WO2020226025A1 - Walking robot - Google Patents

Walking robot Download PDF

Info

Publication number
WO2020226025A1
WO2020226025A1 PCT/JP2020/016279 JP2020016279W WO2020226025A1 WO 2020226025 A1 WO2020226025 A1 WO 2020226025A1 JP 2020016279 W JP2020016279 W JP 2020016279W WO 2020226025 A1 WO2020226025 A1 WO 2020226025A1
Authority
WO
WIPO (PCT)
Prior art keywords
link
walking robot
axis
pitch axis
articulated
Prior art date
Application number
PCT/JP2020/016279
Other languages
French (fr)
Japanese (ja)
Inventor
山口　修一
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
Application filed by Thk株式会社 filed Critical Thk株式会社
Publication of WO2020226025A1 publication Critical patent/WO2020226025A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages

Definitions

  • the present invention relates to a walking robot, and more particularly to a walking robot that rotates the palm portion around the pitch axis of the ankle joint.
  • Patent Document 1 discloses a bipedal walking robot including an upper body and two left and right legs. The upper body and legs are connected via the hip joint. The legs include a femur link, a lower leg link, and a palm portion. The femoral link and the lower leg link are connected via a knee joint. The lower leg link and the palm of the foot are connected via an ankle joint. Bipedal walking is possible by rotating the thigh link, lower leg link, and palm with a plurality of actuators around each joint.
  • the palm part is rotated around the pitch axis of the ankle joint by an actuator.
  • this actuator that rotates the palm is placed on the ankle joint, a large inertial force acts when the leg is moved at high speed.
  • the actuator is arranged on the thigh link so that the driving force of the actuator is transmitted to the palm portion via the link device.
  • an object of the present invention is to provide a walking robot capable of reducing the inertial force of the legs and making the legs thinner.
  • the thigh link is rotatably connected to the hip joint about the first pitch axis
  • the lower leg link is rotatably connected to the thigh link about the second pitch axis.
  • the actuator arranged at the hip joint and the first link are the first link when the actuator is rotated.
  • a first link device configured to be rotated around a one-pitch axis
  • a second link configured to rotate the first link so that the second link can be rotated around the second pitch axis.
  • the actuator that rotates the palm portion around the third pitch axis (pitch axis of the ankle joint) is arranged in the hip joint, it is possible to reduce the inertial force when moving the leg portion at high speed. it can. Further, since the rotation of the actuator is transmitted to the foot portion via the first link device, the second link device and the third link device, the first link device, the second link device and the third link device are transmitted to the hip joint and the thigh. It can be placed along the link and the lower leg link, and the legs can be made thinner.
  • FIG. 4 (a) shows the state which made the foot part parallel to the ground
  • FIG. 4 (b) shows the state that the foot part is extended
  • FIG. 5 (a) is a state which the leg part is extended
  • FIG. 5 (b) is a state which the leg part is folded).
  • FIG. 5 (a) is a state which the leg part is extended
  • FIG. 6 (a) is a state which the foot flat part is rotated to the same angle as FIG. 5 (b), and FIG. 6 (b) further holds the foot flat part. Rotated state).
  • FIG. 7 (a) shows the crescent-shaped first articulated link of this embodiment
  • FIG. 7 (b) is the linear
  • FIG. 9A shows the state which the leg part is extended and the upper body is tilted forward
  • FIG. 9B is the state where the leg part is extended and is upper. The state in which the body is upright is shown, and FIG. 9 (c) shows the state in which the legs are bent and stretched). It is a figure which shows the range of motion of the foot part of this embodiment (FIG. 10 (a) shows the state which the leg part was bent and the upper body was tilted forward, and FIG. Indicates that the body is upright).
  • the walking robot according to the embodiment of the present invention will be described with reference to the attached drawings.
  • the walking robot of the present invention can be embodied in various forms, and is not limited to the embodiments described in the present specification.
  • the present embodiment is provided with the intention of allowing those skilled in the art to fully understand the scope of the invention by making sufficient disclosure of the specification.
  • FIG. 1 shows a schematic diagram of a walking robot 1 according to an embodiment of the present invention.
  • the configuration of the walking robot 1 will be described with the traveling direction of the walking robot 1 as the X-axis direction, the left-right direction of the walking robot 1 as the Y-axis direction, and the vertical direction of the walking robot 1 as the Z-axis direction.
  • the X-axis is the roll axis
  • the Y-axis is the pitch axis
  • the Z-axis is the yaw axis. Since the pair of left and right legs 3 are symmetrical, they are designated by the same reference numerals.
  • the walking robot 1 includes an upper body 2 and a pair of left and right leg portions 3 connected to the lower end of the upper body 2.
  • Each leg 3 includes a femur link 4, a lower leg link 5, and a foot flat portion 6.
  • the femur link 4 is connected to the upper body 2 via the hip joint 11 having three degrees of freedom.
  • the lower leg link 5 is connected to the femur link 4 via a knee joint having one degree of freedom.
  • the palm portion 6 is connected to the lower leg link 5 via an ankle joint having two degrees of freedom.
  • the thigh link 4 is rotatably connected to the upper body 2 around the first yaw axis 11a, the first roll 11b axis, and the first pitch axis 11c of the hip joint 11.
  • the lower leg link 5 is rotatably connected to the femur link 4 about the second pitch axis 12a of the knee joint 12.
  • a flat portion 6 is rotatably connected to the lower leg link 5 around a second roll shaft 13a and a third pitch shaft 13b of the ankle joint 13.
  • the foot flat portion 6 has 6 degrees of freedom with respect to the upper body 2.
  • a predetermined movement of the leg portion 3 becomes possible, which enables the walking motion, the running motion, and the like of the walking robot 1.
  • a pair of left and right arms are attached to the left and right sides of the upper body 2.
  • a head is attached to the upper end of the upper body 2.
  • FIG. 2 shows a perspective view of the leg portion 3
  • FIG. 3 shows a side view of the leg portion 3.
  • 11 is a hip joint
  • 4 is a femur link
  • 5 is a lower leg link
  • 6 is a foot.
  • the hip joint 11 is rotatably connected to the upper body 2 about the first yaw axis 11a and rotatably about the first roll axis 11b (see FIG. 3).
  • the femur link 4 is rotatably connected to the hip joint 11 about the first pitch shaft 11c.
  • the lower leg link 5 is rotatably connected to the femur link 4 about the second pitch shaft 12a.
  • the foot flat portion 6 is rotatably connected to the lower leg link 5 about the third pitch shaft 13b.
  • Each of the hip joint 11, the femur link 4, and the lower leg link 5 has a U-shaped cross section, and includes a pair of side plates facing each other and a connecting portion for connecting the side plates.
  • the foot flat portion 6 has a substantially plate shape.
  • an actuator 15 is arranged at the hip joint 11.
  • the actuator 15 includes a motor and a speed reducer that reduces the rotation of the motor.
  • the rotation of the output shaft 15a of the actuator 15 is transmitted to the foot flat portion 6 via the first link device 21, the second link device 22, and the third link device 23.
  • the first link device 21 includes a hip joint 11, a first link 31, a driving link 32, and a first articulated link 33.
  • the driving link 32 is rotated about the output shaft 15a of the actuator 15 by the actuator 15 fixed to the hip joint 11.
  • the first link 31 is rotatably connected to the hip joint 11 about the first pitch shaft 11c.
  • the first connecting link 33 is rotatably connected to the driving link 32 via the shaft 41, and is rotatably connected to the first link 31 via the shaft 42.
  • the first link device 21 is a four-node rotary chain in which these four links 11, 31, 32, and 33 all rotate and are chained by paired pairs.
  • the first link device 21 is configured so that the first link 31 can be rotated about the first pitch shaft 11c by rotating the actuator 15.
  • the first link device 21 may be composed of a parallel motion mechanism or a non-parallel motion mechanism.
  • the lengths of two pairs of opposing links are equal. That is, the link length of the hip joint 11 and the link length of the first connecting link 33 are equal, and the link length of the driving link 32 and the link length of the first link 31 are equal.
  • the virtual line 32b of the driving link 32 (the line connecting the output shaft 15a and the shaft 41) and the first virtual line 31a of the first link 31 (the line connecting the first pitch shaft 11c and the shaft 42) are always connected. It is parallel. Further, if the first link device 21 is composed of a non-parallel motion mechanism, the movable range of the first link 31 and thus the palm portion 6 can be expanded.
  • the second link device 22 includes a first link 31, a femur link 4, a second link 35, and a second connecting link 36.
  • the second link 35 is rotatably connected to the femur link 4 about the second pitch shaft 12a.
  • the second connecting link 36 is rotatably connected to the first link 31 via the shaft 43 and rotatably connected to the second link 35 via the shaft 44.
  • the second link device 22 is a four-node rotary chain in which these four links 31, 4, 35, and 36 all rotate and are chained by paired pairs.
  • the second link device 22 is configured so that if the first link 31 is rotated, the second link 35 can be rotated about the second pitch shaft 12a.
  • the second link device 22 is also composed of a parallel motion mechanism, and the lengths of the two opposing links are the same. That is, the link length of the thigh link 4 and the link length of the second connecting link 36 are equal, and the link length of the first link 31 and the link length of the second link 35 are equal.
  • the second virtual line 31b of the first link 31 (the line connecting the first pitch shaft 11c and the shaft 43) and the first virtual line 35a of the second link 35 (the line connecting the second pitch shaft 12a and the shaft 44). Is always parallel.
  • the third link device 23 includes a second link 35, a lower leg link 5, a foot flat portion 6, and a third articulated link 37.
  • the third articulated link 37 is rotatably connected to the second link 35 via the shaft 45, and is rotatably connected to the foot flat portion 6 via the shaft 46.
  • the third link device 23 is a four-node rotating chain in which these four links 35, 5, 6, and 37 all rotate and are chained by paired pairs.
  • the third link device 23 is configured so that the foot flat portion 6 can be rotated about the third pitch shaft 13b by rotating the second link 35.
  • the third link device 23 is also composed of a parallel motion mechanism, and the lengths of the two opposing links are the same. That is, the link length of the lower leg link 5 and the link length of the third articulated link 37 are equal, and the link length of the second link 35 and the link length of the foot flat portion 6 are equal.
  • the second virtual line 35b of the second link 35 (the line connecting the second pitch shaft 12a and the shaft 45) and the virtual line 6a of the foot flat portion 6 (the line connecting the third pitch shaft 13b and the shaft 46) are always parallel.
  • the first link 31 has a triangular shape, and more specifically, has a substantially isosceles triangle shape with an apex angle of less than 60 °.
  • the first link 31 is a compound link having three kinematic pairs.
  • the first pitch axis 11c of the first link 31, the axis 42 to which the first articulated link 33 is connected, and the axis 43 to which the second articulated link 36 is connected form the apex of the triangle.
  • the first articulated link 33 is crescent-shaped and is a single link having two kinematic pairs.
  • the first articulated link 33 is curved in the axial direction of the first pitch axis 11c so that the range of motion of the first link 31 can be widened.
  • the second link 35 has a triangular shape, and more specifically, a substantially regular triangular shape.
  • the second link 35 is a compound link having three kinematic pairs.
  • the second pitch shaft 12a of the second link 35, the shaft 44 to which the second articulated link 36 is connected, and the shaft 45 to which the third articulated link 37 is connected form the apex of the triangle.
  • FIG. 4 shows an operation diagram of the leg portion 3 of the present embodiment.
  • the rotation of the actuator 15 causes the driving link 32 to rotate (see arrow (1)).
  • the first articulated link 33 moves in the direction of the arrow (2)
  • the first link 31 rotates about the first pitch axis 11c (see arrow (3)).
  • the second connecting link 36 moves in the direction of the arrow (4)
  • the second link 35 rotates about the second pitch axis 12a (see arrow (5)).
  • the third articulated link 37 moves in the direction of the arrow (6)
  • the foot flat portion 6 rotates about the third pitch axis 13b (see arrow (7)).
  • FIG. 4B shows a state in which the foot flat portion 6 is rotated, that is, the foot flat portion 6 is extended.
  • the leg 3 includes an actuator 51 for moving the leg 3 back and forth, an actuator 52 for expanding and contracting the leg 3, and an actuator 53 for rotating the foot flat portion 6 around the second roll shaft 13a. Incorporated (see Figure 2).
  • the configuration of the walking robot 1 of the present invention has been described above. According to the walking robot 1 of the present embodiment, the following effects are obtained.
  • the actuator 15 Since the actuator 15 is arranged at the hip joint 11, the inertial force when moving the leg 3 at high speed can be reduced. Further, since the rotation of the actuator 15 is transmitted to the foot flat portion 6 via the first link device 21, the second link device 22, and the third link device 23, the first link device 21, the second link device 22, and the second link device 22 are transmitted.
  • the three-link device 23 can be arranged along the hip joint 11, the femur link 4, and the lower leg link 5, and the leg portion 3 can be made thinner.
  • the foot flat portion 6 can be rotated without being affected by the angle of the thigh link 4 and the expansion and contraction of the leg portion 3.
  • the first link 31 is composed of a triangular double link
  • the first link device 21 can be compactly arranged in the vicinity of the first pitch shaft 11c, and the leg portion 3 can be made compact.
  • first link 31 and the second link 35 are composed of triangular double links, the range of motion of the foot flat portion 6 can be widened. This will be described in detail below.
  • FIGS. 5A and 5B show a comparative example in which the first link 31'and the second link 35'are composed of a linear single link.
  • FIG. 5A shows a state in which the leg portion 3'is extended
  • FIG. 5B shows a state in which the leg portion 3'is folded.
  • FIG. 5 (b) when the first link 31'and the second link 35'are composed of a straight single link, when the leg 3 is folded, the first link 31'and the first link 31' The second link 35'becomes on the same straight line, and a singular point (also called a thought point) is generated between the first link 31' and the second link 35'. Therefore, in the state where the leg portion 3'is folded, the range of motion around the third pitch axis 13b'of the foot flat portion 6'exceeds the limit at an early stage.
  • FIG. 6 shows the present embodiment in which the first link 31 and the second link 35 are composed of triangular double links.
  • 6 (a) and 6 (b) show a state in which the leg 3 is folded at the same angle as in FIG. 5 (b).
  • FIG. 6 (a) shows a state in which the foot flat portion 6 is rotated to the same angle as in FIG. 5 (b), and
  • FIG. 6 (b) shows a state in which the foot flat portion 6 is further rotated.
  • the angle until the first link 31 and the second link 35 enter the singular point is increased. This allows the range of motion of the palm portion 6 to be widened.
  • first articulated link 33 by curving the first articulated link 33 in a crescent shape, it is possible to avoid interference between the first articulated link 33 and the first pitch shaft 11c as compared with the case where the first articulated link 33 is made linear.
  • the range of motion of the first link 31 can be expanded. This will be described in detail below.
  • FIG. 7 (a) shows the crescent-shaped first articulated link 33 of the present embodiment
  • FIG. 7 (b) shows the linear first articulated link 33'of the comparative example
  • 7 (a) and 7 (b) show the limit of the movable range of the first articulated links 33, 33', that is, the state in which the first articulated links 33, 33' are interfering with the first pitch shaft 11c.
  • the first articulated link 33 becomes the first pitch shaft 11c in a state where interference with the first pitch shaft 11c is avoided. It can be brought closer (ie, ⁇ 1 can be smaller than ⁇ 2). Therefore, the range of motion of the first link 31 can be widened. As a result, as shown in FIG. 8, the range of motion ⁇ 3 of the foot flat portion 6 can be expanded to approximately 90 °, for example, with the leg portion 3 extended.
  • the movable range of the palm portion 6 can be expanded regardless of the angle of the thigh link 4 with respect to the upper body 2 and regardless of the expansion and contraction of the leg portion 3. Therefore, for example, as shown in FIG. 9 (a), the legs 3 are extended and the hip joint 11 and the upper body 2 are tilted forward, and then the hip joint 11 and the upper body 2 are tilted forward as shown in FIG. 9 (b). Can be upright, or the legs 3 can be bent and stretched as shown in FIG. 9 (c). Further, as shown in FIG. 10 (a), the leg 3 is bent and the hip joint 11 and the upper body 2 are tilted forward to get up, or as shown in FIG. 10 (b), the leg 3 is bent. It is possible to get up from the state where the hip joint 11 and the upper body 2 are upright.
  • the present invention is not limited to being embodied in the above embodiment, and can be embodied in other embodiments without changing the gist of the present invention.
  • the present invention is applied to a bipedal walking robot has been described, but it can also be applied to a quadrupedal walking robot.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Provided is a walking robot capable of reducing an inertial force of a leg portion and making the leg portion thin. An actuator (15) is disposed in a hip joint (11) of a walking robot (1). The rotation of the actuator (15) is transmitted to the rotation of a foot flat part (6) via a first link device (21), a second link device (22), and a third link device (23). The first link device (21) is configured such that when the actuator (15) rotates, a first link (31) rotates about a first pitch axis (11c) of the hip joint (11). The second link device (22) is configured such that when the first link (31) rotates, a second link (35) rotates about a second pitch axis (12a) of a knee joint (12). The third link device (23) is configured such that when the second link (35) rotates, the foot flat part (6) rotates about a third pitch axis (13b).

Description

歩行ロボットWalking robot
　本発明は、歩行ロボットに関し、特に足平部を足首関節のピッチ軸を中心に回転させる歩行ロボットに関する。 The present invention relates to a walking robot, and more particularly to a walking robot that rotates the palm portion around the pitch axis of the ankle joint.
　人間や動物の歩行形態を模した歩行ロボットの開発が進められている。特許文献１には、上体と、左右２本の脚部と、を備える二足歩行ロボットが開示されている。上体と脚部とは、股関節を介して連結される。脚部は、大腿リンクと、下腿リンクと、足平部と、を備える。大腿リンクと下腿リンクとは、膝関節を介して連結される。下腿リンクと足平部とは、足首関節を介して連結される。複数のアクチュエータによって大腿リンク、下腿リンク及び足平部を、各関節を中心に回転させれば、二足歩行が可能になる。 Development of walking robots that imitate the walking forms of humans and animals is underway. Patent Document 1 discloses a bipedal walking robot including an upper body and two left and right legs. The upper body and legs are connected via the hip joint. The legs include a femur link, a lower leg link, and a palm portion. The femoral link and the lower leg link are connected via a knee joint. The lower leg link and the palm of the foot are connected via an ankle joint. Bipedal walking is possible by rotating the thigh link, lower leg link, and palm with a plurality of actuators around each joint.
　足平部は、アクチュエータによって足首関節のピッチ軸を中心に回転させられる。足平部を回転させるこのアクチュエータを足首関節に配置すると、脚部を高速で移動させる場合に大きな慣性力が働く。この課題を解決するために、特許文献１の発明においては、アクチュエータを大腿リンクに配置し、アクチュエータの駆動力がリンク装置を介して足平部に伝達されるようにしている。 The palm part is rotated around the pitch axis of the ankle joint by an actuator. When this actuator that rotates the palm is placed on the ankle joint, a large inertial force acts when the leg is moved at high speed. In order to solve this problem, in the invention of Patent Document 1, the actuator is arranged on the thigh link so that the driving force of the actuator is transmitted to the palm portion via the link device.
特開２０１１－２２４７５２号公報Japanese Unexamined Patent Publication No. 2011-224752
　しかしながら、特許文献１に記載の歩行ロボットにおいても、脚部を高速で移動させる場合、アクチュエータを足首リンクに配置するときに比べて小さいものの、やはり脚部に慣性力が働くという課題がある。また、アクチュエータの配置やリンク装置の構成上、脚部が太くなるという課題がある。 However, even in the walking robot described in Patent Document 1, when the legs are moved at high speed, there is still a problem that an inertial force acts on the legs, although it is smaller than when the actuator is arranged on the ankle link. Further, there is a problem that the legs become thick due to the arrangement of the actuators and the configuration of the link device.
　そこで本発明は、脚部の慣性力を軽減でき、また脚部を細くすることができる歩行ロボットを提供することを目的とする。 Therefore, an object of the present invention is to provide a walking robot capable of reducing the inertial force of the legs and making the legs thinner.
　上記課題を解決するために、本発明の一態様は、股関節に大腿リンクが第１ピッチ軸を中心に回転可能に連結され、前記大腿リンクに下腿リンクが第２ピッチ軸を中心に回転可能に連結され、前記下腿リンクに足平部が第３ピッチ軸を中心に回転可能に連結される歩行ロボットにおいて、前記股関節に配置されるアクチュエータと、前記アクチュエータを回転させれば第１リンクが前記第１ピッチ軸を中心に回転させられるように構成される第１リンク装置と、前記第１リンクを回転させれば第２リンクが前記第２ピッチ軸を中心に回転させられるように構成される第２リンク装置と、前記第２リンクを回転させれば前記足平部が前記第３ピッチ軸を中心に回転させられるように構成される第３リンク装置と、を備える歩行ロボットである。 In order to solve the above problems, in one aspect of the present invention, the thigh link is rotatably connected to the hip joint about the first pitch axis, and the lower leg link is rotatably connected to the thigh link about the second pitch axis. In a walking robot that is connected and the foot flat portion is rotatably connected to the lower leg link about a third pitch axis, the actuator arranged at the hip joint and the first link are the first link when the actuator is rotated. A first link device configured to be rotated around a one-pitch axis, and a second link configured to rotate the first link so that the second link can be rotated around the second pitch axis. It is a walking robot including a two-link device and a third link device configured so that when the second link is rotated, the foot flat portion is rotated about the third pitch axis.
　本発明によれば、足平部を第３ピッチ軸（足首関節のピッチ軸）を中心に回転させるアクチュエータを股関節に配置するので、脚部を高速で移動させるときの慣性力を軽減することができる。また、アクチュエータの回転を、第１リンク装置、第２リンク装置及び第３リンク装置を介して足平部に伝達するので、第１リンク装置、第２リンク装置及び第３リンク装置を股関節、大腿リンク及び下腿リンクに沿って配置することができ、脚部を細くすることができる。 According to the present invention, since the actuator that rotates the palm portion around the third pitch axis (pitch axis of the ankle joint) is arranged in the hip joint, it is possible to reduce the inertial force when moving the leg portion at high speed. it can. Further, since the rotation of the actuator is transmitted to the foot portion via the first link device, the second link device and the third link device, the first link device, the second link device and the third link device are transmitted to the hip joint and the thigh. It can be placed along the link and the lower leg link, and the legs can be made thinner.
本発明の一実施形態の歩行ロボットの模式図である。It is a schematic diagram of the walking robot of one Embodiment of this invention. 本実施形態の脚部の斜視図である。It is a perspective view of the leg part of this embodiment. 本実施形態の脚部の側面図である。It is a side view of the leg part of this embodiment. 本実施形態の脚部の動作図である（図４（ａ）は足平部を地面に平行にした状態を示し、図４（ｂ）は足平部を伸ばした状態を示す）。It is an operation diagram of the leg part of this embodiment (FIG. 4 (a) shows the state which made the foot part parallel to the ground, and FIG. 4 (b) shows the state that the foot part is extended). 比較例の脚部の可動域を示す図である（図５（ａ）は脚部を伸ばした状態、図５（ｂ）は脚部を畳んだ状態）。It is a figure which shows the range of motion of the leg part of the comparative example (FIG. 5 (a) is a state which the leg part is extended, FIG. 5 (b) is a state which the leg part is folded). 本実施形態の脚部の可動域を示す図である（図６（ａ）は図５（ｂ）と同じ角度まで足平部を回転させた状態、図６（ｂ）はさらに足平部を回転させた状態）。It is a figure which shows the range of motion of the leg part of this embodiment (FIG. 6 (a) is a state which the foot flat part is rotated to the same angle as FIG. 5 (b), and FIG. 6 (b) further holds the foot flat part. Rotated state). 本実施形態の第１連接リンクの可動域を示す図である（図７（ａ）は本実施形態の三日月状の第１連接リンクを示し、図７（ｂ）は比較例の直線状の第１連接リンクを示す）。It is a figure which shows the range of motion of the 1st articulated link of this embodiment (FIG. 7 (a) shows the crescent-shaped first articulated link of this embodiment, and FIG. 7 (b) is the linear | linear first of the comparative example. 1 Indicates a concatenated link). 本実施形態の足平部の可動域を示す図である。It is a figure which shows the range of motion of the foot palm part of this embodiment. 本実施形態の足平部の可動域を示す図である（図９（ａ）は脚部を伸ばし、上体を前方に倒した状態を示し、図９（ｂ）は脚部を伸ばし、上体を直立させた状態を示し、図９（ｃ）は脚部を屈伸させた状態を示す）。It is a figure which shows the range of motion of the foot part of this embodiment (FIG. 9A shows the state which the leg part is extended and the upper body is tilted forward, and FIG. 9B is the state where the leg part is extended and is upper. The state in which the body is upright is shown, and FIG. 9 (c) shows the state in which the legs are bent and stretched). 本実施形態の足平部の可動域を示す図である（図１０（ａ）は脚部を曲げ、上体を前方に倒した状態を示し、図１０（ｂ）は脚部を曲げ、上体を直立させた状態を示す）。It is a figure which shows the range of motion of the foot part of this embodiment (FIG. 10 (a) shows the state which the leg part was bent and the upper body was tilted forward, and FIG. Indicates that the body is upright).
　以下、添付図面に基づいて、本発明の実施形態の歩行ロボットを説明する。ただし、本発明の歩行ロボットは、種々の形態で具体化することができ、本明細書に記載される実施形態に限定されるものではない。本実施形態は、明細書の開示を十分にすることによって、当業者が発明の範囲を十分に理解できるようにする意図をもって提供されるものである。 Hereinafter, the walking robot according to the embodiment of the present invention will be described with reference to the attached drawings. However, the walking robot of the present invention can be embodied in various forms, and is not limited to the embodiments described in the present specification. The present embodiment is provided with the intention of allowing those skilled in the art to fully understand the scope of the invention by making sufficient disclosure of the specification.
　図１は、本発明の一実施形態の歩行ロボット１の模式図を示す。以下では、説明の便宜上、歩行ロボット１の進行方向をＸ軸方向、歩行ロボット１の左右方向をＹ軸方向、歩行ロボット１の上下方向をＺ軸方向として、歩行ロボット１の構成を説明する。ここで、Ｘ軸はロール軸であり、Ｙ軸はピッチ軸であり、Ｚ軸はヨー軸である。左右一対の脚部３は、左右対称であるので、同一の符号を附す。 FIG. 1 shows a schematic diagram of a walking robot 1 according to an embodiment of the present invention. Hereinafter, for convenience of explanation, the configuration of the walking robot 1 will be described with the traveling direction of the walking robot 1 as the X-axis direction, the left-right direction of the walking robot 1 as the Y-axis direction, and the vertical direction of the walking robot 1 as the Z-axis direction. Here, the X-axis is the roll axis, the Y-axis is the pitch axis, and the Z-axis is the yaw axis. Since the pair of left and right legs 3 are symmetrical, they are designated by the same reference numerals.
　歩行ロボット１は、上体２と、上体２の下端部に連結される左右一対の脚部３と、を備える。各脚部３は、大腿リンク４と、下腿リンク５と、足平部６と、を備える。上体２には、３自由度の股関節１１を介して大腿リンク４が連結される。大腿リンク４には、１自由度の膝関節を介して下腿リンク５が連結される。下腿リンク５には、２自由度の足首関節を介して足平部６が連結される。 The walking robot 1 includes an upper body 2 and a pair of left and right leg portions 3 connected to the lower end of the upper body 2. Each leg 3 includes a femur link 4, a lower leg link 5, and a foot flat portion 6. The femur link 4 is connected to the upper body 2 via the hip joint 11 having three degrees of freedom. The lower leg link 5 is connected to the femur link 4 via a knee joint having one degree of freedom. The palm portion 6 is connected to the lower leg link 5 via an ankle joint having two degrees of freedom.
　より詳しくは、上体２には、股関節１１の第１ヨー軸１１ａ、第１ロール１１ｂ軸、及び第１ピッチ軸１１ｃを中心に回転可能に大腿リンク４が連結される。大腿リンク４には、膝関節１２の第２ピッチ軸１２ａを中心に回転可能に下腿リンク５が連結される。下腿リンク５には、足首関節１３の第２ロール軸１３ａ及び第３ピッチ軸１３ｂを中心に回転可能に足平部６が連結される。 More specifically, the thigh link 4 is rotatably connected to the upper body 2 around the first yaw axis 11a, the first roll 11b axis, and the first pitch axis 11c of the hip joint 11. The lower leg link 5 is rotatably connected to the femur link 4 about the second pitch axis 12a of the knee joint 12. A flat portion 6 is rotatably connected to the lower leg link 5 around a second roll shaft 13a and a third pitch shaft 13b of the ankle joint 13.
　脚部３を上記のように構成するので、足平部６は、上体２に対して６自由度を有する。脚部３の関節１１，１２，１３を適宜駆動することで、脚部３の所定の運動が可能になり、これにより、歩行ロボット１の歩行動作、走行動作等が可能になる。 Since the leg portion 3 is configured as described above, the foot flat portion 6 has 6 degrees of freedom with respect to the upper body 2. By appropriately driving the joints 11, 12, and 13 of the leg portion 3, a predetermined movement of the leg portion 3 becomes possible, which enables the walking motion, the running motion, and the like of the walking robot 1.
　なお、図示は省略するが、上体２の左右両側には、左右一対の腕部が取り付けられる。上体２の上端部には、頭部が取り付けられる。 Although not shown, a pair of left and right arms are attached to the left and right sides of the upper body 2. A head is attached to the upper end of the upper body 2.
　以下に、足平部６を第３ピッチ軸１３ｂを中心に回転させる駆動機構を詳細に説明する。図２は脚部３の斜視図を示し、図３は脚部３の側面図を示す。１１は股関節、４は大腿リンク、５は下腿リンク、６は足平部である。 The drive mechanism for rotating the foot flat portion 6 about the third pitch shaft 13b will be described in detail below. FIG. 2 shows a perspective view of the leg portion 3, and FIG. 3 shows a side view of the leg portion 3. 11 is a hip joint, 4 is a femur link, 5 is a lower leg link, and 6 is a foot.
　股関節１１は、上体２に第１ヨー軸１１ａを中心に回転可能に、かつ第１ロール軸１１ｂを中心に回転可能に連結される（図３参照）。図２に示すように、股関節１１には、大腿リンク４が第１ピッチ軸１１ｃを中心に回転可能に連結される。大腿リンク４には、下腿リンク５が第２ピッチ軸１２ａを中心に回転可能に連結される。下腿リンク５には、足平部６が第３ピッチ軸１３ｂを中心に回転可能に連結される。股関節１１、大腿リンク４及び下腿リンク５それぞれは、断面コ字状であり、互いに対向する一対の側板と、側板を連結する連結部と、を備える。足平部６は、略板状である。 The hip joint 11 is rotatably connected to the upper body 2 about the first yaw axis 11a and rotatably about the first roll axis 11b (see FIG. 3). As shown in FIG. 2, the femur link 4 is rotatably connected to the hip joint 11 about the first pitch shaft 11c. The lower leg link 5 is rotatably connected to the femur link 4 about the second pitch shaft 12a. The foot flat portion 6 is rotatably connected to the lower leg link 5 about the third pitch shaft 13b. Each of the hip joint 11, the femur link 4, and the lower leg link 5 has a U-shaped cross section, and includes a pair of side plates facing each other and a connecting portion for connecting the side plates. The foot flat portion 6 has a substantially plate shape.
　図３に示すように、股関節１１には、アクチュエータ１５が配置される。アクチュエータ１５は、モータと、モータの回転を減速する減速機と、を備える。アクチュエータ１５の出力軸１５ａの回転は、第１リンク装置２１、第２リンク装置２２、及び第３リンク装置２３を介して足平部６に伝達される。 As shown in FIG. 3, an actuator 15 is arranged at the hip joint 11. The actuator 15 includes a motor and a speed reducer that reduces the rotation of the motor. The rotation of the output shaft 15a of the actuator 15 is transmitted to the foot flat portion 6 via the first link device 21, the second link device 22, and the third link device 23.
　第１リンク装置２１は、股関節１１と、第１リンク３１と、原動リンク３２と、第１連接リンク３３と、を備える。原動リンク３２は、股関節１１に固定されたアクチュエータ１５によってアクチュエータ１５の出力軸１５ａを中心に回転させられる。第１リンク３１は、股関節１１に第１ピッチ軸１１ｃを中心に回転可能に連結される。第１連接リンク３３は、原動リンク３２に軸４１を介して回転可能に連結されると共に、第１リンク３１に軸４２を介して回転可能に連結される。 The first link device 21 includes a hip joint 11, a first link 31, a driving link 32, and a first articulated link 33. The driving link 32 is rotated about the output shaft 15a of the actuator 15 by the actuator 15 fixed to the hip joint 11. The first link 31 is rotatably connected to the hip joint 11 about the first pitch shaft 11c. The first connecting link 33 is rotatably connected to the driving link 32 via the shaft 41, and is rotatably connected to the first link 31 via the shaft 42.
　第１リンク装置２１は、これらの４つのリンク１１，３１，３２，３３がすべて回り対偶によって連鎖をなした４節回転連鎖である。第１リンク装置２１は、アクチュエータ１５を回転させれば第１リンク３１が第１ピッチ軸１１ｃを中心に回転させられるように構成される。 The first link device 21 is a four-node rotary chain in which these four links 11, 31, 32, and 33 all rotate and are chained by paired pairs. The first link device 21 is configured so that the first link 31 can be rotated about the first pitch shaft 11c by rotating the actuator 15.
　第１リンク装置２１は、平行運動機構から構成されてもよいし、非平行運動機構から構成されてもよい。第１リンク装置２１を平行運動機構から構成する場合、相対する２組のリンクの長さが等しい。すなわち、股関節１１のリンク長さと第１連接リンク３３のリンク長さとが等しく、原動リンク３２のリンク長さと第１リンク３１のリンク長さとが等しい。原動リンク３２の仮想線３２ｂ（出力軸１５ａと軸４１とを結んだ線）と第１リンク３１の第１仮想線３１ａ（第１ピッチ軸１１ｃと軸４２とを結んだ線）とは、常に平行である。また、第１リンク装置２１を非平行運動機構から構成すれば、第１リンク３１ひいては足平部６の可動範囲を拡大することができる。 The first link device 21 may be composed of a parallel motion mechanism or a non-parallel motion mechanism. When the first link device 21 is composed of a parallel motion mechanism, the lengths of two pairs of opposing links are equal. That is, the link length of the hip joint 11 and the link length of the first connecting link 33 are equal, and the link length of the driving link 32 and the link length of the first link 31 are equal. The virtual line 32b of the driving link 32 (the line connecting the output shaft 15a and the shaft 41) and the first virtual line 31a of the first link 31 (the line connecting the first pitch shaft 11c and the shaft 42) are always connected. It is parallel. Further, if the first link device 21 is composed of a non-parallel motion mechanism, the movable range of the first link 31 and thus the palm portion 6 can be expanded.
　第２リンク装置２２は、第１リンク３１と、大腿リンク４と、第２リンク３５と、第２連接リンク３６と、を備える。第２リンク３５は、大腿リンク４に第２ピッチ軸１２ａを中心に回転可能に連結される。第２連接リンク３６は、第１リンク３１に軸４３を介して回転可能に連結されると共に、第２リンク３５に軸４４を介して回転可能に連結される。 The second link device 22 includes a first link 31, a femur link 4, a second link 35, and a second connecting link 36. The second link 35 is rotatably connected to the femur link 4 about the second pitch shaft 12a. The second connecting link 36 is rotatably connected to the first link 31 via the shaft 43 and rotatably connected to the second link 35 via the shaft 44.
　第２リンク装置２２は、これらの４つのリンク３１，４，３５，３６がすべて回り対偶によって連鎖をなした４節回転連鎖である。第２リンク装置２２は、第１リンク３１を回転させれば第２リンク３５が第２ピッチ軸１２ａを中心に回転させられるように構成される。 The second link device 22 is a four-node rotary chain in which these four links 31, 4, 35, and 36 all rotate and are chained by paired pairs. The second link device 22 is configured so that if the first link 31 is rotated, the second link 35 can be rotated about the second pitch shaft 12a.
　第２リンク装置２２も、平行運動機構から構成され、相対する２組のリンクの長さが等しい。すなわち、大腿リンク４のリンク長さと第２連接リンク３６のリンク長さとが等しく、第１リンク３１のリンク長さと第２リンク３５のリンク長さとが等しい。第１リンク３１の第２仮想線３１ｂ（第１ピッチ軸１１ｃと軸４３を結んだ線）と第２リンク３５の第１仮想線３５ａ（第２ピッチ軸１２ａと軸４４とを結んだ線）とは、常に平行である。 The second link device 22 is also composed of a parallel motion mechanism, and the lengths of the two opposing links are the same. That is, the link length of the thigh link 4 and the link length of the second connecting link 36 are equal, and the link length of the first link 31 and the link length of the second link 35 are equal. The second virtual line 31b of the first link 31 (the line connecting the first pitch shaft 11c and the shaft 43) and the first virtual line 35a of the second link 35 (the line connecting the second pitch shaft 12a and the shaft 44). Is always parallel.
　第３リンク装置２３は、第２リンク３５と、下腿リンク５と、足平部６と、第３連接リンク３７と、を備える。第３連接リンク３７は、第２リンク３５に軸４５を介して回転可能に連結されると共に、足平部６に軸４６を介して回転可能に連結される。 The third link device 23 includes a second link 35, a lower leg link 5, a foot flat portion 6, and a third articulated link 37. The third articulated link 37 is rotatably connected to the second link 35 via the shaft 45, and is rotatably connected to the foot flat portion 6 via the shaft 46.
　第３リンク装置２３は、これらの４つのリンク３５，５，６，３７がすべて回り対偶によって連鎖をなした４節回転連鎖である。第３リンク装置２３は、第２リンク３５を回転させれば足平部６が第３ピッチ軸１３ｂを中心に回転させられるように構成される。 The third link device 23 is a four-node rotating chain in which these four links 35, 5, 6, and 37 all rotate and are chained by paired pairs. The third link device 23 is configured so that the foot flat portion 6 can be rotated about the third pitch shaft 13b by rotating the second link 35.
　第３リンク装置２３も、平行運動機構から構成され、相対する２組のリンクの長さが等しい。すなわち、下腿リンク５のリンク長さと第３連接リンク３７のリンク長さとが等しく、第２リンク３５のリンク長さと足平部６のリンク長さとが等しい。第２リンク３５の第２仮想線３５ｂ（第２ピッチ軸１２ａと軸４５とを結んだ線）と足平部６の仮想線６ａ（第３ピッチ軸１３ｂと軸４６とを結んだ線）とは、常に平行である。 The third link device 23 is also composed of a parallel motion mechanism, and the lengths of the two opposing links are the same. That is, the link length of the lower leg link 5 and the link length of the third articulated link 37 are equal, and the link length of the second link 35 and the link length of the foot flat portion 6 are equal. The second virtual line 35b of the second link 35 (the line connecting the second pitch shaft 12a and the shaft 45) and the virtual line 6a of the foot flat portion 6 (the line connecting the third pitch shaft 13b and the shaft 46) Are always parallel.
　第１リンク３１は、三角状であり、より詳しくは頂角が６０°未満の略二等辺三角形状である。第１リンク３１は、３つの回り対偶を持つ複リンクである。第１リンク３１における第１ピッチ軸１１ｃ、第１連接リンク３３が連結される軸４２、及び第２連接リンク３６が連結される軸４３が、三角形の頂点を形成する。 The first link 31 has a triangular shape, and more specifically, has a substantially isosceles triangle shape with an apex angle of less than 60 °. The first link 31 is a compound link having three kinematic pairs. The first pitch axis 11c of the first link 31, the axis 42 to which the first articulated link 33 is connected, and the axis 43 to which the second articulated link 36 is connected form the apex of the triangle.
　第１連接リンク３３は、三日月状であり、２つの回り対偶を持つ単リンクである。第１連接リンク３３は、第１リンク３１の可動域を広げられるように、第１ピッチ軸１１ｃの軸方向視において湾曲する。 The first articulated link 33 is crescent-shaped and is a single link having two kinematic pairs. The first articulated link 33 is curved in the axial direction of the first pitch axis 11c so that the range of motion of the first link 31 can be widened.
　第２リンク３５は、三角状であり、より詳しくは略正三角形状である。第２リンク３５は、３つの回り対偶を持つ複リンクである。第２リンク３５における第２ピッチ軸１２ａ、第２連接リンク３６が連結される軸４４、及び第３連接リンク３７が連結される軸４５が、三角形の頂点を形成する。 The second link 35 has a triangular shape, and more specifically, a substantially regular triangular shape. The second link 35 is a compound link having three kinematic pairs. The second pitch shaft 12a of the second link 35, the shaft 44 to which the second articulated link 36 is connected, and the shaft 45 to which the third articulated link 37 is connected form the apex of the triangle.
　図４は、本実施形態の脚部３の動作図を示す。図４（ａ）に示すように、アクチュエータ１５の回転によって原動リンク３２が回転する（矢印（１）参照）。第１連接リンク３３の矢印（２）方向への移動に伴い、第１リンク３１が第１ピッチ軸１１ｃを中心に回転する（矢印（３）参照）。第２連接リンク３６の矢印（４）方向への移動に伴い、第２リンク３５が第２ピッチ軸１２ａを中心に回転する（矢印（５）参照）。第３連接リンク３７の矢印（６）方向への移動に伴い、足平部６が第３ピッチ軸１３ｂを中心に回転する（矢印（７）参照）。図４（ｂ）は、足平部６の回転後、すなわち足平部６を伸ばした状態を示す。 FIG. 4 shows an operation diagram of the leg portion 3 of the present embodiment. As shown in FIG. 4A, the rotation of the actuator 15 causes the driving link 32 to rotate (see arrow (1)). As the first articulated link 33 moves in the direction of the arrow (2), the first link 31 rotates about the first pitch axis 11c (see arrow (3)). As the second connecting link 36 moves in the direction of the arrow (4), the second link 35 rotates about the second pitch axis 12a (see arrow (5)). As the third articulated link 37 moves in the direction of the arrow (6), the foot flat portion 6 rotates about the third pitch axis 13b (see arrow (7)). FIG. 4B shows a state in which the foot flat portion 6 is rotated, that is, the foot flat portion 6 is extended.
　なお、脚部３には、脚部３を前後に移動させるためのアクチュエータ５１、脚部３を伸縮させるためのアクチュエータ５２、足平部６を第２ロール軸１３ａの回りに回転させるアクチュエータ５３が組み込まれる（図２参照）。 The leg 3 includes an actuator 51 for moving the leg 3 back and forth, an actuator 52 for expanding and contracting the leg 3, and an actuator 53 for rotating the foot flat portion 6 around the second roll shaft 13a. Incorporated (see Figure 2).
　以上に本発明の歩行ロボット１の構成を説明した。本実施形態の歩行ロボット１によれば、以下の効果を奏する。 The configuration of the walking robot 1 of the present invention has been described above. According to the walking robot 1 of the present embodiment, the following effects are obtained.
　アクチュエータ１５を股関節１１に配置するので、脚部３を高速で移動させるときの慣性力を軽減することができる。また、アクチュエータ１５の回転を、第１リンク装置２１、第２リンク装置２２及び第３リンク装置２３を介して足平部６に伝達するので、第１リンク装置２１、第２リンク装置２２及び第３リンク装置２３を股関節１１、大腿リンク４及び下腿リンク５に沿って配置することができ、脚部３を細くすることができる。 Since the actuator 15 is arranged at the hip joint 11, the inertial force when moving the leg 3 at high speed can be reduced. Further, since the rotation of the actuator 15 is transmitted to the foot flat portion 6 via the first link device 21, the second link device 22, and the third link device 23, the first link device 21, the second link device 22, and the second link device 22 are transmitted. The three-link device 23 can be arranged along the hip joint 11, the femur link 4, and the lower leg link 5, and the leg portion 3 can be made thinner.
　第２リンク装置２２及び第３リンク装置２３を平行運動機構から構成するので、大腿リンク４の角度や脚部３の伸縮の影響を受けずに、足平部６を回転させることができる。 Since the second link device 22 and the third link device 23 are composed of a parallel motion mechanism, the foot flat portion 6 can be rotated without being affected by the angle of the thigh link 4 and the expansion and contraction of the leg portion 3.
　第１リンク３１を三角状の複リンクから構成するので、第１リンク装置２１を第１ピッチ軸１１ｃの近傍にコンパクトに配置することができ、脚部３のコンパクト化が実現できる。 Since the first link 31 is composed of a triangular double link, the first link device 21 can be compactly arranged in the vicinity of the first pitch shaft 11c, and the leg portion 3 can be made compact.
　第１リンク３１と第２リンク３５を三角状の複リンクから構成するので、足平部６の可動域を広くすることができる。以下にこれを詳述する。 Since the first link 31 and the second link 35 are composed of triangular double links, the range of motion of the foot flat portion 6 can be widened. This will be described in detail below.
　図５（ａ）（ｂ）は、第１リンク３１´と第２リンク３５´を直線状の単リンクから構成した比較例を示す。図５（ａ）は脚部３´を伸ばした状態を示し、図５（ｂ）は脚部３´を畳んだ状態を示す。図５（ｂ）に示すように、第１リンク３１´と第２リンク３５´を直線状の単リンクから構成する場合、脚部３を畳んだ状態では、早い段階で第１リンク３１´と第２リンク３５´とが同一直線上になってしまい、第１リンク３１´と第２リンク３５´とに特異点（思案点とも呼ばれる）が生ずる。このため、脚部３´を畳んだ状態では、足平部６´の第３ピッチ軸１３ｂ´回りの可動域が早い段階でその限界を超えてしまう。 FIGS. 5A and 5B show a comparative example in which the first link 31'and the second link 35'are composed of a linear single link. FIG. 5A shows a state in which the leg portion 3'is extended, and FIG. 5B shows a state in which the leg portion 3'is folded. As shown in FIG. 5 (b), when the first link 31'and the second link 35'are composed of a straight single link, when the leg 3 is folded, the first link 31'and the first link 31' The second link 35'becomes on the same straight line, and a singular point (also called a thought point) is generated between the first link 31' and the second link 35'. Therefore, in the state where the leg portion 3'is folded, the range of motion around the third pitch axis 13b'of the foot flat portion 6'exceeds the limit at an early stage.
　図６は、第１リンク３１と第２リンク３５を三角状の複リンクから構成した本実施形態を示す。図６（ａ）（ｂ）は図５（ｂ）と同じ角度で脚部３を畳んだ状態を示す。図６（ａ）は図５（ｂ）と同じ角度まで足平部６を回転させた状態を示し、図６（ｂ）はさらに足平部６を回転させた状態を示す。 FIG. 6 shows the present embodiment in which the first link 31 and the second link 35 are composed of triangular double links. 6 (a) and 6 (b) show a state in which the leg 3 is folded at the same angle as in FIG. 5 (b). FIG. 6 (a) shows a state in which the foot flat portion 6 is rotated to the same angle as in FIG. 5 (b), and FIG. 6 (b) shows a state in which the foot flat portion 6 is further rotated.
　図６（ｂ）に示すように、第１リンク３１と第２リンク３５を三角状の複リンクから構成することで、第１リンク３１と第２リンク３５が特異点に入るまでの角度を大きくすることができ、これによって足平部６の可動域を広げることができる。 As shown in FIG. 6B, by configuring the first link 31 and the second link 35 from the triangular double links, the angle until the first link 31 and the second link 35 enter the singular point is increased. This allows the range of motion of the palm portion 6 to be widened.
　また、第１連接リンク３３を三日月状に湾曲させることで、第１連接リンク３３を直線状にする場合に比べて、第１連接リンク３３と第１ピッチ軸１１ｃの干渉を避けることができ、第１リンク３１の可動域を広げることができる。以下にこれを詳述する。 Further, by curving the first articulated link 33 in a crescent shape, it is possible to avoid interference between the first articulated link 33 and the first pitch shaft 11c as compared with the case where the first articulated link 33 is made linear. The range of motion of the first link 31 can be expanded. This will be described in detail below.
　図７（ａ）は本実施形態の三日月状の第１連接リンク３３を示し、図７（ｂ）は比較例の直線状の第１連接リンク３３´を示す。図７（ａ）（ｂ）では、第１連接リンク３３，３３´の可動範囲の限界、すなわち第１連接リンク３３，３３´が第１ピッチ軸１１ｃに干渉している状態を示す。 FIG. 7 (a) shows the crescent-shaped first articulated link 33 of the present embodiment, and FIG. 7 (b) shows the linear first articulated link 33'of the comparative example. 7 (a) and 7 (b) show the limit of the movable range of the first articulated links 33, 33', that is, the state in which the first articulated links 33, 33' are interfering with the first pitch shaft 11c.
　図７（ａ）に示すように、第１連接リンク３３を三日月状に湾曲させることで、第１ピッチ軸１１ｃとの干渉を避けた状態で、第１連接リンク３３を第１ピッチ軸１１ｃに近づけることができる（すなわち、θ１をθ２よりも小さくすることができる）。このため、第１リンク３１の可動域を広げることができる。この結果、図８に示すように、例えば脚部３を伸ばした状態で、足平部６の可動域θ３を略９０°まで広げることができる。 As shown in FIG. 7A, by bending the first articulated link 33 in a crescent shape, the first articulated link 33 becomes the first pitch shaft 11c in a state where interference with the first pitch shaft 11c is avoided. It can be brought closer (ie, θ1 can be smaller than θ2). Therefore, the range of motion of the first link 31 can be widened. As a result, as shown in FIG. 8, the range of motion θ3 of the foot flat portion 6 can be expanded to approximately 90 °, for example, with the leg portion 3 extended.
　本実施形態によれば、上体２に対する大腿リンク４の角度にかかわらず、また脚部３の伸縮にかかわらず、足平部６の可動範囲を広げることができる。このため、例えば図９（ａ）に示すように、脚部３を伸ばし、股関節１１と上体２を前方に倒した状態から、図９（ｂ）に示すように、股関節１１と上体２を直立させたり、図９（ｃ）に示すように、脚部３を屈伸させたりすることができる。また、図１０（ａ）に示すように、脚部３を曲げ、股関節１１と上体２を前方に倒した状態から起き上がったり、図１０（ｂ）に示すように、脚部３を曲げ、股関節１１と上体２を直立させた状態から起き上がったりすることができる。 According to the present embodiment, the movable range of the palm portion 6 can be expanded regardless of the angle of the thigh link 4 with respect to the upper body 2 and regardless of the expansion and contraction of the leg portion 3. Therefore, for example, as shown in FIG. 9 (a), the legs 3 are extended and the hip joint 11 and the upper body 2 are tilted forward, and then the hip joint 11 and the upper body 2 are tilted forward as shown in FIG. 9 (b). Can be upright, or the legs 3 can be bent and stretched as shown in FIG. 9 (c). Further, as shown in FIG. 10 (a), the leg 3 is bent and the hip joint 11 and the upper body 2 are tilted forward to get up, or as shown in FIG. 10 (b), the leg 3 is bent. It is possible to get up from the state where the hip joint 11 and the upper body 2 are upright.
　なお、本発明は、上記実施形態に具現化されるのに限られることはなく、本発明の要旨を変更しない範囲で他の実施形態に具現化可能である。例えば、上記実施形態では、本発明を２足歩行ロボットに適用した例を説明したが、４足歩行ロボットにも適用することができる。 Note that the present invention is not limited to being embodied in the above embodiment, and can be embodied in other embodiments without changing the gist of the present invention. For example, in the above embodiment, an example in which the present invention is applied to a bipedal walking robot has been described, but it can also be applied to a quadrupedal walking robot.
　本明細書は、２０１９年５月９日出願の特願２０１９－０８８７４７に基づく。この内容はすべてここに含めておく。 This specification is based on Japanese Patent Application No. 2019-088747 filed on May 9, 2019. All this content is included here.
　１…歩行ロボット、４…大腿リンク、５…下腿リンク、６…足平部、１１…股関節、１１ｃ…第１ピッチ軸、１２ａ…第２ピッチ軸、１３ｂ…第３ピッチ軸、１５…アクチュエータ、２１…第１リンク装置、２２…第２リンク装置、２３…第３リンク装置、３１…第１リンク、３２…原動リンク、３３…第１連接リンク、３５…第２リンク、３６…第２連接リンク、３７…第３連接リンク、４２…第１リンクにおける第１連接リンクが連結される軸、４３…第１リンクにおける第２連接リンクが連結される軸、４４…第２リンクにおける第２連接リンクが連結される軸、４５…第２リンクにおける第３連接リンクが連結される軸 1 ... walking robot, 4 ... thigh link, 5 ... lower leg link, 6 ... palm part, 11 ... hip joint, 11c ... 1st pitch axis, 12a ... 2nd pitch axis, 13b ... 3rd pitch axis, 15 ... actuator, 21 ... 1st link device, 22 ... 2nd link device, 23 ... 3rd link device, 31 ... 1st link, 32 ... prime link, 33 ... 1st connection link, 35 ... 2nd link, 36 ... 2nd connection Link, 37 ... 3rd connecting link, 42 ... Axis to which the 1st connecting link in the 1st link is connected, 43 ... Axis to which the 2nd connecting link in the 1st link is connected, 44 ... 2nd connecting in the 2nd link Axis to which the links are connected, 45 ... Axis to which the third articulated link in the second link is connected

Claims (5)

  1. 　股関節に大腿リンクが第１ピッチ軸を中心に回転可能に連結され、前記大腿リンクに下腿リンクが第２ピッチ軸を中心に回転可能に連結され、前記下腿リンクに足平部が第３ピッチ軸を中心に回転可能に連結される歩行ロボットにおいて、
    　前記股関節に配置されるアクチュエータと、
    　前記アクチュエータを回転させれば第１リンクが前記第１ピッチ軸を中心に回転させられるように構成される第１リンク装置と、
    　前記第１リンクを回転させれば第２リンクが前記第２ピッチ軸を中心に回転させられるように構成される第２リンク装置と、
    　前記第２リンクを回転させれば前記足平部が前記第３ピッチ軸を中心に回転させられるように構成される第３リンク装置と、を備える歩行ロボット。     The thigh link is rotatably connected to the hip joint about the first pitch axis, the lower leg link is rotatably connected to the thigh link about the second pitch axis, and the palm part is rotatably connected to the lower leg link with the third pitch axis. In a walking robot that is rotatably connected around
    The actuator placed on the hip joint and
    A first link device configured so that the first link can be rotated about the first pitch axis by rotating the actuator.
    A second link device configured so that the second link can be rotated about the second pitch axis by rotating the first link.
    A walking robot including a third link device configured so that the palm portion can be rotated about the third pitch axis by rotating the second link.
  2. 　前記第２リンク装置及び前記第３リンク装置それぞれが、平行運動機構であることを特徴とする請求項１に記載の歩行ロボット。 The walking robot according to claim 1, wherein each of the second link device and the third link device has a parallel motion mechanism.
  3. 　前記第１リンク装置が、前記アクチュエータによって回転させられる原動リンクと、前記原動リンクと前記第１リンクに連結される第１連接リンクと、を有し、
    　前記第２リンク装置が、前記第１リンクと前記第２リンクに連結される第２連接リンクを有し、
    　前記第１リンクにおける前記第１ピッチ軸、前記第１連接リンクが連結される軸、及び前記第２連接リンクが連結される軸が、三角形の頂点を形成することを特徴とする請求項１又は２に記載の歩行ロボット。     The first link device has a driving link rotated by the actuator, and a driving link and a first connecting link connected to the first link.
    The second link device has a first link and a second connecting link connected to the second link.
    Claim 1 or claim 1, wherein the first pitch axis in the first link, the axis to which the first articulated link is connected, and the axis to which the second articulated link is connected form the apex of a triangle. 2. The walking robot according to 2.
  4. 　前記第３リンク装置が、前記第２リンクと前記足平部に連結される第３連接リンクを有し、
    　前記第２リンクにおける前記第２ピッチ軸、前記第２連接リンクが連結される軸、及び前記第３連接リンクが連結される軸が、三角形の頂点を形成することを特徴とする請求項３に記載の歩行ロボット。     The third link device has the second link and a third articulated link connected to the foot flat portion.
    The third aspect of the present invention is characterized in that the second pitch axis of the second link, the axis to which the second articulated link is connected, and the axis to which the third articulated link is connected form the apex of a triangle. The walking robot described.
  5. 　前記第１連接リンクが、前記第１リンクの可動域を広げられるように、前記第１ピッチ軸の軸方向視において湾曲することを特徴とする請求項３又は４に記載の歩行ロボット。 The walking robot according to claim 3 or 4, wherein the first articulated link is curved in the axial view of the first pitch axis so that the range of motion of the first link can be widened.
PCT/JP2020/016279 2019-05-09 2020-04-13 Walking robot WO2020226025A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019088747A JP7261082B2 (en) 2019-05-09 2019-05-09 walking robot
JP2019-088747 2019-05-09

Publications (1)

Publication Number Publication Date
WO2020226025A1 true WO2020226025A1 (en) 2020-11-12

Family

ID=73045330

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2020/016279 WO2020226025A1 (en) 2019-05-09 2020-04-13 Walking robot

Country Status (2)

Country Link
JP (1) JP7261082B2 (en)
WO (1) WO2020226025A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114291182A (en) * 2022-01-06 2022-04-08 无锡陆吾智能科技有限公司 Light-duty high performance four-footed robot

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3074203U (en) * 1999-09-17 2000-12-26 由夫 徳光 Advertising foot robot

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5152757B2 (en) * 2008-04-01 2013-02-27 本田技研工業株式会社 Walking assist device
JP5373880B2 (en) * 2011-12-07 2013-12-18 Ｔｈｋ株式会社 Legged robot
KR101627138B1 (en) * 2014-09-04 2016-06-07 한국생산기술연구원 Walking robot leg structure
KR101876252B1 (en) * 2016-11-22 2018-07-10 한국과학기술연구원 Lower body of robot comprising parallel link structure and moving robot apparatus comprising the same

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3074203U (en) * 1999-09-17 2000-12-26 由夫 徳光 Advertising foot robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114291182A (en) * 2022-01-06 2022-04-08 无锡陆吾智能科技有限公司 Light-duty high performance four-footed robot
CN114291182B (en) * 2022-01-06 2023-07-21 无锡陆吾智能科技有限公司 Four-foot robot

Also Published As

Publication number Publication date
JP7261082B2 (en) 2023-04-19
JP2020183014A (en) 2020-11-12

Similar Documents

Publication Publication Date Title
JP5976401B2 (en) Lower leg structure of legged robot and legged robot
KR102458112B1 (en) Drive machanism of two degrees of freedom
KR100888078B1 (en) Joint structure of robot
JP2018001385A5 (en)
WO2004020159A1 (en) Legged mobile robot
JP5872846B2 (en) Robot joint structure and humanoid robot incorporating this joint structure
US7441614B2 (en) Legged mobile robot
JP5681564B2 (en) robot
US20160089776A1 (en) Compact Parallel Kinematics Robot
WO2020226025A1 (en) Walking robot
US20180008501A1 (en) Power transmission apparatus having two belts
WO2005059407A1 (en) Rotation and extension/retraction link mechanism
JP4729745B2 (en) Robot drive mechanism and robot hand
JP4442464B2 (en) Articulated arm mechanism
JP5832117B2 (en) robot
JP2009072895A (en) Scara robot
US20170050312A1 (en) Parallel Kinematics Robot With Rotational Degrees Of Freedom
JP6730314B2 (en) Robot arm mechanism
JP4469957B2 (en) Robot hand
JP6705658B2 (en) Legged mobile robot
JP4397805B2 (en) Joint structure and robot arm
JP6646756B2 (en) Movable structure of device, and device
KR101271774B1 (en) Articulation appratus and connection apparatus using the same
JP2005230949A (en) Multi-degree-of-freedom joint driving mechanism
JP7149208B2 (en) robot joint structure

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20802237

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20802237

Country of ref document: EP

Kind code of ref document: A1