60 includes the pleat portion 16 located in a region that covers the joint portion 127. Here, the pleated portion 16 means a portion in which a sheet-shaped member 51 such as a cloth made of resin or natural fiber forming the tubular portion 60 is bent a plurality of times. In the pleated portion 16, an elastic lining member 52 for holding a shape may be arranged inside so that the member 51 forming the tubular portion 60 can be maintained in a bent state.

In this case, when the first portion 128 is rotationally moved with respect to the second portion 126 with the joint portion 127 as the center of rotation, the bent member 51 of the pleat portion 16 extends, so that the tubular portion 60 becomes the first portion. The movement of the portion 128 can be easily followed.

In the above garment 1, the tubular portion 60 is a sleeve portion. That is, the garment 1 is worn as a jacket on the robot 100, which is a humanoid robot configured such that the first portion 128, the joint portion 127, and the second portion 126 correspond to human arms. In this case, the first part 128, the joint part 127, and the second part 126 corresponding to the arm of the robot 100 can be efficiently cooled by the cooling air.

In the garment 1, the ventilation amount of the material forming the outer cylinder portion 45 and the material forming the inner cylinder portion 44 measured by the A method (Fragile method) specified in JIS L1096 is 10 cm ³ / cm ^2. sec or less, and more preferably 6 cm ³ / cm ² · sec or less. In this case, since the amount of cooling air that flows from the outer tubular portion 45 and the inner tubular portion 44 to the outside can be limited, the tubular portion 60 and the first portion 128, the joint portion 127 and the second portion 126, and the tubular portion 60 are The pressure of the cooling air flowing between them can be sufficiently increased. Therefore, it is possible to reliably secure the circulation path of the cooling air around the joint 127.

In the above garment 1, the reduced diameter portion 43 includes an elastic member. In this case, the size of the opening of the first end portion 44a of the inner tubular portion 44 can be reduced according to the shape of the first portion 128 of the robot 100.

The garment 1 further includes a main body portion to which the tubular portion 60 is connected. A skirt portion 13 and a collar portion 17 which are openings are formed in the main body portion. In this case, the garment 1 can be attached to the robot 100 including the head 108, the body 109, and the like in addition to the first portion 128, the joint 127, and the second portion 126 corresponding to the above-described arm.

In the above garment, in the tubular portion 60, the peripheral length of the end opening 12a of the root portion 12 on the side opposite to the distal end where the sleeve distal end portion 15 is located is 1. It is 1 time or more and 1.5 times or less. In this case, when the cooling air is supplied to the joint 127 from the inside of the robot 100, the amount of the cooling air leaking from the root 12 of the tubular portion 60 to the outside of the tubular portion 60 can be limited. As a result, the flow path of the cooling air around the joint 127 can be reliably ensured.

In the above-mentioned garment 1, a back side first opening 23 and a back side second opening 24 are formed in the main body as air vents for supplying outside air to the intake section of the robot 100.

Although the embodiments of the present invention have been described above, the embodiments disclosed this time are to be considered as illustrative in all points and not restrictive. The scope of the present invention is shown by the claims, and is intended to include meanings equivalent to the claims and all modifications within the scope.

1 clothing, 11 front part, 12 root part, 12a end opening part, 13 hem part, 14 hem cover part, 15 hem cover part, 16 pleated part, 17 collar part, 18 inner circumference cover part, 18a inner circumference cover end Part, 21 front side first opening, 22 front side second opening, 23 back side first opening, 24 back side second opening, 31 back side, 32 fastener part, 33 opening / closing part, 41 first tube Body, 42 second tubular body, 43 reduced diameter portion, 44 inner tubular portion, 44a first end portion, 44b second end portion, 45 outer tubular portion, 51 member, 52 liner member, 60 tubular portion, 100 robot, 101 base part, 102 hand part, 103 support part, 104 moving part, 106 connecting part, 107 fan, 108 head part, 109 body part, 110 arrow, 118 arm part, 124 Blower, 125 forearm 126 a second portion, 127 joint, 128 a first portion 129 fixed unit, 130 distribution channels, 141 closure member 151 joint cover, 152 fixing member, 153 gloves.

Claims

A garment to be worn by a robot, the first part and the second part of which are connected via joints,
A tubular portion that covers a part of the first portion of the robot, the joint portion, and the second portion,
The tubular portion is
An outer tubular portion located at the tip of the tubular portion and covering the portion of the first portion;
Including an inner cylinder portion located on the inner peripheral side of the outer cylinder portion,
The inner tubular portion has a first end portion located on the tip side of the tubular portion and a second end portion located on the opposite side to the first end portion,
The second end portion is connected to an inner peripheral surface of the outer tubular portion,
The garment, wherein the first end portion includes a reduced diameter portion that reduces the diameter of the inner tubular portion.
The air flow rate of the material forming the outer cylinder portion and the material forming the inner cylinder portion is 10 cm 3 / cm 2 · sec or less as measured by the A method (Fragille type method) defined in JIS L1096. The garment according to claim 1.
Clothes according to claim 1 or 2, wherein the reduced diameter portion includes an elastic member.
A garment to be worn by a robot, the first part and the second part of which are connected via joints,
A tubular portion that covers a part of the first portion of the robot, the joint portion, and the second portion,
The said tubular part is a garment located at the front-end | tip part of the said tubular part, and including the fixing member which fixes at least one part of the said front-end part of the said tubular part to the said 1st part of the said robot.
Clothes according to claim 4, wherein the fixing member is a hook-and-loop fastener.
The garment according to any one of claims 1 to 5, wherein the tubular portion includes a pleated portion located in a region covering the joint portion.
Clothes according to any one of claims 1 to 6, wherein the tubular portion is a sleeve portion.
Further comprising a main body portion to which the tubular portion is connected,
The garment according to any one of claims 1 to 7, wherein a hem portion that is an opening portion and a collar portion are formed in the main body portion.
In the tubular portion, the peripheral length of the end opening portion of the root portion on the side opposite to the distal end portion is 1.1 times or more and 1.5 times or less the outer peripheral length of the joint portion. The garment according to claim 8.