WO2021187558A1

WO2021187558A1 - Robot device

Info

Publication number: WO2021187558A1
Application number: PCT/JP2021/011081
Authority: WO
Inventors: 真也市川; 朋也岡本; 智己石川
Original assignee: アイシン・エィ・ダブリュ株式会社
Priority date: 2020-03-18
Filing date: 2021-03-18
Publication date: 2021-09-23
Also published as: JPWO2021187558A1

Abstract

The robot device of the present disclosure comprises a robot body which includes at least one hydraulic actuator operating through reception of a supplied liquid, and a liquid supply device which supplies the liquid to the hydraulic actuator, wherein the liquid supply device comprises a tank which stores the liquid, a pump which sucks the liquid in the tank and discharges the liquid, and a liquid adjustment unit which adjusts the pressure or the flowrate of the liquid from the pump and supplies the adjusted liquid to an artificial muscle, the robot body comprises a liquid supply pipe which is connected to the artificial muscle and the liquid adjustment, and the liquid adjustment unit is arranged in the tank. Accordingly, an increase in complexity of the structure of the robot device is suppressed and costs can be reduced.

Description

Robot device

The present disclosure relates to a robot body including at least one hydraulic actuator and a robot device including a liquid supply device for supplying a liquid to the hydraulic actuator.

Conventionally, an autonomous muscular robot including a plurality of arms, a plurality of legs, and a body portion to which the plurality of arms and the plurality of legs are connected is known (see, for example, Patent Document 1). In this autonomous muscular robot, the arms and legs are controlled at arbitrary positions by actuators (artificial muscles) driven by hydraulic pressure. In addition, the inside of the fuselage includes a tank for supplying hydraulic pressure to the actuators of the arms and legs, a pump, a plurality of solenoid valves, and a solenoid valve unit for supplying hydraulic pressure to the actuators, a battery, a communication module, and the like. A control unit and the like are arranged.

Japanese Unexamined Patent Publication No. 2016-20330

The above-mentioned conventional autonomous muscular robot can operate independently by itself. However, in the above-mentioned autonomous muscular robot, since devices such as a tank, a pump, and a solenoid valve unit are arranged inside the body, liquid leakage from the solenoid valve unit and the like is suppressed and the leaked liquid is treated. There is a risk that the structure will become complicated and the cost will increase.

Therefore, the main purpose of the present disclosure is to reduce the cost by suppressing the complexity of the structure of the robot body including at least one artificial muscle and the liquid supply device for supplying the liquid to the artificial muscle. do.

The robot device of the present disclosure is a robot device including a robot main body including at least one artificial muscle that operates by receiving a liquid supply, and a liquid supply device that supplies the liquid to the artificial muscle, and the liquid supply. The device includes a tank for storing the liquid, a pump for sucking and discharging the liquid in the tank, and a liquid adjusting unit for adjusting the pressure or flow rate of the liquid from the pump to supply the artificial muscle. The robot body includes the liquid adjusting unit and the liquid supply pipe connected to the artificial muscle, and the liquid adjusting unit is arranged in the tank.

In the robot device of the present disclosure, the robot body includes at least one artificial muscle and a liquid supply pipe connected to the artificial muscle. The liquid supply device also includes a tank for storing the liquid, a pump for sucking and discharging the liquid in the tank, and a liquid adjusting unit for adjusting the pressure or flow rate of the liquid from the pump and supplying it to the artificial muscle. .. Then, the liquid supply pipe is connected to the liquid adjusting unit, and the liquid adjusting unit is arranged in the tank. As a result, the liquid leaked from the liquid adjusting unit can be discharged directly into the tank, so that a structure for suppressing liquid leakage from the liquid adjusting unit and a structure for guiding the leaked liquid to the storage unit can be performed. The structure can be omitted or simplified. As a result, it is possible to reduce the cost by suppressing the complexity of the structure of the robot body including at least one artificial muscle and the liquid supply device for supplying the liquid to the artificial muscle.

It is a schematic block diagram which shows the robot apparatus of this disclosure. It is an enlarged view which shows the robot apparatus of this disclosure. It is a schematic block diagram which shows the liquid supply device of the robot device of this disclosure. It is sectional drawing which shows the solenoid valve included in the liquid supply device of FIG. It is a schematic block diagram which shows the other liquid supply apparatus in the robot apparatus of this disclosure.

Next, a mode for carrying out the invention of the present disclosure will be described with reference to the drawings.

FIG. 1 is a schematic configuration diagram showing the robot device 1 of the present disclosure, and FIG. 2 is an enlarged view showing the robot device 1. The robot device 1 shown in these drawings includes a robot arm (robot body) 2 and a liquid supply device 10. The robot arm 2 includes a plurality of arms 3, a plurality of hydraulic actuators M as artificial muscles provided for each arm 3, and a robot hand 4 attached to the hand portion of the arm 3 on the distal end side. It is a joint arm. Further, the liquid supply device 10 supplies hydraulic oil (liquid) to each hydraulic actuator M to hydraulically drive the robot arm 2.

As shown in FIG. 2, each hydraulic actuator M of the robot arm 2 includes a tube T that expands and contracts due to the pressure of hydraulic oil, and a braided sleeve S that covers the tube T. The tube T is formed in a cylindrical shape by an elastic material such as a rubber material having high oil resistance, and both ends of the tube T are sealed by a sealing member C. A hydraulic oil inlet / output IO is formed on the sealing member C on the base end side (liquid supply device 10 side, lower end side in FIG. 2) of the tube T. The braided sleeve S is formed in a cylindrical shape by knitting a plurality of cords oriented in a predetermined direction so as to intersect each other, and can be contracted in the axial direction and the radial direction. As the cord forming the braided sleeve S, a fiber cord, a high-strength fiber, a metal cord composed of ultrafine filaments, or the like can be adopted. By supplying hydraulic oil from the inlet / outlet IO into the tube T of the hydraulic actuator M to increase the pressure of the hydraulic oil in the tube T, the tube T expands in the radial direction by the action of the braided sleeve S and the shaft. Shrinks in the direction.

As shown in FIGS. 1 and 2, the plurality of arms 3 are rotatably connected to each other, and one hydraulic actuator M is arranged in parallel with the corresponding arm 3 on both sides of each arm 3. .. In the present embodiment, each arm 3 is formed to be hollow, and a plurality of hoses H (see the broken line in FIG. 2) as liquid supply pipes are arranged inside each arm 3. Each hose H is connected to an inlet / outlet IO formed in a sealing member C on the proximal end side of the corresponding hydraulic actuator M.

Further, as shown in FIG. 2, the arm 3 on the most proximal end side (most liquid supply device 10 side) is rotatably supported by the support member 5, and the support member 5 is the arm 3 on the most proximal end side. The sealing member C on the base end side of each hydraulic actuator M corresponding to the above is rotatably supported. Further, a connecting member 6 is fixed to the tip of the arm 3 on the most proximal end side, and the connecting member 6 seals the distal end side of each hydraulic actuator M corresponding to the arm 3 on the most proximal end side. The stop member C is rotatably supported. As a result, the hydraulic pressure in the tube T of the pair of hydraulic actuators M corresponding to the arm 3 on the most proximal end side is made different from each other, so that the rotation angles of the arm 3 and the connecting member 6 with respect to the support member 5 are changed. , The pair of hydraulic actuators M can transmit a force to the arm 3 and the connecting member 6.

Further, the connecting member 6 fixed to the arm 3 on the most proximal end side rotates the sealing member C on the proximal end side of each hydraulic actuator M corresponding to the arm 3 on the distal end side connected to the arm 3. Support freely. Further, a connecting member 6 is also fixed to the tip of the arm 3 other than the arm 3 on the most basic end side, and each connecting member 6 is a sealing member C on the tip side of the corresponding pair of hydraulic actuators M. Is rotatably supported. By making the oil pressure in the tube T of the pair of hydraulic actuators M corresponding to the arms 3 other than the arm 3 on the most proximal end side different from each other, the arm 3 and the connecting member on the distal end side with respect to the connecting member 6 on the proximal end side. While changing the rotation angle of 6, it is possible to transmit a force from the pair of hydraulic actuators M to the arm 3 and the connecting member 6 on the tip side. The pair of hydraulic actuators M corresponding to each arm 3 are driven in an antagonistic manner with a state of contraction in the axial direction by a predetermined amount as an initial state.

As shown in FIG. 3, the liquid supply device 10 rotatably supports the tank 11 as a liquid storage unit and the tank 11 around a rotation shaft (see the alternate long and short dash line in FIG. 2) extending in the vertical direction. A base portion 12, a pump 14 arranged inside the tank 11, and a first hydraulic control device 15 and a second hydraulic control device 16 as liquid adjusting units arranged inside the tank 11, respectively, are included. The tank 11 is, for example, a cylinder whose upper end and lower end are closed, and can store hydraulic oil inside. In the present embodiment, as shown in FIG. 2, the support member 5 of the robot arm 2 is fixed to the upper wall portion 11u of the tank 11 via a bolt or the like (not shown). That is, the robot arm 2 is supported by the tank 11 (upper wall portion 11u) of the liquid supply device 10.

The base portion 12 is fixed to the installation location of the robot device 1 so as to be located below the robot arm 2 and the tank 11, or is mounted (fixed) on an automatic guided vehicle (AGV) (not shown). Further, the base portion 12 receives a hydraulic oil supply from the first hydraulic control device (another hydraulic control device) 15 and rotates the tank 11 around the rotation shaft. A swing motor (rotation unit) 13 Supports. The oscillating motor 13 converts the energy of the liquid into rotary motion, and oscillates (rotates) the vane around the axis according to the pressure difference of the liquid supplied to both sides of the vane (piston). .. As a result, the robot arm 2 and the tank 11 can be integrally rotated around the rotation shaft by operating the swing motor 13 by the oil pressure from the first hydraulic control device 15.

The pump 14 includes a pump unit 140 arranged in the tank 11, an electric motor 141 as a drive unit for driving the pump unit 140 so as to suck and discharge the hydraulic oil in the tank 11, and a reduction gear mechanism 142. include. The pump portion 140 of the pump 14 includes a rotor connected to the electric motor 141 via a reduction gear mechanism 142, an external tooth gear (drive gear) having a plurality of external teeth and rotating integrally with the rotor, and an external tooth gear. It is a gear pump mechanism including an internal tooth gear (driven gear) which has a plurality of internal teeth one more than the total number of the external teeth meshing with the external teeth and is arranged eccentrically with respect to the external tooth gear (either (Not shown). As shown in FIG. 3, the pump unit 140 is the hydraulic oil liquid when the liquid level of the hydraulic oil in the tank 11 is a predetermined minimum liquid level (the minimum liquid level when the robot arm 2 is operated). It is fixed in the tank 11 so as to be located below the surface. Further, the pump unit 140 includes a suction port 14i that opens downward below the liquid level (minimum liquid level) of the hydraulic oil in the tank 11.

Further, in the present embodiment, the reduction gear mechanism 142 of the pump 14 is so that at least a part of the reduction gear mechanism 142 in the tank 11 is immersed in the hydraulic oil when the liquid level of the hydraulic oil in the tank 11 is a predetermined maximum liquid level. It is arranged in 11. Further, the electric motor 141 is arranged in the tank 11 so as to be located above the liquid level of the hydraulic oil (maximum liquid level) when the liquid level of the hydraulic oil in the tank 11 is the maximum liquid level. This makes it possible to further reduce the stirring resistance during rotation of the electric motor 141. The pump unit 140 of the pump 14 may include a vane or an impeller. Further, the reduction gear mechanism 142 may be omitted from the pump 14. Further, when the electric motor 141 and the reduction gear mechanism 142 are configured to be submerged, both may be arranged below the liquid level (minimum liquid level) of the hydraulic oil in the tank 11. As a result, heat dissipation of the pump 14 can be further promoted, and noise of the pump 14 can be blocked by the hydraulic oil and the wall portion of the tank 11.

As shown in FIG. 3, the first hydraulic control device 15 is located in the tank 11 so as to be located below the liquid level of the hydraulic oil when the liquid level of the hydraulic oil in the tank 11 is the minimum liquid level. It is fixed to and connected to the discharge port of the pump unit 140 of the pump 14 via a pipe. As shown in the figure, the first hydraulic control device 15 adjusts the pressure from the main pressure generation valve RV, the signal pressure generation valve (not shown) for generating the signal pressure, and the oil pressure from the main pressure generation valve RV. It includes a solenoid valve SL0 that generates a hydraulic pressure to the oscillating motor 13.

The main pressure generation valve RV generates the main pressure by adjusting the hydraulic oil discharged from the pump unit 140 according to the signal pressure from the signal pressure generation valve. As the signal pressure generating valve of the main pressure generating valve RV, for example, a linear solenoid valve whose energization is controlled by a control device (not shown) in response to a request to the robot arm 2 is used. Further, in the present embodiment, the solenoid valve SL0 is a linear solenoid valve that regulates the oil pressure (primary pressure) from the main pressure generation valve RV according to the current applied to the solenoid portion. Further, the first hydraulic control device 15 includes a drain pipe L1 that opens below the liquid level (minimum liquid level) of the hydraulic oil in the tank 11. The drain oil generated by adjusting the oil pressure by the main pressure generation valve RV and the solenoid valve SL0 is discharged from the drain pipe L1 into the tank 11.

As shown in FIGS. 2 and 3, the second hydraulic control device 16 is attached (fixed) to the inside of the tank 11, that is, the inner surface of the upper wall portion 11u, and has a pipe L0 extending in the vertical direction in the tank 11. It is connected to the output port of the main pressure generation valve RV of the first hydraulic control device 16 via. Further, the second hydraulic control device 16 includes the same number (plurality) of solenoid valves SLm as the number of hydraulic actuators M in the robot arm 2. In the present embodiment, each solenoid valve SLm is a linear type that regulates the oil pressure (primary pressure) from the main pressure generation valve RV according to the current applied to the solenoid portion to generate the oil pressure to the corresponding hydraulic actuator M. It is a solenoid valve. Further, a corresponding hose H is connected to the discharge port of each solenoid valve SLm via an oil passage or the like formed in the valve body of the second hydraulic control device 16. Further, the second hydraulic control device 16 includes a drain pipe L2 that extends toward the liquid level side of the hydraulic oil in the tank 11 and opens below the liquid level (minimum liquid level). Drain oil generated by adjusting the oil pressure by each solenoid valve SLm is also discharged from the drain pipe L2 into the tank 11.

Further, a cable Kp for supplying electric power is connected to the electric motor 141 of the pump 14, so that the cable Kp opens above the liquid level (maximum liquid level) of the hydraulic oil in the tank 11. It is pulled out from the cable hole 11h formed in the tank 11. Further, a cable K1 for supplying power is also connected to the signal pressure generation valve and the solenoid valve SL0 of the first hydraulic control device 15, and the cable K1 is formed in the tank 11 in the same manner as the cable Kp of the pump 14. It is pulled out from the cable hole 11h. Further, a cable K2 for supplying electric power is also connected to each solenoid valve SLm of the second hydraulic control device 16, and the cable K2 is a cable hole formed in the tank 11 in the same manner as the cables Kp and K1. It is pulled out from 11h. Further, the cables Kp, K1 and K2 are connected to a household power supply, a battery or the like via a control device (not shown). In the present embodiment, a sealing member for sealing the gap between the wall portion of the tank 11 and the cables Kp, K1 and K2 is provided in the cable hole 11h. However, when the liquid supply device 10 is fixed at the installation location, the sealing member may be omitted.

As shown in FIG. 4, each solenoid valve SL0 of the first hydraulic control device 15 and the solenoid valve SLm of the second hydraulic control device 16 is a substantially cylindrical cylinder incorporated in the valve body of the first or second

hydraulic control device

15 or 16. A sleeve 101, a spool 102 slidably (movably) arranged in the axial direction inside the sleeve 101, and an electromagnetic unit that drives the spool 102 by energization control (PWM control) by a control device (not shown). Includes 103 and a spring 104 that urges the spool 102. In the present embodiment, the solenoid valves SL0 and SLm are normally closed valves that open when a current is supplied to the solenoid unit 103, and each solenoid valve 103 axially rotates the spool 102 according to the applied current. Move to.

One end (right end in the drawing) of the sleeve 101 is fixed to the electromagnetic portion 103 (yoke), and the end of the spool 102 (the right end in FIG. 4) is arranged between the sleeve 101 and the electromagnetic portion 103. The space 105 is defined. Further, a cap for closing the end portion (left end portion in the drawing) of the sleeve 101 opposite to the electromagnetic portion 103 side is fixed (screwed). The spring 104 is arranged in a pulling chamber formed inside the sleeve 101 so as to be located between the spool 102 and the cap. The spring 104 is a coil spring in the present embodiment, and urges the spool 5 to the electromagnetic portion 103 side (from the output port 101o side to the input port 101i side).

Further, the sleeve 101 includes an input port 101i, an output port 101o, drain ports (drainage ports) 101d and 101e, and a feedback port 101f that communicate with the corresponding oil passages formed in the valve body, respectively. The hydraulic oil (line pressure) adjusted by the main pressure generation valve RV after being discharged from the pump 14 is supplied to the input port 101i. Further, the hydraulic oil regulated by the linear solenoid valves SL0 and SLm flows from the output port 101o into the corresponding hose H or the like through the oil passage of the valve body. Further, the drain ports 101d and 101e communicate with the drain pipe L1 or L2 via the corresponding drain oil passage of the valve body, and the feedback port 101f is an output port via the oil passage formed in the valve body. Communicate with 101o.

In the present embodiment, the input port 101i, the output port 101o, the drain ports 101d, 101e and the feedback port 101f face the drain port 101d, the input port 101i, and the output port 101o from the electromagnetic unit 103 side toward the spring 104 (cap) side. , The feedback port 101f and the drain port 101e are formed on the sleeve 101 so as to be arranged in the axial direction at intervals in this order. That is, the drain port 101d is formed on the electromagnetic portion 103 side of the input port 101i, and the input port 101i is formed on the electromagnetic portion 103 side of the output port 101o. Further, the feedback port 101f is formed on the spring 104 side of the output port 101o, and the drain port 101e is formed on the spring 104 side of the feedback port 101f so as to communicate with the spring chamber.

When the hydraulic oil from the pump 14 side is adjusted by the solenoid valves SL0 and SLm, the thrust applied to the spool 102 by the solenoid part 103 (coil) by supplying power to the solenoid part 103 (coil) and the urging force of the spring 104. And the thrust toward the solenoid portion 103 side applied to the spool 102 by the action of the hydraulic pressure (driving pressure) supplied from the output port 101o to the feedback port 101f are balanced. As a result, the hydraulic oil supplied to the input port 101i from the pump 14 side can be discharged from the output port 101o so that the hydraulic oil flowing out from the output port 101o has a desired pressure.

Further, the solenoid valves SL0 and SLm are fixed to the valve body so that the solenoid part 103 projects out of the valve bodies of the first or second

hydraulic control devices

15 and 16. Then, when adjusting the pressure of the hydraulic oil, the hydraulic oil leaked into the space 105 from the gap between the sleeve 101 and the spool 102 is the gap between the electromagnetic portion 103 and the sleeve 101, or the sleeve 101 and / or the electromagnetic portion. It is discharged from the space 105 to the outside through a drain passage (hole) formed in 103 (connector 106 and its surroundings). Further, the hydraulic oil that has flowed into the spring chamber through the gap between the sleeve 101 and the spool 102 enters the inside of the tank 11 via the drain port 101e formed in the sleeve 101, the drain oil passage of the valve body, and the drain pipe L1 or L2. It is discharged.

At least one of the solenoid valves SL0 and SLm does not have a dedicated feedback port 101f, and is configured to act on the spool using the output pressure as the feedback pressure inside the sleeve 101 accommodating the spool 102. (For example, see JP-A-2020-41687). Further, the solenoid valves SL0 and SLm may not include the spring 104.

As described above, in the robot device 1, the robot arm 2 includes a plurality of hydraulic actuators M as artificial muscles and a hose H as a liquid supply pipe connected to each hydraulic actuator M. Further, the liquid supply device 10 adjusts (adjusts) the pressure of the tank 11 for storing the hydraulic oil (liquid), the pump 14 for sucking and discharging the hydraulic oil in the tank 11, and the hydraulic oil from the pump 14. A second hydraulic control device (liquid adjusting unit) 16 supplied to each hydraulic actuator M is included. Then, each hose H is connected to the second hydraulic control device 16, and the second hydraulic control device 16 is arranged in the tank 11. As a result, when adjusting the pressure of the hydraulic oil, the hydraulic oil leaked into the space 105 or the like from the gap between the sleeve 101 and the spool 102 of each solenoid valve SLm of the second hydraulic control device 16 is transferred between the solenoid portion 103 and the sleeve 101. It is possible to discharge the oil directly into the tank 11 through the gap or the drain passage (hole) formed in the sleeve 101 and / or the electromagnetic portion 103. As a result, the structure for suppressing oil leakage from the second hydraulic control device 16 and the structure for guiding the leaked hydraulic oil to the hydraulic oil storage unit can be omitted or simplified, and thus the robot device 1 It is possible to reduce the cost by suppressing the complication of the structure of the above. In addition, by discharging the hydraulic oil in the space 105 directly into the tank 11, it is possible to satisfactorily suppress the influence of the hydraulic oil (flood control) accumulated in the space 105 on the operation of the spool 102. ..

Further, in the above embodiment, the robot arm 2 including a plurality of hydraulic actuators M as artificial muscles is supported by a tank 11 for storing hydraulic oil (liquid). Further, inside the tank 11, in addition to the first and second

hydraulic control devices

15 and 16, a pump unit 140 of a pump 14 that sucks and discharges hydraulic oil is arranged. As a result, the housing for accommodating the tank 11 is not required, and the piping connecting the tank 11 to the pump 14 and the second hydraulic control device 16 can be omitted. Therefore, the liquid supply device 10 can be miniaturized to reduce the size of the robot device 1. It is possible to make the whole compact. In addition, by arranging the pump portion 140 of the pump 14 in the tank 11 (hydraulic oil), the hydraulic oil in the tank 11 promotes heat dissipation of the pump 14 and the like, and the tank 11 and the hydraulic fluid block noise. Can be done. As a result, it is possible to reduce heat generation and noise while making the robot device 1 compact.

Further, in the above embodiment, the electric motor 141 as the driving unit of the pump 14 and the reduction gear mechanism 142 are arranged in the tank 11 so as to be located above the pump unit 140. By arranging the drive unit of the pump 14 including the electric motor 141 in the tank 11 in this way, the operating noise of the pump 14 can be satisfactorily cut off by the tank 11.

However, as in the liquid supply device 10B shown in FIG. 5, the electric motor 141 and the reduction gear mechanism 142 as the drive unit of the pump 14B may be arranged outside the tank 11B. As a result, it is possible to secure a sufficient amount of hydraulic oil that can be stored in the tank 11B while reducing the size of the tank 11B. The liquid supply device 10B can eliminate the influence of the liquid sway in the tank 11B on the electric motor 141, and is particularly preferably applied to the robot device 1 mounted on an automatic guided vehicle. Further, in the robot device 1, the entire pump 14 (pump unit 140 and drive unit) may be arranged outside the

tanks

11 and 11B.

Further, in the above embodiment, the robot arm 2 is supported by the upper wall portion 11u of the tank 11, and the second hydraulic control device 16 is attached to the inner surface of the upper wall portion 11u. This makes it possible to shorten the hose (liquid supply pipe) H for supplying hydraulic oil from the second hydraulic control device 16 to each hydraulic actuator M and to facilitate the handling of each hose H. However, the second hydraulic control device 16 may be attached to the inner surface of the wall portion of the tank 11 that supports the robot arm 2. For example, when the robot arm 2 is supported by the side wall portion of the tank 11, the side wall portion is concerned. It may be attached to the inner surface of the.

Further, the liquid supply device 10 includes a base portion 12 that rotatably supports the tank 11, a swing motor 13 as a rotation unit that is supported by the base portion 12 and rotates the tank 11, and a swing motor 13 in the tank 11. A first hydraulic control device that is arranged in the tank 11 so as to be located below the liquid level (minimum liquid level) of the hydraulic oil, regulates the hydraulic oil from the pump unit 140, and supplies the hydraulic oil to the swing motor 13. Including 15. This makes it possible to rotate the robot arm 2 integrally with the tank 11. In addition, as in the above embodiment, the original pressure is generated by the first hydraulic control device 15 (primary pressure generation valve RV) arranged below the liquid level (minimum liquid level) of the hydraulic oil in the tank 11. By supplying the oil to the second hydraulic control device 16 above, the original pressure can be efficiently generated and the load on the pump 14 can be reduced.

Further, the first and second

hydraulic control devices

15 and 16 include drain pipes L1 or L2 that open below the liquid level (minimum liquid level) of the hydraulic oil in the tank 11, and the pressure of the hydraulic oil is adjusted, respectively. The drain oil (surplus liquid) generated in association with the above is discharged from the drain pipes L1 or L2 into the tank 11. As a result, it is possible to prevent air bubbles from being generated when the hydraulic oil flows out from the drain pipes L1 and L2, and to suppress the pump unit 140 from sucking air. However, the drain pipe L2 of the second hydraulic control device 16 may be opened above the liquid level of the hydraulic oil in the tank 11. In addition, in the liquid supply device 10, the suction port 14i of the pump unit 140 opens downward below the liquid level (minimum liquid level) of the hydraulic oil in the tank 11. This makes it possible to better suppress the pump unit 140 from sucking air.

Further, the first and second

hydraulic control devices

15 and 16 include solenoid valves SL0 or SLm to which electric power is supplied from the outside of the tank 11 via cables K1 or K2, respectively, and cables K1 and K2 are inside the tank 11. It is drawn out from the cable hole 11h formed in the tank 11 so as to open above the liquid level (maximum liquid level) of the hydraulic oil. In addition, a cable Kp for supplying electric power is connected to the electric motor 141 of the pump 14, and the cable Kp is also pulled out from the cable hole 11h of the tank 11. This makes it possible to satisfactorily suppress the leakage of hydraulic oil from the cable hole 11h through which the cables Kp, K1 and K2 are inserted.

In the above embodiment, the hydraulic actuator M as an artificial muscle includes a tube T that is supplied with hydraulic oil to the inside and contracts in the axial direction while expanding in the radial direction in response to an increase in the internal oil pressure. Although it is a Macchiben type artificial muscle including a braided sleeve S covering the tube T, the configuration of the hydraulic actuator M in the robot device 1 is not limited to this. That is, the hydraulic actuator M may include a tube that expands in the radial direction and contracts in the axial direction when the liquid is supplied. For example, an inner cylindrical member formed of an elastic body and an elastic body. Axial fiber reinforced liquid containing an outer tubular member and a fiber layer arranged between the inner tubular member and the outer tubular member, which is formed by It may be a pressure actuator (see, for example, Japanese Patent Application Laid-Open No. 2011-137516). Further, the hydraulic actuator M may be a liquid cylinder including a cylinder and a piston.

Further, the

liquid supply devices

10 and 10B may be configured to supply a liquid other than hydraulic oil such as water to the hydraulic actuator M, and an accumulator (accumulator) for storing the oil pressure generated by the pump 14 or the like. May be included. Further, the solenoid valves SL0 and SLm of the first and second

hydraulic control devices

15 and 16 adjust the hydraulic oil according to the linear solenoid valve that outputs the signal pressure corresponding to the current supplied to the solenoid part and the signal pressure. It may be replaced with a pressing control valve. Further, the first and second

hydraulic control devices

15 and 16 have, for example, a flow control valve that controls the flow rate of the liquid to the hydraulic actuator M so that the hydraulic pressure detected by the pressure sensor becomes the pressure required. It may include.

Then, the robot device 1 may include only one joint, or may include only one hydraulic actuator M as an artificial muscle. Further, the robot device 1 is not limited to the one including the robot arm 2 having at least one hydraulic actuator M and the hand portion 4, and the robot device 1 includes at least one hydraulic actuator M, a tool such as a drill bit, a switch, or the like. An element other than the hand portion 4, such as a pressing member for pressing the robot arm, may be included with the robot arm attached to the hand. Further, the robot device 1 may be a walking robot, a wearable robot, or the like.

Further, the robot arm 2 of the robot device 1 may include a swing motor as a hydraulic actuator for driving the arm 3. That is, the robot body of the robot device 1 may include at least one of a hydraulic actuator as an artificial muscle and a swing motor. Further, the robot device 1 may have

tanks

11 and 11B supported by a robot body such as a robot arm 2. In this case, the second hydraulic control device 16 may support

tanks

11 and 11B by the robot body. It is good to be attached to the inner surface of the wall part of. This makes it possible to shorten the hose H as a liquid supply pipe and facilitate the handling of each hose H.

As described above, the robot device of the present disclosure supplies the liquid to the robot body (2) including at least one artificial muscle (M) that operates by receiving the supply of the liquid, and the artificial muscle (M). A robot device (1) including a liquid supply device (10, 10B), wherein the liquid supply device (10, 10B) has a tank (11, 11B) for storing the liquid and the tank (11, 11B). ), And a liquid adjusting unit that adjusts the pressure or flow rate of the liquid from the pump (14, 14B) and supplies it to the artificial muscle (M). The robot body (2) includes the liquid adjusting unit (16) and the liquid supply pipe (H) connected to the artificial muscle (M), and the liquid adjusting unit (16) includes the liquid adjusting unit (16). It is arranged in the tank (11, 11B).

Further, the pump (14, 14B) drives the pump unit (140) so as to suck and discharge the liquid in the pump unit (140) and the tank (11, 11B). 142) may be included, and at least the pump portion (140) may be arranged in the tank (11, 11B). As a result, it is possible to omit the piping and the like connecting the tank and the pump, promote heat dissipation of the pump and the like by the liquid in the tank, and block noise by the tank. As a result, it is possible to reduce heat generation and noise in the robot device while making the liquid supply device and thus the robot device compact.

Further, the liquid adjusting unit (15, 16) may include at least one solenoid valve (SL0, SLm) for adjusting the pressure or flow rate of the liquid, and the solenoid valve (SL0, SLm) may include the solenoid valve (SL0, SLm). , The sleeve (101), the spool (102) slidably arranged in the sleeve (101), and the electromagnetic part (103) for driving the spool (102) may be included. The sleeve (101) and the electromagnetic portion (103) may define a space (105) in which the end portion of the spool (102) is arranged, and the sleeve (101) and the spool (103) may form a space (105). The liquid leaked into the space (105) from the gap may be discharged from the space (105) into the tank (11, 11B). This makes it possible to satisfactorily suppress the influence of the liquid (hydraulic pressure) accumulated in the space on the operation of the spool.

Further, either one of the robot body (2) and the tanks (11, 11B) may be supported by the other, and the liquid adjusting unit (16) supports the robot body (2). Alternatively, it may be attached to the inner surface of the wall portion (11u) of the tank (11, 11B) supported by the robot body (2). This makes it possible to shorten the liquid supply pipe for supplying the liquid from the liquid adjustment unit to the artificial muscle and to facilitate the handling of the liquid supply pipe.

Further, the liquid adjusting unit (16) is arranged above the liquid level in the tanks (11, 11B) and includes a drain pipe (L2) extending toward the liquid level, and the pressure or the flow rate. The excess liquid generated by the adjustment of the above may be discharged from the drain pipe (L2) into the tank (11, 11B).

Further, the robot body (2) may be supported by the upper wall portion (11u) of the tanks (11, 11B), and the liquid adjusting unit (16) is mounted on the inner surface of the upper wall portion (11u). It may be attached.

Further, the liquid adjusting unit (15, 16) includes drain pipes (L1, L2) that open below the liquid level in the tank (11, 11B), and for adjusting the pressure or the flow rate. The excess liquid that accompanies this may be discharged from the drain pipes (L1, L2) into the tank (11, 11B). As a result, it is possible to prevent air bubbles from being generated when the liquid flows out from the drain pipe and suppress the pump portion from sucking air.

Further, the pump portion (140) may include a suction port (14i) that opens below the liquid level in the tank (11, 11B). This makes it possible to better suppress the pump portion from sucking air.

Further, the drive unit of the pump (14) may include an electric motor (141) and be arranged in the tank (11) so as to be located above the pump unit (140). By arranging the drive unit including the electric motor in the tank in this way, it is possible to satisfactorily block the operating noise of the pump by the tank.

Further, the liquid adjusting unit (15, 16) includes at least one solenoid valve (SL0, SLm) to which electric power is supplied from the outside of the tank (11, 11B) via a cable (K1, K2). The cable (K1, K2) may be from a hole (11h) formed in the tank (11, 11B) so as to open above the liquid level in the tank (11, 11B). It may be pulled out to the outside. This makes it possible to satisfactorily suppress the leakage of liquid from the hole through which the cable is inserted.

Further, the robot body (2) includes a plurality of the hydraulic actuators (M), and the ends of the liquid adjusting unit (16) and the corresponding hydraulic actuators (M) on the tank (11, 11B) side, respectively. It may include a plurality of liquid supply pipes (H) connected to parts (C, IO).

Further, the liquid supply device (10, 10B) is supported by a base portion (12) that rotatably supports the tank (11, 11B) and the base portion (12), and receives the supply of the liquid. The rotating unit (13) for rotating the tank (11, 11B) and the rotating unit (13) are arranged in the tank (11, 11B) so as to be located below the liquid level in the tank (11, 11B). It may include another liquid adjusting unit (15) that adjusts the pressure or flow rate of the liquid from the pump unit (140) and supplies the liquid to the rotating unit (13). This makes it possible to integrally rotate the robot body and the liquid supply device (tank).

Further, the hydraulic actuator (M) may include a tube (T) that expands in the radial direction and contracts in the axial direction when the liquid is supplied.

It goes without saying that the invention of the present disclosure is not limited to the above-described embodiment, and various changes can be made within the scope of the extension of the present disclosure. Furthermore, the above-described embodiment is merely a specific embodiment of the invention described in the column of the outline of the invention, and does not limit the elements of the invention described in the column of the outline of the invention.

The invention of the present disclosure can be used in the manufacturing industry of a robot device including a robot main body including at least one hydraulic actuator and a liquid supply device for supplying a liquid to the hydraulic actuator.

Claims

A robot device including a robot body including at least one artificial muscle that operates by receiving a liquid supply, and a liquid supply device that supplies the liquid to the artificial muscle.
The liquid supply device is
A tank for storing the liquid and
A pump that sucks and discharges the liquid in the tank,
A liquid adjusting unit for adjusting the pressure or flow rate of the liquid from the pump and supplying the artificial muscle to the artificial muscle is provided.
The robot body includes the liquid adjusting unit and a liquid supply pipe connected to the artificial muscle.
A robot device in which the liquid adjusting unit is arranged in the tank.
In the robot device according to claim 1,
The pump includes a pump unit and a drive unit that drives the pump unit so as to suck and discharge the liquid in the tank.
A robot device in which at least the pump unit is arranged in the tank.
In the robot device according to claim 1 or 2.
The liquid conditioning unit includes at least one solenoid valve that regulates the pressure or flow rate of the liquid.
The solenoid valve includes a sleeve, a spool slidably arranged in the sleeve, and an electromagnetic portion for driving the spool.
The sleeve and the electromagnetic portion define a space in which the end portion of the spool is arranged.
A robot device in which the liquid leaked into the space from the gap between the sleeve and the spool is discharged from the space into the inside of the tank.
In the robot device according to any one of claims 1 to 3.
One of the robot body and the tank is supported by the other.
The liquid adjusting unit is a robot device that supports the robot body or is attached to the inner surface of the wall portion of the tank supported by the robot body.
In the robot device according to any one of claims 1 to 4.
The liquid adjusting unit is arranged above the liquid level in the tank, includes a drain pipe extending to the liquid level side, and drains the excess liquid generated by adjusting the pressure or the flow rate. A robot device that discharges water from a pipe into the tank.