WO2022185767A1 - ばね伸縮機構、ロボットおよび電子機器 - Google Patents
ばね伸縮機構、ロボットおよび電子機器 Download PDFInfo
- Publication number
- WO2022185767A1 WO2022185767A1 PCT/JP2022/002119 JP2022002119W WO2022185767A1 WO 2022185767 A1 WO2022185767 A1 WO 2022185767A1 JP 2022002119 W JP2022002119 W JP 2022002119W WO 2022185767 A1 WO2022185767 A1 WO 2022185767A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- spring
- outer ring
- screw
- robot
- extension
- Prior art date
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 132
- 230000002093 peripheral effect Effects 0.000 claims abstract description 7
- 230000033001 locomotion Effects 0.000 claims description 62
- 230000008602 contraction Effects 0.000 claims description 57
- 238000005259 measurement Methods 0.000 claims description 9
- 238000004804 winding Methods 0.000 claims description 6
- 239000012528 membrane Substances 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 description 22
- 238000010586 diagram Methods 0.000 description 22
- 238000000034 method Methods 0.000 description 11
- 239000003638 chemical reducing agent Substances 0.000 description 8
- 230000010365 information processing Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 7
- 230000009191 jumping Effects 0.000 description 7
- 238000010009 beating Methods 0.000 description 6
- 238000010521 absorption reaction Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 210000003128 head Anatomy 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000033764 rhythmic process Effects 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 241000238876 Acari Species 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004424 eye movement Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001151 other effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
-
- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/24—Elements essential to such mechanisms, e.g. screws, nuts
- F16H25/2454—Brakes; Rotational locks
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
- A61H23/0254—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive with rotary motor
Definitions
- the present invention relates to spring extension mechanisms, robots, and electronic devices.
- the present disclosure proposes a spring expansion/contraction mechanism, a robot, and an electronic device that can adjust the amount of deflection of the spring and that is small and less likely to fail.
- an outer ring a wire connected to the outer peripheral surface of the outer ring, a spring connected to the outer ring via the wire and compressed by winding the wire around the outer ring
- An outer ring drive mechanism is provided that is in close contact with an outer ring to transmit rotational power to the outer ring, and that releases the outer ring from the close contact state to freely rotate the outer ring.
- a robot and an electronic device having the spring extension/contraction mechanism and an operation control section that controls the spring extension/contraction mechanism.
- FIG. 1 It is a figure which shows the expansion-contraction operation
- 10 is a diagram showing another example of control of the spring extension/contraction mechanism; It is a figure which shows an example of the shape of the bottom part of an exterior. It is a figure which shows an example of the shape of the bottom part of an exterior. It is a figure which shows the example which uses a spring expansion-contraction mechanism for the operation
- FIG. 4 is a diagram showing a control flow for calling the user's attention; It is a figure which shows the example which applied the spring expansion-contraction mechanism to the information processing terminal. It is a figure which shows the example which applied the spring expansion-contraction mechanism to the massager. It is a figure which shows the example which applied the spring expansion-contraction mechanism to the acoustic device. It is a figure which shows the example which applied the spring expansion-contraction mechanism to the futon beating machine.
- the spring extension mechanism SM has a first motor MT1, a first speed reducer RD1, a rotational power transmission mechanism PTM, a spring SP and an adjustment mechanism AM.
- the rotary power transmission mechanism PTM switches the connection state between the first motor MT1 and the spring SP according to the rotation direction of the first motor MT1. By switching the connection state, the operation mode of the spring extension/contraction mechanism SM is switched between the transmission mode and the transmission cancellation mode.
- the transmission mode is an operation mode in which the first motor MT1 and the spring SP are connected via the rotational power transmission mechanism PTM, and the rotational power of the first motor MT1 can be transmitted to the spring SP.
- transmission mode the spring SP is compressed by the rotational power of the first motor MT1.
- the transmission release mode is an operation mode in which the connection between the first motor MT1 and the spring SP is disconnected in the rotational power transmission mechanism PTM and the rotational power of the first motor MT1 is not transmitted to the spring SP.
- de-transmission mode no stress is applied to the spring SP. Therefore, when the spring SP is compressed, the spring SP is released from the compressed state and stretches instantaneously until it returns to its natural length.
- the rotary power transmission mechanism PTM includes a shaft RA, a first screw MS, a second screw FS, an outer ring OR, a ratchet RT, and a plurality of bearings BG (for example, first bearings BG1 to It has a fourth bearing BG4).
- the rotary power transmission mechanism PTM is connected to the first motor MT1 via the first speed reducer RD1.
- the first screw MS is, for example, a male screw.
- a first screw MS is attached to the shaft RA via a first bearing BG1.
- a first flange FL1 is provided at the end of the first screw MS opposite to the first bearing BG1 side.
- a gear portion SEG that meshes with the first speed reducer RD1 is provided at the end of the first screw MS on the side of the first bearing BG1.
- Rotational power of a first motor MT1 is transmitted to the first screw MS via a first speed reducer RD1.
- the direction of rotation of the first screw MS is switched by switching the direction of rotation of the first motor MT1. As shown in FIGS. 5 and 6, the first motor MT1 can rotate the first screw MS in a first direction D1 and a second direction D2 opposite to the first direction D1.
- the rotation of the first motor MT1 when rotating the first screw MS in the first direction D1 is referred to as "forward rotation”.
- the rotation of the first motor MT1 when rotating the first screw MS in the second direction D1 is referred to as "reverse rotation”.
- the second screw FS is, for example, a female screw.
- the second screw FS is screwed with the first screw MS.
- a second flange FL2 is provided at the end of the second screw FS on the side of the first screw MS.
- the end of the second screw FS on the opposite side of the first screw MS is fitted in the ratchet RT.
- Ratchet RT is attached to shaft RA via a fourth bearing BG4.
- a key KY regulates relative rotation between the second screw FS and the ratchet RT. Therefore, the second screw FS and the ratchet RT rotate together around the shaft RA.
- the ratchet RT has its rotation direction restricted to the first direction D1 by the pawl PW and the gear portion RG.
- the rotation direction of the second screw FS is restricted to the first direction D1 by the ratchet RT.
- the second screw FS and ratchet RT rotate only in the first direction D1 and do not rotate in the second direction D2 opposite the first direction D1.
- an outer ring OR is provided on the outside of the second screw FS.
- Spring SP is connected to outer ring OR via wire WR.
- the spring SP is compressed by winding the wire WR around the outer ring OR.
- a third flange FL3 is provided at the end of the outer ring OR on the side of the first screw MS.
- the end of the outer ring OR on the side of the first screw MS (the third flange FL3 in the example of FIG. 2) is attached to the first screw MS via the second bearing BG2.
- the end of the outer ring OR opposite to the first screw MS is attached to the second screw FS via a third bearing BG3.
- the third flange FL3 is formed between the first flange FL1 and the second flange FL2 when the first screw MS is rotated in the first direction D1 and the first screw MS and the second screw FS are tightly screwed together. sandwiched.
- the frictional force at the contact portion (first contact portion CP1) between the first flange FL1 and the third flange FL3 is designed to be small.
- the frictional force of the contact portion (second contact portion CP2) between the second flange FL2 and the third flange FL2 is designed to be large.
- the outer ring OR rotates integrally with the first screw MS and the second screw FS due to the strong frictional force at the second contact portion CP2.
- the transmission release mode the contact between the first screw MS and the outer ring OR is maintained, but since the frictional force of the first contact portion CP1 is small, even if the first screw MS rotates, the rotation of the first screw MS does not occur. It does not greatly affect the operation of the outer ring OR.
- the first screw MS, the second screw FS and the ratchet RT constitute the outer wheel drive mechanism RPT.
- the outer ring drive mechanism RPT switches between transmission and interruption of rotational power to the outer ring OR based on the tight contact state between the outer ring OR and the first screw MS and the second screw FS.
- the outer ring drive mechanism RPT brings the first screw MS and the second screw FS into close contact with the outer ring OR to transmit the rotational power of the first motor MT1 to the outer ring OR.
- the wire WR is wound around the outer ring OR and the spring SP is compressed.
- the outer ring drive mechanism RTP releases the outer ring OR from being in close contact with the first screw MS and the second screw F to freely rotate the outer ring OR.
- the spring SP is released from the compressed state and expanded instantaneously.
- the adjustment mechanism AM adjusts the orientation of the spring SP.
- the adjusting mechanism AM has a second motor MT2, a second speed reducer RD2 and a casing CS.
- the casing CS has a casing main body MB and a spring shaft SA.
- the casing main body MB has a tubular structure that accommodates therein the first motor MT1, the first speed reducer RD1, and the rotary power transmission mechanism PTM.
- the casing main body MB is fixed to the shaft RA.
- the casing main body MB rotates integrally with the shaft RA.
- the spring shaft SA is provided so as to protrude from the outer peripheral surface of the casing body MB in the radial direction of the casing body MB (direction perpendicular to the shaft RA).
- a through hole TH through which the wire WR is inserted is provided in the center of the spring shaft SA.
- the spring shaft SA has a hollow structure through which the wire WR is inserted along the through hole TH.
- a spiral spring SP is fitted on the outside of the spring shaft SA.
- the end (first end) of the spring SP on the side of the casing main body MB is in contact with the casing main body MB at the base end of the spring shaft SA.
- the length of the spring SP in its uncompressed state is greater than the length of the spring shaft SA.
- the tip of the spring SP in an uncompressed state protrudes from the tip of the spring shaft SA.
- One end (first end) of the wire WR is connected to the outer peripheral surface of the outer ring OR.
- the other end (second end) of the wire WR is connected to the end (second end) of the spring SP on the side opposite to the casing main body MB side.
- transmission mode the wire WR is wound around the outer ring OR, and the second end of the wire WR pulls the second end of the spring SP toward the casing main body MB. This compresses the spring SP.
- the outer ring OR is released from the rotational power of the first motor MT1 and rotates freely. As a result, the compressed spring SP instantly expands and returns to its natural length.
- the casing main body MB is provided with a gear portion CEG that meshes with the second reduction gear RD2.
- Rotational power of the second motor MT2 is transmitted to the casing CS via the second speed reducer RD2.
- the second motor MT2 rotates the casing CS integrally in the circumferential direction of the shaft RA together with the first motor MT1, the first speed reducer RD1, the rotational power transmission mechanism PTM, and the spring SP held by the casing CS. This adjusts the orientation of the spring SP along the circumferential direction of the shaft RA.
- the rotation direction of the casing CS is switched by switching the rotation direction of the second motor MT2.
- the third flange FL3 of the outer ring OR is moved between the first flange FL1 of the first screw MS and the second flange FL1 of the second screw FS. It is sandwiched between the flange FL2.
- the strong contact of the third flange FL3 with the first flange FL1 and the second flange FL2 integrates the outer ring OR with the first screw MS and the second screw FS. Since the frictional force between the second flange FL2 and the third flange FL3 at the second contact portion CP2 is large, it is difficult for the outer ring OR to rotate relative to the second screw FS. Therefore, the outer ring OR is firmly fixed to the second screw FS.
- the first screw MS rotates in the second direction D2 opposite to the first direction D1.
- the rotation direction of the second screw FS is limited to the first direction D1 by the ratchet RT. Therefore, even if the first screw MS rotates in the second direction D2, the second screw FS cannot rotate together with the first screw MS in the second direction D2, and the direction away from the first screw MS (fourth direction D4).
- a gap is generated between the second flange FL2 and the third flange FL3 at the second contact portion CP2, and the adhesion between the third flange FL3 and the first flange FL1 and the second flange FL2 is reduced.
- the frictional force of the first contact portion CP1 is small. Therefore, when the adhesion between the first screw MS and the outer ring OR is reduced, the outer ring OR does not rotate even if the first screw MS rotates.
- the outer ring OR becomes disconnected from the outer ring drive mechanism RPT and is free to rotate.
- the compressive stress applied to the spring SP via the wire WR also disappears, allowing the spring SP to expand freely.
- the outer ring OR rotates as the spring SP expands, since the outer ring OR is separated from the outer ring drive mechanism RPT, no stress is generated that hinders the rotation of the outer ring OR. Therefore, the spring SP expands instantaneously and returns to its original length.
- the spring expansion/contraction mechanism SM has an outer ring OR, a wire WR, a spring SP, and an outer ring drive mechanism RPT.
- a wire WR is connected to the outer peripheral surface of the outer ring OR.
- Spring SP is connected to outer ring OR via wire WR.
- the spring SP is compressed by winding the wire WR around the outer ring OR.
- the outer wheel drive mechanism RPT is in close contact with the outer wheel OR and transmits rotational power to the outer wheel OR.
- the outer ring drive mechanism RPT releases the outer ring OR from the tight contact state and allows the outer ring OR to rotate freely.
- the outer wheel drive mechanism RPT has a first screw MS, a second screw FS and a ratchet RT.
- the second screw FS is screwed with the first screw MS, and sandwiches the outer ring OR with the first screw MS when the first screw MS rotates in the first direction D1.
- the ratchet RT limits the rotation direction of the second screw FS to the first direction D1.
- the second screw FS moves away from the first screw MS (fourth direction D4), and the outer ring OR comes into close contact with the first screw MS and the second screw FS. released from the state.
- the connection between the outer ring OR and the first screw MS and the second screw FS is released, and the stress applied to the outer ring OR is removed. Therefore, the outer ring OR can rotate freely.
- the spring extension mechanism SM has a first motor MT1.
- the first motor MT1 can rotate the first screw MS in a first direction D1 and a second direction D2 opposite to the first direction D1.
- a compact spring expansion/contraction mechanism SM using the first motor MT1 as a rotational power source is provided.
- the spring expansion/contraction mechanism SM has an adjustment mechanism AM that adjusts the direction of the spring SP.
- the restoring force of the spring SP can be exerted in an appropriate direction.
- the adjustment mechanism AM has a casing CS and a second motor MT2.
- the casing CS has a hollow spring shaft SA through which the wire WR is passed.
- the second motor MT2 rotates the casing CS.
- the orientation of the spring SP can be adjusted with a simple configuration.
- FIG. 13 is a diagram showing the configuration of an autonomous mobile body 10, which is an example of a robot.
- the autonomous mobile body 10 is an oblong agent-type robot that autonomously travels on wheels.
- the autonomous mobile body 10 implements various types of communication including information presentation by, for example, performing autonomous actions according to the user, surroundings, and own situation.
- the autonomous mobile body 10 may be a small robot having a size and weight that a user can easily lift with one hand.
- the autonomous mobile body 10 has the above-described spring extension/contraction mechanism SM for use in obstacle avoidance, impact absorption when dropped, and recovery from a fallen state.
- FIG. 13 is a side view of the autonomous mobile body 10.
- the autonomous mobile body 10 has two eye parts 510 corresponding to the right eye and the left eye on the upper part of the main body.
- the eye part 510 is realized by, for example, an LED, and can express a line of sight, a blink, or the like. Note that the eye part 510 is not limited to the above example, and may be realized by, for example, a single or two independent OLEDs (Organic Light Emitting Diodes).
- the autonomous mobile body 10 is equipped with two cameras 515 above the eye part 510 .
- the camera 515 has a function of capturing images of the user and the surrounding environment. Also, the autonomous mobile body 10 can realize SLAM (Simultaneous Localization and Mapping) based on the image captured by the camera 515 .
- SLAM Simultaneous Localization and Mapping
- the eye part 510 and the camera 515 are arranged on a substrate 505 arranged inside the exterior surface.
- the exterior surface of the autonomous mobile body 10 is basically formed using an opaque material, but the portion corresponding to the substrate 505 on which the eye part 510 and the camera 515 are arranged uses a transparent or translucent material.
- a head cover 550 is provided. Thereby, the user can recognize the eye part 510 of the autonomous mobile body 10, and the autonomous mobile body 10 can image the outside world.
- the autonomous mobile body 10 is equipped with a ToF sensor 520 at the bottom of the front.
- the ToF sensor 520 has a function of detecting the distance to an object present in front. According to the ToF sensor 520, distances to various objects can be detected with high precision, and by detecting steps and the like, falling and overturning can be prevented.
- the autonomous mobile body 10 may have a connection terminal 555 for an external device and a power switch 560 on the back.
- the autonomous mobile body 10 can connect with an external device via the connection terminal 555 and perform information communication.
- the autonomous mobile body 10 has two wheels 570 on the bottom.
- the two wheels 570 are driven by different motors. As a result, the autonomous mobile body 10 can move forward, backward, turn, and rotate. Wheels 570 are provided so that they can be retracted inside the main body and protrude to the outside.
- the autonomous mobile body 10 can perform a jump motion by, for example, vigorously protruding the two wheels 570 to the outside.
- the autonomous mobile body 10 performs movement operations such as back-and-forth motion, turning motion, and rotating motion while maintaining a forward-leaning posture.
- the autonomous mobile body 10 performs a movement operation while tilting forward by an angle ⁇ in the vertical direction.
- the angle ⁇ is, for example, 10°.
- the motion control unit 160 which will be described later, controls the motion of the autonomous mobile body 10 so that the center of gravity CoG of the autonomous mobile body 10 is positioned vertically above the rotation axis of the wheels 570 .
- FIG. 14 is a block diagram showing a functional configuration example of the autonomous mobile body 10. As shown in FIG.
- the autonomous mobile body 10 includes a sensor section 110 , an input section 120 , a light source 130 , an audio output section 140 , a drive section 150 and an operation control section 160 .
- the sensor unit 110 has a function of collecting various sensor information related to the user and surroundings.
- the sensor unit 110 includes, for example, a camera 515, a ToF sensor 520, a microphone, an inertial sensor (IMU: Inertial Measurement Unit), and the like.
- IMU Inertial Measurement Unit
- the sensor unit 110 may include various sensors such as various optical sensors including a geomagnetic sensor, a touch sensor, an infrared sensor, a temperature sensor, and a humidity sensor.
- the input unit 120 has a function of detecting physical input operations by the user.
- the input unit 120 includes buttons such as a power switch 560, for example.
- the light source 130 expresses the eye movement of the autonomous mobile body 10 .
- the light source 130 comprises two eyes 510 .
- the audio output unit 140 has a function of outputting various sounds including voice.
- the audio output unit 140 includes a speaker 535, an amplifier, and the like.
- the driving unit 150 expresses the body motion of the autonomous mobile body 10.
- the drive unit 150 includes two wheels 570, a plurality of wheel drive motors, a spring extension/contraction mechanism SM, and the like.
- the operation control unit 160 has a function of controlling each configuration provided in the autonomous mobile body 10 .
- the motion control unit 160 for example, makes an action plan based on the sensor information collected by the sensor unit 110, and controls eye expression by the light source 130 and audio output by the audio output unit 140. Further, the operation control section 160 may control the operation of the driving section 150 based on the above action plan.
- FIG. 15 is a diagram showing an example of control of the spring extension mechanism SM by the operation control unit 160.
- FIG. 15 is a diagram showing an example of control of the spring extension mechanism SM by the operation control unit 160.
- the rotation direction of the first motor MT1 is controlled to compress and extend the spring SP.
- the state on the left side of FIG. 15 is a state in which the outer ring OR is rotated in the first direction D1 by the first motor MT1 and the spring SP is compressed. In this state, the spring SP does not protrude from the bottom portion BT of the exterior ET of the autonomous mobile body 10 . Therefore, the autonomous mobile body 10 can move on the wheels 570 without being hindered by the spring SP.
- the state on the right side of FIG. 15 is a state in which the first motor MT1 rotates the outer ring OR in the second direction D2 and the spring SP is released from the compressed state.
- the spring SP protrudes from the bottom BT of the exterior ET toward the ground.
- the autonomous mobile body 10 can jump up by vigorously pushing the ground with the tip of the spring SP.
- FIG. 16 is a diagram showing another example of control of the spring extension/contraction mechanism SM.
- the orientation of the spring SP is adjusted by controlling the rotation of the second motor MT2.
- the autonomous mobile body 10 moves with the spring SP compressed. In this state, the rotational force must be continuously applied to the spring SP during the movement period.
- the orientation of the spring SP is changed horizontally. In this configuration, even when the spring SP is stretched, the spring SP does not protrude from the bottom portion BT of the exterior ET. The autonomous mobile body 10 can move without being hindered by the spring SP without applying rotational power to the spring SP. Therefore, power consumption is reduced.
- 17 and 18 are diagrams showing an example of the shape of the bottom portion BT of the exterior ET.
- L is the natural length of the spring SP.
- Reference L1 indicates the length by which the spring SP protrudes from the bottom portion BT when the spring SP is extended from the bottom portion BT toward the ground with the spring SP oriented vertically downward.
- L2 indicates the length by which the spring SP protrudes from the bottom portion BT when the spring SP is extended from the bottom portion BT toward the ground while the orientation of the spring SP is tilted from the vertical direction.
- FIG. 17 shows an example in which the width of the bottom portion BT is longer than the height.
- length L1 is longer than length L2. Therefore, the force of jumping straight up is stronger than the force of jumping diagonally.
- FIG. 18 shows an example in which the width of the bottom portion BT is shorter than the height. In the example of FIG. 18, length L2 is longer than length L1. Therefore, the force of jumping diagonally is stronger than the force of jumping straight up.
- the motion control unit 160 controls the deflection amount (compression amount), extension direction, and extension timing of the spring SP based on the situation of the autonomous mobile body 10 .
- Various situations are conceivable as conditions that cause control. Examples of the above-mentioned situations include passive situations such as changes in operating environment and active situations such as interacting with others. According to this configuration, it is possible to cause the spring extension/contraction mechanism SM to perform an appropriate operation according to the situation of the autonomous mobile body 10 . An example of control of the spring extension/contraction mechanism SM according to the situation will be described below.
- FIG. 19 is a diagram showing an example of using the spring expansion/contraction mechanism SM for the operation of getting over the obstacle OT.
- the motion control unit 160 When the motion control unit 160 detects a situation in which an obstacle OT exists in front of the autonomous mobile body 10 based on the image of the camera 515, it calculates the deflection amount of the spring SP based on the height of the obstacle OT. The motion control unit 160 calculates the extension direction and extension timing of the spring SP based on the distance to the obstacle OT. According to this configuration, the autonomous mobile body 10 can be made to climb over the obstacle OT.
- FIG. 20 is a diagram showing a control flow by the operation control unit 160.
- FIG. 20 is a diagram showing a control flow by the operation control unit 160.
- step S1 the motion control unit 160 uses the camera 515 to detect an obstacle OT ahead in the movement direction.
- step S2 the motion control unit 160 calculates the amount of deflection of the spring SP necessary for jumping over the obstacle OT from the height of the obstacle OT.
- step S3 the motion control unit 160 determines whether the spring SP is currently sufficiently compressed to jump over the obstacle OT.
- step S3 If it is determined in step S3 that the spring SP is sufficiently compressed (step S3: Yes), proceed to step S4.
- step S3 When it is determined in step S3 that the spring SP is not sufficiently compressed (step S3: No), the process proceeds to step S5.
- step S5 the operation control unit 160 rotates the first motor MT1 forward and fully compresses the spring SP. Then, the process proceeds to step S4.
- step S4 the motion control unit 160 calculates the angle at which the spring SP pushes the ground GD according to the calculated amount of deflection.
- step S6 the motion control unit 160 rotates the spring SP to the calculated angle using the second motor MT2.
- step S7 the motion control unit 160 rotates the first motor MT1 in reverse to vigorously extend the spring SP.
- step S8 the spring SP pushes the ground GD and the autonomous mobile body 10 jumps up.
- step S9 the autonomous mobile body 10 lands on the obstacle OT with the spring SP stretched. The stretched spring SP absorbs the impact upon landing.
- FIG. 21 is a diagram showing an example of using the spring expansion/contraction mechanism SM to absorb impact when dropped.
- the motion control unit 160 When the motion control unit 160 detects that the autonomous mobile body 10 is falling based on the IMU measurement data, it calculates the direction in which the autonomous mobile body 10 lands as the extension direction. The motion control unit 160 extends the spring SP before the autonomous mobile body 10 lands. According to this configuration, the spring SP can absorb the impact caused by the drop.
- FIG. 22 is a diagram showing a control flow by the operation control section 160.
- FIG. 22 is a diagram showing a control flow by the operation control section 160.
- the motion control unit 160 detects that the autonomous mobile body 10 is falling based on the measurement data of the IMU. In step S12, the motion control unit 160 causes the second motor MT2 to rotate the spring SP in the dropping direction. In step S13, the motion control unit 160 determines whether the spring SP is currently expanded (not in a compressed state).
- step S13 If it is determined in step S13 that the spring SP is stretched (step S13: Yes), the process proceeds to step S14.
- step S13: No When it is determined in step S13 that the spring SP is not stretched (compressed) (step S13: No), the process proceeds to step S15.
- step S15 the motion control unit 160 rotates the first motor MT1 in reverse to extend the spring SP. Then, the process proceeds to step S14.
- step S14 the autonomous mobile body 10 lands on the ground GD with the spring SP extended.
- the impact at landing is absorbed by the stretched spring SP.
- FIG. 23 is a diagram showing an example of using the spring extension/contraction mechanism SM for recovery operation from the overturned state.
- the motion control unit 160 When the motion control unit 160 detects that the autonomous mobile body 10 has fallen based on the measurement data of the IMU, it calculates the deflection amount and extension direction of the spring SP for raising the autonomous mobile body 10 . According to this configuration, the overturned autonomous mobile body 10 can be raised.
- FIG. 24 is a diagram showing a control flow by the operation control unit 160.
- FIG. 24 is a diagram showing a control flow by the operation control unit 160.
- step S21 the operation control unit 160 detects that the autonomous mobile body 10 is lying down based on the measurement data of the IMU.
- step S ⁇ b>22 the motion control unit 160 determines whether the spring SP is currently contracted by an amount sufficient to raise the autonomous mobile body 10 .
- step S22 When it is determined in step S22 that the spring SP is sufficiently compressed (step S22: Yes), the process proceeds to step S23.
- step S22 When it is determined in step S22 that the spring SP is not sufficiently compressed (step S22: No), the process proceeds to step S24.
- step S24 the operation control unit 160 causes the first motor MT1 to rotate forward, and compresses the spring SP by an amount necessary to raise the autonomous mobile body 10. As shown in FIG. Then, the process proceeds to step S23.
- step S23 the operation control unit 160 causes the second motor MT2 to rotate the spring SP in the overturning direction.
- the motion control unit 160 calculates the inclination angle of the spring SP necessary to raise the autonomous mobile body 10, and rotates the spring SP until the spring SP inclines with the ground GD by the calculated inclination angle.
- step S25 the operation control unit 160 rotates the first motor MT1 in reverse to vigorously extend the spring SP.
- step S26 the spring SP pushes the ground GD and the autonomous mobile body 10 rises.
- the spring extension mechanism SM is used to attract the user's attention.
- the autonomous mobile body 10 gently taps the user's hand HD to tactilely attract the user's attention.
- the autonomous mobile body 10 may tap the desk to make a sound to aurally attract the user's attention.
- the autonomous mobile body 10 bounces at a constant rhythm to visually attract the user's attention.
- the motion control unit 160 When the motion control unit 160 detects a situation that should attract the user's attention, the motion control unit 160 adjusts the amount of deflection of the spring SP, Controls stretch direction and stretch timing. According to this configuration, the user's attention can be attracted by the movement of the autonomous mobile body 10 caused by the expansion and contraction of the spring SP.
- the collision target object OB is the user's hand HD. Therefore, the stress at the time of release (the amount of deflection of the spring SP) is set to be as small as possible within a range that can be recognized by the user.
- the object OB to be collided with is the ground GD. If the ground GD is made of a hard material, the spring SP can be greatly compressed to allow a high jump.
- FIG. 27 is a diagram showing a control flow for calling the user's attention.
- step S31 the motion control unit 160 determines the strength with which the object OB to be collided with is struck.
- step S32 the motion control unit 160 calculates the deflection amount of the spring SP according to the determined strength.
- step S33 the motion control unit 160 rotates the first motor MT1 forward to compress the spring SP by the calculated deflection amount.
- step S34 the motion control unit 1600 rotates the first motor MT1 in reverse to extend the spring SP vigorously and strike the object OB with the extended spring SP.
- step S35 the motion control unit 160 determines whether the object OB has been hit the required number of times. If it is determined in step S35 that the object OB has been hit the required number of times (step S35: Yes), the process ends. If it is determined in step S35 that the object OB has not been poked the required number of times (step S35: No), the process returns to step S33, and the above processing is repeated until the object OB is poked the required number of times.
- the autonomous mobile body 10 has a spring extension/contraction mechanism SM and an operation control section 160 . According to this configuration, the amount of deflection of the spring SP can be adjusted, and the autonomous mobile body 10 that is small and hard to break down is provided.
- the electronic device ED has a spring extension/contraction mechanism SM and an operation control section.
- the motion control section controls the spring extension/contraction mechanism SM, and has the same configuration as the motion control section 160 described above.
- FIG. 28 is a diagram showing an example in which the spring extension/contraction mechanism SM is applied to an information processing terminal ED1 such as a smart phone and a tablet terminal.
- the information processing terminal ED1 has a spring extension/contraction mechanism SM as vibration means.
- the motion control unit notifies the user using vibration generated by expansion and contraction of the spring SP. For example, when there is an incoming call to the information processing terminal ED1, the spring SP is protruded at a constant rhythm and hits the surface of the desk TB on which the information processing terminal ED1 is placed. The user recognizes that there is an incoming call from the vibration or vibration sound of the information processing terminal ED1. According to this configuration, the expansion and contraction of the spring SP causes a large vibration, so that the user can be reliably notified.
- the spring expansion/contraction mechanism SM can also be built into a game controller or the like. According to this configuration, it is possible to generate powerful vibrations that cannot be expressed by conventional vibration means. Therefore, a highly entertaining game is provided.
- FIG. 29 is a diagram showing an example in which the spring extension/contraction mechanism SM is applied to the massager ED2.
- the massager ED2 has a vibrating part BP that massages objects such as the user's HM's head, shoulders, back, waist, and legs using vibrations generated by expansion and contraction of the springs SP.
- the spring expansion/contraction mechanism SM is built in the vibration part BP. This configuration provides a compact massager ED2 whose strength of massage can be controlled by the amount of deflection of the spring SP.
- FIG. 30 is a diagram showing an example in which the spring extension/contraction mechanism SM is applied to the acoustic device ED3.
- the acoustic device ED3 has a membrane FM which vibrates due to the expansion and contraction of the spring SP and which produces the sound SD.
- the motion control section controls the deflection amount and extension timing of the spring SP based on the acoustic signal.
- the spring extension/contraction mechanism SM can be used as a sound source.
- the intensity of sound SD can be adjusted by the amount of deflection of spring SP. Therefore, a compact audio device ED3 is provided that can adjust the strength of the sound SD.
- by strongly bending the spring SP it is possible to generate a powerful sound SD that cannot be expressed by a piezoelectric element or the like. For example, it is possible to produce realistic drum sounds by hitting the membrane FM like hitting a drum.
- FIG. 31 is a diagram showing an example in which the spring extension mechanism SM is applied to the futon beating machine ED4.
- the futon-beating machine ED4 has a vibrating part BP that beats the futon MA using vibrations generated by expansion and contraction of the spring SP.
- the spring expansion/contraction mechanism SM is built in the vibration part BP.
- a compact futon beating machine ED4 is provided in which the force with which the futon MA is beaten can be controlled by the amount of deflection of the spring SP. By strongly bending the spring SP, the futon MA can be strongly hit. Therefore, dust, mites, etc. can be removed more effectively.
- the electronic device ED has the spring extension mechanism SM of the present disclosure. According to this configuration, the deflection amount of the spring can be adjusted, and the electronic device ED that is small and hard to break down is provided.
- the present technology can also take the following configuration.
- a spring telescoping mechanism having a
- the outer wheel drive mechanism is a first screw; a second screw that engages with the first screw and sandwiches the outer ring between the first screw and the first screw when the first screw rotates in the first direction; a ratchet that restricts the rotation direction of the second screw to the first direction; having The spring extension mechanism according to (1) above.
- the adjustment mechanism is a casing having a hollow spring shaft through which the wire is inserted; a second motor for rotating the casing; having The spring extension mechanism according to (4) above.
- (6) a spring extension mechanism according to any one of (1) to (5) above; an operation control unit that controls the spring expansion/contraction mechanism; A robot with (7) The motion control unit controls the deflection amount, extension direction, and extension timing of the spring based on the situation of the robot.
- the motion control unit calculates the amount of deflection of the spring based on the height of the obstacle. calculating the extension direction and extension timing of the spring based on the distance of The robot according to (7) above. (9) When detecting that the robot is falling based on the measurement data of the IMU, the motion control unit calculates the direction in which the robot lands as the extension direction, and adjusts the spring before the robot lands. lengthen, The robot according to (7) above. (10) When the motion control unit detects that the robot is overturned based on the measurement data of the IMU, it calculates the deflection amount and the extension direction of the spring for raising the robot. The robot according to (7) above.
- the motion control unit determines the amount of deflection of the spring, controlling the stretch direction and stretch timing; The robot according to (7) above.
- (12) a spring extension mechanism according to any one of (1) to (5) above; an operation control unit that controls the spring expansion/contraction mechanism; electronic equipment.
- the operation control unit notifies the user using vibration generated by expansion and contraction of the spring.
- (14) Having a membrane that vibrates by expansion and contraction of the spring and generates sound, The operation control unit controls the deflection amount and extension timing of the spring based on the acoustic signal.
- the electronic device according to (12) above. (15) Having a vibrating part that hits or massages an object using vibration generated by expansion and contraction of the spring, The electronic device according to (12) above.
Abstract
Description
[1.ばね伸縮機構]
[1-1.ばね伸縮機構の構成]
[1-2.ばねの伸縮動作]
[1-3.効果]
[2.ばね伸縮機構の適用例1]
[2-1.ロボットの構成]
[2-2.障害物を乗り越える動作]
[2-3.落下時の衝撃吸収]
[2-4.転倒状態から復帰する動作]
[2-5.他の動作への適用例]
[2-6.効果]
[3.ばね伸縮機構の適用例2]
[3-1.情報処理端末]
[3-2.マッサージ器]
[3-3.音響装置]
[3-4.布団たたき機]
[3-5.効果]
[1-1.ばね伸縮機構の構成]
図1ないし図8は、ばね伸縮機構SMの一例を示す図である。
図9ないし図12は、ばね伸縮機構SMによるばねSPの伸縮動作を示す図である。
ばね伸縮機構SMは、外輪ORとワイヤWRとばねSPと外輪駆動機構RPTとを有する。ワイヤWRは、外輪ORの外周面に接続されている。ばねSPは、ワイヤWRを介して外輪ORと接続されている。ばねSPは、外輪ORにワイヤWRが巻き取られることにより圧縮される。外輪駆動機構RPTは、外輪ORと密着して外輪ORに回転動力を伝達する。外輪駆動機構RPTは、外輪ORを密着した状態から解放して外輪ORを自由回転させる。
以下、ばね伸縮機構SMがロボットに適用される例を説明する。
図13は、ロボットの一例である自律移動体10の構成を示す図である。自律移動体10は、車輪による自律走行を行う長楕円体のエージェント型ロボットである。自律移動体10は、例えば、ユーザ、周囲、また自身の状況に応じた自律動作を行うことで、情報提示を含む種々のコミュニケーションを実現する。自律移動体10は、ユーザが片手で容易に持ち上げられる程度の大きさおよび重量を有する小型ロボットであってもよい。自律移動体10は、障害物回避動作、落下時の衝撃吸収、および、転倒状態から復帰する動作などに用いるために、前述したばね伸縮機構SMを有する。
図19は、ばね伸縮機構SMを障害物OTの乗り越え動作に用いる例を示す図である。
図21は、ばね伸縮機構SMを落下時の衝撃吸収に用いる例を示す図である。
図23は、ばね伸縮機構SMを転倒状態からの復帰動作に用いる例を示す図である。
図25および図26は、ばね伸縮機構SMを自律移動体10の他の動作へ適用した例を示す図である。
自律移動体10は、ばね伸縮機構SMと動作制御部160とを有する。この構成によれば、ばねSPのたわみ量を調整でき、小型で故障しにくい自律移動体10が提供される。
以下、ばね伸縮機構SMを電子機器EDに適用した例を示す。電子機器EDは、ばね伸縮機構SMと動作制御部とを有する。動作制御部は、ばね伸縮機構SMを制御するものであり、上述した動作制御部160と同様の構成を有する。
図28は、ばね伸縮機構SMをスマートフォンおよびタブレット端末などの情報処理端末ED1に適用した例を示す図である。情報処理端末ED1は、ばね伸縮機構SMをバイブレーション手段として有する。動作制御部は、ばねSPの伸縮によって生じる振動を用いてユーザに通知を行う。例えば、情報処理端末ED1に着信があった場合には、ばねSPを一定のリズムで突出させて、情報処理端末ED1が置かれている机TBなどの表面を突く。ユーザは情報処理端末ED1の振動または振動音によって着信があったことを認識する。この構成によれば、ばねSPの伸縮によって大きな振動が生じるため、確実にユーザに通知を行うことができる。
図29は、ばね伸縮機構SMをマッサージ器ED2に適用した例を示す図である。マッサージ器ED2は、ばねSPの伸縮によって生じる振動を用いて、ユーザHMの頭、肩、背中、腰および足などの対象物をマッサージする振動部BPを有する。ばね伸縮機構SMは、振動部BPに内蔵されている。この構成によれば、マッサージの強さをばねSPのたわみ量によって制御可能な小型のマッサージ器ED2が提供される。
図30は、ばね伸縮機構SMを音響装置ED3に適用した例を示す図である。音響装置ED3は、ばねSPの伸縮によって振動し、音SDを発生する膜FMを有する。動作制御部は、音響信号に基づいてばねSPのたわみ量および伸長タイミングを制御する。この構成によれば、ばね伸縮機構SMを音源として用いることができる。音SDの強さは、ばねSPのたわみ量によって調節することができる。よって、音SDの強さを調節可能な小型の音響装置ED3が提供される。また、ばねSPを強くたわませることで、圧電素子などでは表現できない力強い音SDを生成することができる。例えば、太鼓を叩くように膜FMを叩いて、ドラムの音をリアルに出すようなことも可能である。
図31は、ばね伸縮機構SMを布団叩き機ED4に適用した例を示す図である。布団たたき機ED4は、ばねSPの伸縮によって生じる振動を用いて布団MAを叩く振動部BPを有する。ばね伸縮機構SMは、振動部BPに内蔵されている。この構成によれば、布団MAを叩く強さをばねSPのたわみ量によって制御可能な小型の布団たたき機ED4が提供される。ばねSPを強くたわませることで、布団MAを力強く叩くことできる。よって、埃やダニなどをよりよく除去することができる。
電子機器EDは、本開示のばね伸縮機構SMを有する。この構成によれば、ばねのたわみ量を調整でき、小型で故障しにくい電子機器EDが提供される。
なお、本技術は以下のような構成も取ることができる。
(1)
外輪と、
前記外輪の外周面に接続されたワイヤと、
前記ワイヤを介して前記外輪と接続され、前記外輪に前記ワイヤが巻き取られることにより圧縮されるばねと、
前記外輪と密着して前記外輪に回転動力を伝達するとともに、前記外輪を密着した状態から解放して前記外輪を自由回転させる外輪駆動機構と、
を有するばね伸縮機構。
(2)
前記外輪駆動機構は、
第1ねじと、
前記第1ねじと螺合し、前記第1ねじが第1方向に回転したときに前記第1ねじとの間に前記外輪を挟み込む第2ねじと、
前記第2ねじの回転方向を前記第1方向に制限するラチェットと、
を有する、
上記(1)に記載のばね伸縮機構。
(3)
前記第1ねじを前記第1方向、および、前記第1方向とは反対の第2方向に回転可能な第1モータを有する、
上記(2)に記載のばね機構。
(4)
前記ばねの向きを調整する調整機構を有する、
上記(1)ないし(3)のいずれか1つに記載のばね伸縮機構。
(5)
前記調整機構は、
前記ワイヤを挿通させる中空のばね軸を備えたケーシングと、
前記ケーシングを回転させる第2モータと、
を有する、
上記(4)に記載のばね伸縮機構。
(6)
上記(1)ないし(5)のいずれか1つに記載のばね伸縮機構と、
前記ばね伸縮機構を制御する動作制御部と、
を有するロボット。
(7)
前記動作制御部は、前記ロボットの状況に基づいて、前記ばねのたわみ量、伸長方向および伸長タイミングを制御する、
上記(6)に記載のロボット。
(8)
前記動作制御部は、カメラの映像に基づいて前記ロボットの前方に障害物が存在する状況を検出した場合、前記障害物の高さに基づいて前記ばねのたわみ量を算出し、前記障害物までの距離に基づいて前記ばねの伸長方向および伸長タイミングを算出する、
上記(7)に記載のロボット。
(9)
前記動作制御部は、IMUの計測データに基づいて前記ロボットが落下している状況を検出した場合、前記ロボットが着地する方向を前記伸長方向として算出し、前記ロボットが着地する前に前記ばねを伸長させる、
上記(7)に記載のロボット。
(10)
前記動作制御部は、IMUの計測データに基づいて前記ロボットが転倒している状況を検出した場合、前記ロボットを起き上がらせるための前記ばねのたわみ量および前記伸長方向を算出する、
上記(7)に記載のロボット。
(11)
前記動作制御部は、ユーザの注意を引き付けるべき状況を検出した場合には、前記ユーザに認識させたい内容、および、伸長した前記ばねが衝突する物体の種類に応じて、前記ばねのたわみ量、伸長方向および伸長タイミングを制御する、
上記(7)に記載のロボット。
(12)
上記(1)ないし(5)のいずれか1つに記載のばね伸縮機構と、
前記ばね伸縮機構を制御する動作制御部と、
を有する電子機器。
(13)
前記動作制御部は、前記ばねの伸縮によって生じる振動を用いてユーザに通知を行う、
上記(12)に記載の電子機器。
(14)
前記ばねの伸縮によって振動し、音を発生する膜を有し、
前記動作制御部は、音響信号に基づいて前記ばねのたわみ量および伸長タイミングを制御する、
上記(12)に記載の電子機器。
(15)
前記ばねの伸縮によって生じる振動を用いて対象物を叩くまたはマッサージする振動部を有する、
上記(12)に記載の電子機器。
160 動作制御部
AM 調整機構
BP 振動部
CS ケーシング
ED 電子機器
FM 膜
FS 第2ねじ
MS 第1ねじ
MT1 第1モータ
MT2 第2モータ
OR 外輪
OT 障害物
RPT 外輪駆動機構
RT ラチェット
SA ばね軸
SM ばね伸縮機構
SP ばね
WR ワイヤ
Claims (15)
- 外輪と、
前記外輪の外周面に接続されたワイヤと、
前記ワイヤを介して前記外輪と接続され、前記外輪に前記ワイヤが巻き取られることにより圧縮されるばねと、
前記外輪と密着して前記外輪に回転動力を伝達するとともに、前記外輪を密着した状態から解放して前記外輪を自由回転させる外輪駆動機構と、
を有するばね伸縮機構。 - 前記外輪駆動機構は、
第1ねじと、
前記第1ねじと螺合し、前記第1ねじが第1方向に回転したときに前記第1ねじとの間に前記外輪を挟み込む第2ねじと、
前記第2ねじの回転方向を前記第1方向に制限するラチェットと、
を有する、
請求項1に記載のばね伸縮機構。 - 前記第1ねじを前記第1方向、および、前記第1方向とは反対の第2方向に回転可能な第1モータを有する、
請求項2に記載のばね伸縮機構。 - 前記ばねの向きを調整する調整機構を有する、
請求項1に記載のばね伸縮機構。 - 前記調整機構は、
前記ワイヤを挿通させる中空のばね軸を備えたケーシングと、
前記ケーシングを回転させる第2モータと、
を有する、
請求項4に記載のばね伸縮機構。 - 請求項1に記載のばね伸縮機構と、
前記ばね伸縮機構を制御する動作制御部と、
を有するロボット。 - 前記動作制御部は、前記ロボットの状況に基づいて、前記ばねのたわみ量、伸長方向および伸長タイミングを制御する、
請求項6に記載のロボット。 - 前記動作制御部は、カメラの映像に基づいて前記ロボットの前方に障害物が存在する状況を検出した場合、前記障害物の高さに基づいて前記ばねのたわみ量を算出し、前記障害物までの距離に基づいて前記ばねの伸長方向および伸長タイミングを算出する、
請求項7に記載のロボット。 - 前記動作制御部は、IMUの計測データに基づいて前記ロボットが落下している状況を検出した場合、前記ロボットが着地する方向を前記伸長方向として算出し、前記ロボットが着地する前に前記ばねを伸長させる、
請求項7に記載のロボット。 - 前記動作制御部は、IMUの計測データに基づいて前記ロボットが転倒している状況を検出した場合、前記ロボットを起き上がらせるための前記ばねのたわみ量および前記伸長方向を算出する、
請求項7に記載のロボット。 - 前記動作制御部は、ユーザの注意を引き付けるべき状況を検出した場合には、前記ユーザに認識させたい内容、および、伸長した前記ばねが衝突する物体の種類に応じて、前記ばねのたわみ量、伸長方向および伸長タイミングを制御する、
請求項7に記載のロボット。 - 請求項1に記載のばね伸縮機構と、
前記ばね伸縮機構を制御する動作制御部と、
を有する電子機器。 - 前記動作制御部は、前記ばねの伸縮によって生じる振動を用いてユーザに通知を行う、
請求項12に記載の電子機器。 - 前記ばねの伸縮によって振動し、音を発生する膜を有し、
前記動作制御部は、音響信号に基づいて前記ばねのたわみ量および伸長タイミングを制御する、
請求項12に記載の電子機器。 - 前記ばねの伸縮によって生じる振動を用いて対象物を叩くまたはマッサージする振動部を有する、
請求項12に記載の電子機器。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2023503624A JPWO2022185767A1 (ja) | 2021-03-02 | 2022-01-21 | |
EP22762826.0A EP4302849A1 (en) | 2021-03-02 | 2022-01-21 | Spring extending/retracting mechanism, robot, and electronic device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021032809 | 2021-03-02 | ||
JP2021-032809 | 2021-03-02 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022185767A1 true WO2022185767A1 (ja) | 2022-09-09 |
Family
ID=83154959
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2022/002119 WO2022185767A1 (ja) | 2021-03-02 | 2022-01-21 | ばね伸縮機構、ロボットおよび電子機器 |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP4302849A1 (ja) |
JP (1) | JPWO2022185767A1 (ja) |
WO (1) | WO2022185767A1 (ja) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5973655A (ja) * | 1982-10-18 | 1984-04-25 | Masahiro Ueda | 瞬間作動式往復運動機構 |
JP2012066323A (ja) * | 2010-09-22 | 2012-04-05 | Ntn Corp | 操作機構 |
JP2015229113A (ja) | 2014-06-04 | 2015-12-21 | パロット | ばねを作動状態/非作動状態にする(arming/disarming)機構およびこの機構を含む跳躍玩具 |
JP2019513958A (ja) * | 2016-04-19 | 2019-05-30 | ゲイツ コーポレイション | アイソレーティング・デカップラ |
-
2022
- 2022-01-21 JP JP2023503624A patent/JPWO2022185767A1/ja active Pending
- 2022-01-21 EP EP22762826.0A patent/EP4302849A1/en active Pending
- 2022-01-21 WO PCT/JP2022/002119 patent/WO2022185767A1/ja active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5973655A (ja) * | 1982-10-18 | 1984-04-25 | Masahiro Ueda | 瞬間作動式往復運動機構 |
JP2012066323A (ja) * | 2010-09-22 | 2012-04-05 | Ntn Corp | 操作機構 |
JP2015229113A (ja) | 2014-06-04 | 2015-12-21 | パロット | ばねを作動状態/非作動状態にする(arming/disarming)機構およびこの機構を含む跳躍玩具 |
JP2019513958A (ja) * | 2016-04-19 | 2019-05-30 | ゲイツ コーポレイション | アイソレーティング・デカップラ |
Also Published As
Publication number | Publication date |
---|---|
EP4302849A1 (en) | 2024-01-10 |
JPWO2022185767A1 (ja) | 2022-09-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4363177B2 (ja) | 移動ロボット | |
CN103877726B (zh) | 一种虚拟现实组件系统 | |
US20070233318A1 (en) | Follow Robot | |
WO2018222420A1 (en) | Input device with force sensor feedback trigger | |
EP3587048B1 (en) | Motion restriction system and method | |
CN209699112U (zh) | 一种儿童陪伴教育机器人 | |
WO2022185767A1 (ja) | ばね伸縮機構、ロボットおよび電子機器 | |
CN203060838U (zh) | 一种双向交互式遥控玩具 | |
JP7320240B2 (ja) | ロボット | |
JP2023139029A (ja) | 情報処理装置及び情報処理方法 | |
US20240133452A1 (en) | Spring expansion/compression mechanism, robot, and electronic device | |
JP7428141B2 (ja) | 情報処理装置、情報処理方法、およびプログラム | |
JP2006289507A (ja) | ロボット装置及びその制御方法 | |
KR101806798B1 (ko) | 운동량측정알고리즘엔진부가 포함된 무빙액션형 스파링로봇모듈을 통한 1:1 무빙액션형 스마트 스파링 장치 | |
JPWO2021054210A1 (ja) | 補助装置及び義足 | |
JP4517085B2 (ja) | ロボット遠隔制御システム | |
US20100103135A1 (en) | Mobile Apparatus | |
KR20210098540A (ko) | 로봇 | |
US20200286349A1 (en) | Apparatus and system for capturing criminals. | |
CN201279389Y (zh) | 无线遥控玩具机器人 | |
KR20180055672A (ko) | 볼 카메라 장치 | |
CN114872014B (zh) | 语音控制的关节机器人和语音控制的关节机器人系统 | |
US20240157569A1 (en) | Robot | |
CN106239559A (zh) | 一种机械臂 | |
JP6716499B2 (ja) | 視覚障害者用杖 |
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: 22762826 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2023503624 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 18546978 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2022762826 Country of ref document: EP |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 2022762826 Country of ref document: EP Effective date: 20231002 |