WO2023210730A1 - ロボット - Google Patents

ロボット Download PDF

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Publication number
WO2023210730A1
WO2023210730A1 PCT/JP2023/016596 JP2023016596W WO2023210730A1 WO 2023210730 A1 WO2023210730 A1 WO 2023210730A1 JP 2023016596 W JP2023016596 W JP 2023016596W WO 2023210730 A1 WO2023210730 A1 WO 2023210730A1
Authority
WO
WIPO (PCT)
Prior art keywords
finger
axis
section
arm
angle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2023/016596
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
翔太 楢崎
昇 川口
隼人 星野
洋介 冨田
新吾 木村
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to US18/855,651 priority Critical patent/US12427648B2/en
Priority to JP2024518017A priority patent/JP7508001B2/ja
Publication of WO2023210730A1 publication Critical patent/WO2023210730A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/04—Foot-operated control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/06—Program-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links

Definitions

  • the present disclosure relates to a robot that moves using wheels and has two arms.
  • Humanoid robots that can walk and move both arms like humans have been developed (for example, see Patent Document 1). Humanoid robots are suitable for performing movements similar to humans in buildings. However, humanoid robots are not suitable for working outdoors on rough terrain. Walking on two legs is difficult on uneven ground. On rough terrain, it is desirable for the robot to move using wheels or crawlers (caterpillars).
  • Robots with two arms that move on crawlers have been developed (for example, see Patent Documents 2 to 4).
  • the two arms are separated from each other. For this reason, it is presumed that it is difficult for conventional robots with two arms to perform detailed tasks that humans do using their two arms.
  • Patent Document 5 A robot that moves on a crawler and has two arms arranged similarly to a human has been developed (for example, see Patent Document 5).
  • the body has the same six-joint configuration as a general industrial robot.
  • the robot described in Patent Document 5 has a high degree of freedom in the postures it can take, there are problems in that it is costly and heavy due to the large number of axes and parts.
  • Two link members are connected in series to the body. In a posture in which the height of the robot is lowered, the link members of the body are folded back. Even if an attempt is made to reduce the height of the entire robot, the height of the robot described in Patent Document 5 cannot be reduced very much. As a result, the center of gravity of the robot becomes high, making it difficult to move it at high speed. Also, it is not possible to pass through places with height restrictions.
  • An object of the present disclosure is to obtain a robot that can lower the height of the robot than before in a posture that lowers the height of the robot.
  • a robot includes two arms, a body to which the two arms are connected, a vehicle that moves by rotating wheels, and a position of the body that can change the position of the body with respect to the vehicle. and a body position changing mechanism that supports the body.
  • the fuselage position changing mechanism is configured to change the elevation angle that supports the fuselage so that the elevation angle, which is the angle between the vehicle reference plane, which is a plane perpendicular to the azimuth axis intersecting the vehicle, and the direction in which the fuselage extends, can be changed.
  • the vehicle includes an azimuth angle changing mechanism, and an azimuth angle changing mechanism provided in a vehicle portion that supports the elevation angle changing mechanism rotatably around an azimuth axis.
  • the elevation angle changing mechanism includes a base supported by the azimuth angle changing mechanism, a moving part that moves along a straight line parallel to the vehicle reference plane above the base, and a lower end rotatably connected to the moving part.
  • a first link that extends in a direction forming an elevation angle with the reference plane and supports the body, a second link that has an upper end rotatably connected to the first link, and a lower end of the second link that rotatably connects. , and a link lower end support portion provided at the base.
  • the robot according to the present disclosure can make the height of the robot lower than before in a posture that lowers the height of the robot.
  • FIG. 1 is a block diagram illustrating a schematic configuration of a robot operating system according to Embodiment 1.
  • FIG. 1 is a perspective view of a robot operated by the robot operation system according to Embodiment 1.
  • FIG. 1 is a front view of a robot operated by the robot operation system according to Embodiment 1.
  • FIG. 1 is a right side view of a robot operated by the robot operation system according to Embodiment 1.
  • FIG. FIG. 2 is a rear view of a robot operated by the robot operation system according to the first embodiment.
  • 1 is a left side view of a robot operated by the robot operation system according to Embodiment 1.
  • FIG. 1 is a plan view of a robot operated by the robot operation system according to Embodiment 1.
  • FIG. 1 is a perspective view of a robot operated by the robot operation system according to Embodiment 1.
  • FIG. 1 is a perspective view of a robot operated by the robot operation system according to Embodiment 1.
  • FIG. 1 is a front view
  • FIG. 1 is a bottom view of a robot operated by the robot operation system according to Embodiment 1.
  • FIG. 3 is a perspective view of a robot torso position changing mechanism operated by the robot operation system according to the first embodiment.
  • FIG. 3 is a front view of a robot torso position changing mechanism operated by the robot operation system according to the first embodiment.
  • FIG. 3 is a right side view of the body position changing mechanism of the robot operated by the robot operation system according to the first embodiment.
  • FIG. 2 is a rear view of a robot torso position changing mechanism operated by the robot operation system according to the first embodiment.
  • FIG. 3 is a left side view of the body position changing mechanism of the robot operated by the robot operation system according to the first embodiment.
  • FIG. 3 is a plan view of a robot body position changing mechanism operated by the robot operation system according to the first embodiment.
  • FIG. 3 is a bottom view of a robot torso position changing mechanism operated by the robot operation system according to the first embodiment.
  • FIG. 2 is an enlarged perspective view of the head of the robot operated by the robot operation system according to the first embodiment, with the head cover removed.
  • FIG. 2 is an enlarged front view of the head of the robot operated by the robot operation system according to the first embodiment, with the head cover removed.
  • FIG. 2 is an enlarged right side view of the head of the robot operated by the robot operation system according to the first embodiment, with the head cover removed.
  • FIG. 2 is an enlarged plan view of the head of the robot operated by the robot operation system according to the first embodiment, with the head cover removed.
  • FIG. 3 is a perspective view of a robot operated by the robot operation system according to the first embodiment in another posture 1;
  • FIG. 3 is a front view of the robot operated by the robot operation system according to the first embodiment in another posture 1;
  • FIG. 3 is a right side view of the robot operated by the robot operation system according to the first embodiment in another posture 1;
  • FIG. 3 is a rear view of the robot operated by the robot operation system according to the first embodiment in another posture 1;
  • FIG. 3 is a left side view of the robot operated by the robot operation system according to the first embodiment in another posture 1;
  • FIG. 3 is a plan view of a robot operated by the robot operation system according to the first embodiment in another posture 1;
  • FIG. 3 is a perspective view of a robot operated by the robot operation system according to the first embodiment in another posture 1;
  • FIG. 3 is a front view of the robot operated by the robot operation system according to the first embodiment in another posture 1;
  • FIG. 3 is a right side view of the robot operated by the robot operation
  • FIG. 3 is a perspective view of the robot operated by the robot operation system according to the first embodiment in another posture 2;
  • FIG. 3 is a right side view of the robot operated by the robot operation system according to the first embodiment in another posture 2;
  • FIG. 3 is a plan view of the robot operated by the robot operation system according to the first embodiment in another posture 2;
  • FIG. 3 is a right side view illustrating variables representing the lengths of each part of the slide mechanism included in the robot operated by the robot operation system according to the first embodiment.
  • FIG. 2 is a perspective view of an arm of a robot operated by the robot operation system according to the first embodiment.
  • FIG. 3 is another perspective view of the arm of the robot operated by the robot operation system according to the first embodiment.
  • FIG. 2 is a front view of an arm of a robot operated by the robot operation system according to the first embodiment.
  • FIG. 2 is a right side view of an arm of a robot operated by the robot operation system according to the first embodiment.
  • FIG. 2 is a rear view of an arm of a robot operated by the robot operation system according to the first embodiment.
  • FIG. 2 is a left side view of an arm of a robot operated by the robot operation system according to the first embodiment.
  • FIG. 2 is a plan view of an arm of a robot operated by the robot operation system according to the first embodiment.
  • FIG. 3 is a bottom view of an arm included in the robot operated by the robot operation system according to the first embodiment.
  • FIG. 3 is a diagram showing a rotation axis of an arm of a robot operated by the robot operation system according to the first embodiment.
  • FIG. 2 is a cross-sectional view showing the structure of a wrist joint of a robot operated by the robot operation system according to the first embodiment.
  • FIG. 2 is a perspective view of a hand section of a robot operated by the robot operation system according to the first embodiment.
  • FIG. 3 is a front view of a hand section of a robot operated by the robot operation system according to the first embodiment.
  • FIG. 3 is a right side view of a hand section of the robot operated by the robot operation system according to the first embodiment.
  • FIG. 2 is a rear view of a hand section of a robot operated by the robot operation system according to the first embodiment.
  • FIG. 3 is a left side view of a hand section of the robot operated by the robot operation system according to the first embodiment.
  • FIG. 3 is a plan view of a hand section of a robot operated by the robot operation system according to the first embodiment.
  • FIG. 3 is a bottom view of a hand section of the robot operated by the robot operation system according to the first embodiment.
  • FIG. 2 is a perspective view of a hand section of a robot operated by the robot operation system according to the first embodiment in a changed state 1;
  • FIG. 3 is a perspective view of a hand section of the robot operated by the robot operation system according to the first embodiment in a changed state 2;
  • FIG. 7 is a perspective view of a hand portion of the robot operated by the robot operation system according to the first embodiment in a changed state 3;
  • FIG. 7 is a perspective view of a hand portion of the robot operated by the robot operation system according to the first embodiment in a changed state 4;
  • FIG. 6 is a perspective view of the hand portion of the robot operated by the robot operation system according to the first embodiment in a changed state 5;
  • FIG. 7 is a perspective view showing a usage example of a changed state 5 of the hand portion of the robot operated by the robot operation system according to the first embodiment.
  • FIG. 7 is a perspective view and a front view showing another usage example of the hand section of the robot operated by the robot operation system according to the first embodiment.
  • FIG. 2 is a perspective view of an operating device included in the robot operating system according to the first embodiment in a used state.
  • 1 is a perspective view of an operating device included in the robot operating system according to Embodiment 1.
  • FIG. FIG. 2 is a perspective view of a left hand operating device included in the robot operating system according to the first embodiment.
  • FIG. 3 is another perspective view of the left hand operating device included in the robot operating system according to the first embodiment.
  • FIG. 7 is yet another perspective view of the left hand operating device included in the robot operating system according to the first embodiment.
  • FIG. 1 is a schematic diagram of the configuration of a robot operating system according to the first embodiment.
  • the robot operation system 100 mainly includes a crawler mobile robot (abbreviated as robot) 1, three on-site cameras 2 mounted on the robot 1, an operation device 3, and a display device 4.
  • the robot 1 is a type of robot that has two arms and moves on crawlers (caterpillars).
  • the display device 4 displays images taken by the on-site camera 2.
  • the operator 90 who has grasped the situation at the site using the display device 4 remotely controls the robot 1 using the operating device 3 .
  • the operator 90 is an operator who operates the robot 1.
  • the robot 1 includes a vehicle section 1W, a humanoid section 1H, and a body position changing mechanism 1B.
  • the vehicle section 1W is a vehicle that moves on crawlers. A commercially available product may be used for the vehicle portion 1W.
  • the humanoid part 1H is a robot having two arm parts 5 and a body part 12 to which the two arm parts 5 are connected.
  • the body position changing mechanism 1B supports the humanoid part 1H so that the position of the humanoid part 1H (the body part 12) relative to the vehicle part 1W can be changed.
  • the body position changing mechanism 1B is mounted on the upper surface of the vehicle section 1W.
  • the body position changing mechanism 1B can change the position of the humanoid part 1H with respect to the vehicle part 1W with three degrees of freedom.
  • Three degrees of freedom means that the following three angles or lengths can be changed.
  • A Azimuth angle (AZ angle): An angle representing which direction the humanoid part 1H faces around the azimuth axis AZ (shown in FIG. 29).
  • B Elevation angle (EL angle): An angle formed between the upper surface of the vehicle section 1W and the humanoid section 1H.
  • C Body length: distance between the upper surface of the vehicle section 1W and the humanoid section 1H.
  • the on-site camera 2 includes a right-eye camera 2R , a left-eye camera 2L , and a wide-angle camera 2C .
  • the right eye camera 2R and the left eye camera 2L are mounted on the upper part of the humanoid section 1H.
  • the right eye camera 2 R and the left eye camera 2 L take images that the operator 90 sees when remotely controlling the arm 5.
  • the right eye camera 2R and the left eye camera 2L take images that would be seen when the operator 90 is located at the position where the humanoid section 1H is present.
  • the robot operation system 100 has a stereoscopic display device, the images taken by the right eye camera 2 R and the left eye camera 2 L can be presented to the operator 90 as three-dimensional images.
  • the wide-angle camera 2C is mounted at the front center of the vehicle section 1W.
  • the wide-angle camera 2C can take images of 360 degrees of the surrounding area.
  • the image taken by the wide-angle camera 2C is used by the operator 90 to understand the surrounding environment of the robot 1.
  • images taken by any one of the right eye camera 2R , left eye camera 2L , and wide-angle camera 2C are switched and displayed according to an instruction from the operator 90 or automatically.
  • the robot 1 is equipped with a battery 7 that serves as a power source.
  • the robot 1 and the operating device 3 communicate wirelessly.
  • the robot 1 is also equipped with a wireless communication device 6.
  • the robot 1 does not have a power cord or a communication line for communication. Therefore, the robot 1 can move with few restrictions.
  • the operating device 3 includes an input device and a control calculation device 60 for the operator 90 to input operating instructions.
  • Operator 90 inputs operation instructions using an input device.
  • the operation instructions are instructions from the operator 90 regarding the movement of each part of the robot 1. Examples of operation instructions include raising your right hand and moving forward.
  • the signal that actually moves the robot 1 is a control signal generated from an operation instruction.
  • the control signal is a signal that actually moves the robot 1, such as setting the length of the actuator to 30 cm, for example, or rotating the servo motor of the shoulder joint by 30 degrees. Actuators, shoulder joint servo motors, etc. are controlled by the control signals.
  • the control signal is generated from the operation instruction.
  • the control calculation device 60 generates a control signal from an operation instruction input by the operator 90 to the input device.
  • the control calculation device 60 controls the robot 1 based on operation instructions.
  • the operating device 3 includes a body input device 8, a mode switching pedal 9, and a foot operation input device 10 (not shown) as input devices for inputting operating instructions.
  • the upper body input device 8 inputs operation instructions to the left and right arms 5 of the humanoid section 1H.
  • the upper body input device 8 is manually operated by an operator 90 to input operation instructions.
  • the mode switching pedal 9 is operated with a foot by an operator 90 to change the input mode of the upper body input device 8.
  • the foot operation input device 10 inputs operation instructions to the vehicle section 1W and the body position changing mechanism 1B.
  • the foot operation input device 10 is operated by an operator 90 with his or her feet to input operation instructions.
  • the control calculation device 60 generates control signals for operating the robot 1 based on operation instructions input by the operator 90 through the input device. Note that the location where the operator 90 is located is called a command center.
  • the control calculation device 60 is implemented by an electronic computer including a CPU 61, a memory section 62, and the like.
  • the memory unit 62 stores programs and data executed by the CPU 61.
  • the data includes data used in processing or data obtained as a result of processing.
  • the memory unit 62 is a semiconductor memory such as a flash memory and a hard disk.
  • Memory section 62 includes a volatile storage device and a nonvolatile storage device.
  • 2 to 8 are a perspective view, a front view, a right side view, a rear view, a left side view, a top view, and a bottom view of the entire robot 1.
  • 9 to 15 are a perspective view, a front view, a right side view, a rear view, a left side view, a top view, and a bottom view of the body position changing mechanism 1B.
  • the state in which the robot 1 takes the postures shown in FIGS. 2 to 15 is referred to as a reference state.
  • the robot 1 includes a vehicle section 1W, a humanoid section 1H, and a body position changing mechanism 1B.
  • the humanoid part 1H has two arm parts 5, a head part 11, and a body part 12.
  • the vehicle section 1W is a type of vehicle that moves on crawlers.
  • the vehicle section 1W has a crawler like a small power shovel has.
  • the vehicle section 1W is provided with crawler moving sections 13 on its left and right sides.
  • the right side is referred to as a crawler moving unit 13R
  • the left side is referred to as a crawler moving unit 13L .
  • crawler moving section 13 If left and right are not specified, it will be referred to as crawler moving section 13.
  • the other two left and right components of the vehicle portion 1W are similarly written with or without the subscript R or L.
  • the crawler moving unit 13 includes driven wheels 14 (not shown) and a crawler 15 that extends around the wheels 14 .
  • the vehicle portion 1W moves as the wheels 14 rotate.
  • the wheels 14 include, for example, five-axle wheels 14 arranged in front and behind each other.
  • the crawler 15 has a ring shape in which metal plates are connected.
  • the crawlers 15 When the wheels 14 rotate, the crawlers 15 also rotate.
  • the crawler 15 comes into contact with the ground or the like.
  • the vehicle portion 1W moves as the crawler 15 rotates while contacting the ground or the like. Since the crawler contacts the ground, the vehicle portion 1W can move even if the ground is uneven.
  • the left and right crawler moving parts 13 R and 13 L move independently of each other. For example, the right crawler moving section 13R can be moved forward, and the left crawler moving section 13L can be moved backward.
  • the vehicle section 1W has a side cover 1WA that covers the side surfaces of the crawler moving sections 13R and 13L .
  • a battery 7 is mounted on the vehicle section 1W.
  • the battery 7 is a power source that drives the robot 1.
  • the battery 7 is mounted between the crawler moving parts 13 R and 13 L on the front side and on a stand that appears at the rear of the vehicle part 1W.
  • the front battery 7 also includes charging equipment.
  • the fuselage position changing mechanism 1B includes a vehicle connection portion 16, a slide mechanism 17, and an expansion/contraction mechanism 18.
  • the vehicle connection portion 16 allows the body position changing mechanism 1B and the humanoid portion 1H to rotate around the azimuth axis AZ (shown in FIG. 29) with respect to the vehicle portion 1W.
  • the slide mechanism 17 changes and maintains the angle (referred to as an elevation angle or EL angle) between the body portion 12 and the upper surface of the vehicle portion 1W.
  • the telescopic mechanism 18 changes the position of the body section 12 with respect to the slide mechanism 17.
  • the telescoping mechanism 18 supports the body section 12 .
  • the arm portion 5 has a similar shape to a human arm.
  • the arm portion 5 has a hand portion 26 that corresponds to a human hand.
  • the structure of the arm portion 5 will be explained later.
  • Two arm parts 5 are rotatably connected to the upper left and right sides of the body part 12.
  • the torso section 12 and the two arm sections 5 have the same positional relationship and similar size as a human torso and arms. Therefore, the robot 1 can perform detailed tasks similar to those performed by humans.
  • the position of the body part 12 relative to the vehicle 1W is changed by the body position changing mechanism 1B.
  • the head 11 is equipped with a right eye camera 2R and a left eye camera 2L .
  • the right-eye camera 2R and the left-eye camera 2L can change direction in the left-right direction and the up-down direction.
  • the head 11 has a head cover 11A.
  • the head cover 11A is divided into a part that covers the right eye camera 2R and the left eye camera 2L , and a remaining part.
  • the head cover 11A that covers the right-eye camera 2R and the left-eye camera 2L moves together with the right-eye camera 2R and the left-eye camera 2L .
  • the body section 12 has an arm connection section 19 and a control board storage section 20. Two arm parts 5 are connected to the arm connection part 19.
  • the control board storage section 20 is connected to the expansion/contraction mechanism 18 .
  • the control board storage section 20 stores a control board that drives the motor included in the arm section 5 .
  • the control board storage section 20 has a rectangular parallelepiped outer shape.
  • the control board storage section 20 has a mesh portion on the side surface of the casing so that air can easily enter and exit for cooling.
  • the head 11 and the arm connection portion 19 are connected to the upper end surface of the control board storage portion 20 .
  • the control board storage section 20 is arranged parallel to the expansion mechanism 18.
  • the arm connection portion 19 connects to the control board storage portion 20 with the upper surface of the arm connection portion 19 forming an angle of approximately 30 degrees with respect to the upper end surface of the control board storage portion 20 .
  • the fuselage position changing mechanism 1B includes a vehicle connection portion 16, a slide mechanism 17, and an expansion/contraction mechanism 18.
  • the vehicle connection portion 16 supports the body position changing mechanism 1B and the humanoid portion 1H with respect to the vehicle portion 1W so as to be rotatable around the azimuth axis AZ.
  • the vehicle connection portion 16 includes a vehicle side fixed portion 16A, a vehicle side pulley 16B, a rotation side base portion 16C, a slide mechanism base portion 16D, a drive mechanism storage portion 16E, a bearing 16F (not shown), a drive belt 16G, a motor 16H, and a drive gear. 16J and a moving pulley 16K.
  • the vehicle side fixing part 16A is fixed to the vehicle part 1W.
  • the vehicle-side fixing portion 16A is a member having a cylindrical outer shape.
  • the vehicle-side pulley 16B is a disc-shaped member with teeth on the side surface.
  • the vehicle-side pulley 16B is provided above the vehicle-side fixing portion 16A.
  • a drive belt 16G engages with a side surface of the vehicle-side pulley 16B.
  • the drive belt 16G is an annular belt with teeth provided on the outside and inside.
  • the outer teeth of the drive belt 16G mesh with the teeth of the vehicle-side pulley 16B.
  • the inner teeth of the drive belt 16G mesh with the teeth of the drive gear 16J. When the drive gear 16J rotates, the drive belt 16G moves around the vehicle pulley 16B.
  • the cylindrical vehicle-side fixing portion 16A and the disc-shaped vehicle-side pulley 16B are provided so that their central axes coincide.
  • the vehicle-side pulley 16B may be formed integrally with the vehicle-side fixing portion 16A.
  • a vehicle-side pulley 16B formed separately from the vehicle-side fixing part 16A may be attached to the vehicle-side fixing part 16A.
  • the central axis of the vehicle-side fixing portion 16A and the vehicle-side pulley 16B is the azimuth axis AZ.
  • the vehicle-side fixing portion 16A and the vehicle-side pulley 16B are provided with a rotation-side holding hole 16L (not shown) whose interior space is cylindrical from the top side of the vehicle portion 1W.
  • the rotation side holding hole 16L penetrates the vehicle side pulley 16B.
  • the center axis of the rotation side holding hole 16L is made to coincide with the azimuth axis AZ.
  • the rotating side base 16C, the slide mechanism base 16D, and the drive mechanism housing portion 16E are parts that rotate around the azimuth axis AZ.
  • the rotation-side base 16C is rotatably supported by the vehicle-side fixing portion 16A and the vehicle-side pulley 16B.
  • the rotation side base 16C is a member having a cylindrical outer shape.
  • the slide mechanism base 16D is provided above the rotation side base 16C.
  • the slide mechanism base 16D is a member on which the slide mechanism 17 is provided.
  • the slide mechanism base 16D has a rectangular parallelepiped shape with a height that is low relative to its width and length.
  • the slide mechanism base 16D can also be said to have a thick plate shape.
  • the drive mechanism storage section 16E stores a mechanism for rotating the rotation side base 16C and the like.
  • Mechanisms for rotating the rotating side base 16C and the like include a drive belt 16G and a drive gear 16J.
  • the drive mechanism storage section 16E also stores a drive circuit board that drives the motor 16H.
  • the drive mechanism storage portion 16E is a member having a rectangular parallelepiped outer shape.
  • the drive mechanism storage section 16E does not have a bottom surface and is open at the bottom.
  • the drive mechanism storage section 16E is provided below the slide mechanism base 16D.
  • the slide mechanism base 16D is connected to the rotation side base 16C. Even if the rotation-side base 16C rotates, the positional relationship between the slide mechanism base 16D and the rotation-side base 16C does not change.
  • the drive mechanism storage section 16E is connected to the slide mechanism base 16D. Even if the rotating side base 16C rotates, the positional relationship between the drive mechanism storage section 16E and the slide mechanism base 16D does not change.
  • the slide mechanism base portion 16D is a base portion of the slide mechanism 17 that is supported by the vehicle connection portion 16.
  • the rotating side base 16C is inserted into the rotating side holding hole 16L.
  • the bearing 16F exists between the vehicle-side fixed part 16A and the rotation-side base 16C, and enables the rotation-side base 16C to rotate with respect to the vehicle-side fixed part 16A with less friction.
  • the vehicle-side pulley 16B, drive belt 16G, motor 16H, drive gear 16J, and moving-side pulley 16K rotate the rotation-side base 16C and the like.
  • the motor 16H generates power to rotate the rotating base 16C and the like.
  • Drive gear 16J is directly connected to the rotating shaft of motor 16H. When the motor 16H rotates, the drive gear 16J rotates.
  • a drive belt 16G is attached to the drive gear 16J and the two moving pulleys 16K.
  • the annular drive belt 16G is pressed against the side surface of the vehicle-side pulley 16B.
  • the inner peripheral surface of the drive belt 16G is provided with teeth that mesh with the teeth of the drive gear 16J.
  • the outer peripheral surface of the drive belt 16G is provided with teeth that mesh with the teeth of the vehicle-side pulley 16B.
  • the drive gear 16J rotates, the drive belt 16G moves.
  • the drive gear 16J and the drive mechanism storage portion 16E rotate around the vehicle-side pulley 16B.
  • the drive mechanism housing portion 16E is connected to the rotation side base 16C and the slide mechanism base 16D, the rotation side base 16C and the slide mechanism base 16D also rotate around the vehicle side pulley 16B. Since the central axis of the vehicle pulley 16B is the azimuth axis AZ, the rotation side base 16C and the slide mechanism base 16D rotate around the azimuth axis AZ.
  • the slide mechanism 17 is a mechanism that changes the angle (elevation angle) of the first link 17A that supports the body section 12 with respect to the upper surface of the vehicle section 1W.
  • the slide mechanism 17 includes a first link 17A, a slide moving member 17B, a second link 17C, a rail 17D, a rail grip part 17E, a threaded rod 17F, a nut 17G, a motor 17H, a drive mechanism storage part 17J, and a protection plate 17K.
  • the first link 17A is a member that supports the body portion 12 via the telescopic mechanism 18.
  • the first link 17A is a thick plate-like member.
  • the slide moving member 17B and the second link 17C move or rotate to change the elevation angle of the first link 17A.
  • the sliding member 17B supports the lower end of the first link 17A.
  • the slide moving member 17B moves above the slide mechanism base 16D in the direction in which the slide mechanism base 16D extends.
  • the slide moving member 17B is divided into two members, upper and lower.
  • a protection plate 17K passes between the two members of the slide moving member 17B.
  • the slide member 17B above the protection plate 17K rotatably supports the lower end side of the side surface of the first link 17A.
  • the upper sliding member 17B has a shape in which two substantially triangular members sandwiching the side surfaces of the first link 17A are connected by two connecting members.
  • the shape of the upper slide member 17B is a rectangular tube-like shape with a low height that extends in a direction perpendicular to the slide mechanism base 16D.
  • the two side surfaces in the direction in which the square cylinder slide mechanism base 16D extends are two approximately triangular members.
  • Two substantially triangular members rotatably support the side surface near the lower end of the first link 17A from both sides.
  • the lower member of the slide moving member 17B is connected to the lower side of the member that has a substantially triangular shape when viewed from the side.
  • the lower member of the slide moving member 17B has a plate-like shape provided parallel to the upper surface of the slide mechanism base 16D. The lower member of the slide moving member 17B moves along the rail 17D.
  • the second link 17C is rotatably connected to the slide mechanism base 16D.
  • the other end of the second link 17C is rotatably connected to the upper part of the first link 17A.
  • the second link 17C has a shape in which two link parts 17CA are connected by a connecting part 17CB.
  • the link portion 17CA has an outer shape like a thick plate.
  • the main surface of the link portion 17CA has a shape in which both ends of a rectangle are replaced with semicircles.
  • a connecting portion 17CB is connected to the front side surfaces of the two link portions 17CA.
  • the connecting portion 17CB has a shape in which two diagonal frames are connected to a frame having a rectangular outer shape.
  • the part where one end of the second link 17C is rotatably connected to the slide mechanism base 16D is called a vehicle-side link attachment part J1.
  • the vehicle-side link attachment portion J1 has a structure in which a shaft member is rotatably held by a bearing.
  • Two vehicle-side link attachment portions J1 are provided corresponding to the two link portions 17CA.
  • the portion where the lower end of the first link 17A rotatably connects to the slide moving member 17B is referred to as a moving member attachment portion J2.
  • the location where the other end of the second link 17C is rotatably connected to the first link 17A is referred to as a moving link attachment portion J3.
  • the moving member attachment portion J2 and the moving side link attachment portion J3 have the same structure as the vehicle side link attachment portion J1.
  • the vehicle side link attachment part J1 is a link lower end support part provided on the slide mechanism base 16D, to which the lower end of the second link 17C is rotatably connected.
  • the movable member attachment portion J2 is a connection portion of the first link 17A with the slide movable member 17B.
  • the moving side link attachment portion J3 is a connection point between the first link 17A and the second link 17C.
  • the second link 17C and the first link 17A rotate, and the elevation angle of the first link 17A changes.
  • the elevation angle of the first link 17A becomes smaller.
  • the elevation angle of the first link 17A increases.
  • the lower end of the first link 17A is supported by the sliding member 17B.
  • the first link 17A is supported by the second link 17C at the moving side link attachment portion J3.
  • a portion between the moving member attachment portion J2 and the moving side link attachment portion J3 is referred to as a supported portion.
  • the moving member attachment portion J2 is a location where the first link 17A and the slide moving member 17B are rotatably connected.
  • the slide moving member 17B is a moving part that moves along a straight line parallel to the upper surface of the vehicle section 1W above the slide mechanism base 16D.
  • the first link 17A has a lower end rotatably connected to the slide moving member 17B.
  • the first link 17A extends in a direction forming an elevation angle with the upper surface of the vehicle portion 1W.
  • the elevation angle is an angle between the direction in which the body portion 12 extends and the upper surface of the vehicle portion 1W.
  • the first link 17A supports the body portion 12 via the telescoping mechanism 18.
  • the second link 17C has an upper end (one end) rotatably connected to the first link 17A.
  • the vehicle-side link attachment portion J1 is located below the straight line along which the slide moving member 17B moves.
  • the rail 17D and the rail grip 17E restrict the slide movement member 17B to move only in the direction in which the slide mechanism base 16D extends.
  • Two rails 17D are provided parallel to the side surface of the slide mechanism base 16D.
  • the rail 17D is a rod-shaped member having a cross section of two overlapping rectangles. Of the two rectangles, the rectangle farther from the slide mechanism base 16D is wider.
  • the rail gripping portion 17E has a cross-sectional shape that surrounds the wide rectangle of the rail 17D.
  • Two rail gripping portions 17E are provided for each rail 17D at positions close to both ends of the lower surface of the slide moving member 17B in a direction perpendicular to the rail 17D.
  • the two rail gripping parts 17E are provided on the same straight line corresponding to the rail 17D. An appropriate distance exists between the rail gripping portion 17E and the rail 17D.
  • the threaded rod 17F, nut 17G, and motor 17H move the slide moving member 17B.
  • the threaded rod 17F is provided in parallel to the rail 17D at the center in the width direction on the upper side of the slide mechanism base 16D. Both ends of the threaded rod 17F are fixed to the upper surface of the slide mechanism base 16D.
  • the nut 17G is fixed to the bottom surface of the slide moving member 17B.
  • the nut 17G has a screw hole provided with a female thread that engages with the threaded rod 17F.
  • the threaded rod 17F passes through the threaded hole of the nut 17G.
  • the threaded rod 17F is fixed to the upper surface of the slide mechanism base 16D with the threaded rod 17F passing through the screw hole of the nut 17G.
  • the motor 17H is provided directly connected to the threaded rod 17F.
  • the threaded rod 17F also rotates.
  • the threaded rod 17F rotates, the nut 17G cannot rotate, so the nut 17H and the slide moving member 17B move.
  • the protection plate 17K is provided to protect the threaded rod 17F and the like.
  • the protection plate 17K is a thin plate provided parallel to the upper surface of the slide mechanism base 16D.
  • the drive mechanism storage section 17J stores the motor 17H and a drive circuit board for driving the motor included in the telescoping mechanism 18.
  • the drive mechanism housing portion 17J has a rectangular parallelepiped outer shape.
  • the drive mechanism storage portion 17J is connected to the end of the slide mechanism base 16D on the side far from the azimuth axis AZ.
  • the heightwise position of the bottom surface of the drive mechanism storage section 17J is approximately the same as the position of the bottom surface of the drive mechanism storage section 16E.
  • the expansion/contraction mechanism 18 moves the control board storage section 20 with respect to the first link 17A.
  • the expansion/contraction mechanism 18 has a similar structure to the mechanism for moving the slide moving member 17B in the slide mechanism 17.
  • the telescoping mechanism 18 includes a telescoping member 18A, a rail 18B, a rail gripping portion 18C, a threaded rod 18D, a nut 18E, a motor 18F, a drive mechanism storage portion 18G, a protection plate 18H, and a cable 18J.
  • the telescopic moving member 18A supports the control board storage section 20.
  • the telescopic moving member 18A moves in the direction in which the first link 17A extends with respect to the first link 17A.
  • the telescopic moving member 18A moves most of the length of the first link 17A. As the telescopic moving member 18A moves, the distance (body length) from the lower end of the first link 17A to the arm connecting portion 19 changes. The definition of body length will be explained later.
  • the telescopic moving member 18A is a torso support section that supports the torso section 12 and is supported by the first link.
  • the telescoping mechanism 18 allows the telescoping member 18A to move along the first link 17A.
  • the telescopic moving member 18A has a square tube shape.
  • the cross section of the telescopic member 18A, which is perpendicular to the direction in which the telescopic member 18A extends, is a rectangle whose height is smaller than its width.
  • the telescoping member 18A has approximately the same width as the first link 17A, and has a length approximately 45% of the first link 17A.
  • a protection plate 18H that protects the threaded rod 18D and the like passes through the inside of the telescoping member 18A.
  • the protection plate 18H is a thin plate provided parallel to the upper surface of the first link 17A.
  • the bottom surface of the control board storage section 20 is connected to the telescopic moving member 18A. In FIGS. 9 to 15, the telescopic moving member 18A is shown with the portion connected to the control board storage section 20 removed.
  • the rail 18B and the rail gripping portion 18C restrict the telescopic movement member 18A to move only in the direction in which the first link 17A extends.
  • Two rails 18B are provided parallel to the side surface of the first link 17A.
  • the rail 18B is a rod-shaped member having a cross section of two overlapping rectangles. Among the two rectangles, the rectangle on the side far from the first link 17A is wider.
  • the rail gripping portion 18C has a cross-sectional shape that surrounds the wide rectangle of the rail 18B.
  • Two rail gripping parts 18C are provided for each rail 18B.
  • the two rail gripping parts 18C are provided on the same straight line corresponding to the rail 18B.
  • the rail gripping portion 18C is provided on the lower surface of the telescopic moving member 18A.
  • the two rail grips 18C are provided at positions close to both ends in the direction in which the telescopic moving member 18A extends. An appropriate distance exists between the side and bottom surfaces of the rail gripping portion 18
  • the threaded rod 18D, nut 18E, motor 18F, and drive mechanism storage section 18G move the telescopic moving member 18A.
  • the threaded rod 18D is provided above the first link 17A at the center in the width direction and parallel to the rail 18B. Both ends of the threaded rod 18D are fixed to the upper surface of the first link 17A.
  • the nut 18E is fixed to the bottom surface of the telescoping member 18A.
  • the nut 18E has a threaded hole provided with a female thread that engages with the threaded rod 18D.
  • the threaded rod 18D passes through the threaded hole of the nut 18E.
  • the threaded rod 18D is fixed to the upper surface of the first link 17A with the threaded rod 18D passing through the screw hole of the nut 18E.
  • the motor 18F generates power to rotate the threaded rod 18D.
  • the threaded rod 18D rotates.
  • the drive mechanism storage section 18G stores a mechanism that transmits the rotation of the motor 18F to the threaded rod 18D.
  • the drive mechanism storage section 18G is provided at the lower end of the first link 17A perpendicularly to the first link 17A.
  • the drive mechanism storage portion 18G has a rectangular parallelepiped shape.
  • the motor 18F is provided perpendicularly to the upper surface of the drive mechanism storage section 18G.
  • the motor 18F is provided at the center in the width direction at the end of the upper surface of the drive mechanism storage portion 18G on the side far from the first link 17A.
  • a motor is provided on the bottom surface of the control board storage section 20. Provide a hole to accommodate 18F.
  • the cable 18J transmits to the expansion mechanism 18 a current that is generated by a circuit board housed in the drive mechanism storage section 17J and drives the motor 18F. Further, images taken by the right eye camera 2R and the left eye camera 2L are also transmitted via the cable 18J. The image is transmitted to the remote control device 3 by wireless communication by the communication device 6 via a device arranged inside the drive mechanism storage section 17J.
  • the size of the robot 1 is as follows.
  • the height from the lower end of the vehicle portion 1W to the upper end of the head 11 is approximately 1.6 m at maximum.
  • the length of the vehicle portion 1W in the longitudinal direction is approximately 1.3 m.
  • the minimum width of the arm connection portion 19 and the arm portion 5 is approximately 0.55 m. In the position where the height is the lowest, the height is approximately 1.1 m.
  • the weight of the humanoid part 1H and the body position changing mechanism 1B is about 200 kg, and the weight of the robot 1 as a whole is about 330 kg.
  • With the arm portion 5 extended horizontally it is possible to grasp an object weighing approximately 5 kg with one hand and approximately 10 kg with both hands.
  • the humanoid part 1H can be moved while holding an object.
  • the three types of orthogonal coordinate systems are a first orthogonal coordinate system, a second orthogonal coordinate system, and a third orthogonal coordinate system.
  • the first orthogonal coordinate system is an orthogonal coordinate system based on the vehicle portion 1W.
  • the second orthogonal coordinate system is an orthogonal coordinate system that rotates around the azimuth axis AZ together with the body position changing mechanism 1B.
  • the third orthogonal coordinate system is an orthogonal coordinate system with the arm connecting portion 19 as a reference.
  • a first orthogonal coordinate system based on the vehicle portion 1W is defined as follows. The positions of the body position changing mechanism 1B and the humanoid part 1H with respect to the vehicle part 1W are expressed using the first orthogonal coordinate system.
  • X1 axis An axis parallel to the left and right direction of the vehicle section 1W.
  • Y1 axis An axis parallel to the longitudinal direction of the vehicle section 1W.
  • Z1 axis An axis parallel to the height direction of the vehicle section 1W. Align it with the azimuth axis AZ.
  • the X1 axis, Y1 axis, and Z1 axis are orthogonal to each other.
  • the intersection of the Z1 axis and the top surface of the vehicle portion 1W is defined as the origin of the first orthogonal coordinate system.
  • the right side is the positive direction of the X1 axis
  • the front is the positive direction of the Y1 axis
  • the upper side is the positive direction of the Z1 axis.
  • the X1 axis and the Y1 axis are parallel to the upper surface of the vehicle portion 1W.
  • the Z1 axis is orthogonal to the upper surface of the vehicle portion 1W.
  • the upper surface of the vehicle part 1W is called a vehicle part reference surface.
  • the vehicle part reference plane is a plane perpendicular to the azimuth axis AZ that intersects the vehicle part 1W.
  • the vehicle part reference plane is also the X1Y1 plane.
  • a second orthogonal coordinate system that rotates around the azimuth axis AZ together with the body position changing mechanism 1B is defined as follows. The operations of the slide mechanism 17 and the telescoping mechanism 18 will be described using the second orthogonal coordinate system.
  • X2 axis An axis parallel to the upper surface of the vehicle portion 1W and orthogonal to the direction in which the slide mechanism 17 extends.
  • Y2 axis An axis parallel to the upper surface of the vehicle section 1W and parallel to the direction in which the slide mechanism 17 extends.
  • Z1 axis An axis parallel to the height direction of the vehicle section 1W.
  • the X2 axis, Y2 axis, and Z1 axis are orthogonal to each other.
  • the origin of the second orthogonal coordinate system is the same as the origin of the first orthogonal coordinate system.
  • the X1 axis and the X2 axis, and the Y1 axis and the Y2 axis coincide with each other.
  • the direction toward the side where the drive mechanism housing portion 17J exists is defined as the negative direction of the Y2 axis.
  • a third orthogonal coordinate system based on the arm connection portion 19 is defined as follows. The position of the arm portion 5 with respect to the arm connection portion 19 is expressed using the third orthogonal coordinate system.
  • X3 axis A rotation axis that passes through the two locations where the two arm portions 5 connect to the arm connection portion 19.
  • Y3 axis Axis perpendicular to the X3 axis and the Z3 axis.
  • Z3 axis An axis perpendicular to the upper surface of the arm connection part 19.
  • the X3 axis, Y3 axis, and Z3 axis are orthogonal to each other.
  • the origin of the third orthogonal coordinate system is the midpoint of the line segment connecting the two locations where the two arm portions 5 connect to the arm connection portion 19.
  • the X3 axis, Y3 axis, and Z3 axis pass through the origin.
  • the right side of the arm connecting portion 19 is in the positive direction of the X3 axis
  • the front side is in the positive direction of the Y3 axis
  • the upper side is in the positive direction of the Z3 axis.
  • the X3 axis is parallel to the X2 axis.
  • the Y3 axis is parallel to the Y2 axis, and the Z3 axis is parallel to the Z1 axis.
  • the Z3 axis makes an angle of approximately 30 degrees with respect to the direction in which the first link 17A extends.
  • the head 11 is connected to the upper side of the body section 12 (arm connection section 19).
  • the head 11 is a portion that rotatably supports the right eye camera 2 R and the left eye camera 2 L around the AZ3 axis and the EL3 axis.
  • the AZ3 axis is a rotation axis parallel to the Z3 axis.
  • the EL3 axis is a rotation axis parallel to the X3Y3 plane.
  • the AZ3 axis and the EL3 axis are orthogonal to each other.
  • the AZ3 axes and the EL3 axes are shown in FIG. 16 and other figures.
  • the head 11 has a head cover 11A.
  • FIGS. 16 to 19 show a perspective view, a front view, a right side view, and a plan view of the humanoid part 1H in which the vicinity of the head 11 is enlarged with the head cover 11A removed.
  • the head 11 includes a head cover 11A, a body connection part 11B, a neck part 11C, a camera holding part 11D, an elevation bearing part 11E, a pulley 11F, a drive pulley 11G, a drive belt 11H, a motor 11J, a pulley 11K, a drive pulley 11L, and a drive. It has a belt 11M and a motor 11N.
  • the head cover 11A is a cover that protects the mechanism of the head 11 and makes it invisible from the outside.
  • the torso connecting portion 11B is a cylindrical member that connects to the upper surface of the arm connecting portion 19.
  • the torso connecting portion 11B is fixed to the upper surface of the arm connecting portion 19.
  • the fuselage connection part 11B can also be considered as a part of the fuselage part 12.
  • the central axis of the cylinder of the fuselage connection part 11B coincides with the AZ3 axis.
  • the neck portion 11C is a member that rotates around the three AZ axes with respect to the body connection portion 11B.
  • the neck portion 11C is a plate-shaped member whose lower part has a cylindrical outer shape and whose upper part has a bottom surface and side surfaces. A lower cylindrical portion of the neck portion 11C is rotatably inserted into a cylindrical hole of the body connecting portion 11B.
  • the camera holding section 11D is a member that holds the right eye camera 2R and the left eye camera 2L .
  • the camera holding portion 11D has a portion on the upper side in the shape of a rectangular plate bent at 90 degrees.
  • a right eye camera 2 R and a left eye camera 2 L are attached to the upper surface of the camera holding portion 11D with an interval of about several cm between them.
  • the camera holding section 11D holds the right eye camera 2R and the left eye camera 2L so that their optical axes are parallel to each other.
  • the camera holding part 11D, the right eye camera 2R , and the left eye camera 2L can be considered as two cameras arranged so that their optical axes are parallel to each other.
  • the direction in which the optical axes of the right-eye camera 2R and the left-eye camera 2L extend is called a line-of-sight direction.
  • the camera holding part 11D holds the right eye camera 2R and the left eye camera 2L so that the heights from the upper surface of the arm connection part 19 are the same.
  • the camera holding portion 11D has a cylindrical portion on the lower side. The cylindrical portion extends parallel to the upper surface of the arm connection portion 19. The central axis of the cylindrical portion becomes the EL3 axis.
  • the elevation bearing portion 11E is a member that rotatably holds the lower cylindrical portion of the camera holding portion 11D around the EL3 axis.
  • the elevation bearing part 11E is attached to the side surface of the neck part 11C.
  • the mechanism that rotates the neck portion 11C around the AZ3 axis with respect to the body connecting portion 11B is called a head rotation portion.
  • the head rotation part connects the neck part 11C to the body connection part 11B rotatably with respect to the body connection part 11B.
  • the head rotating section includes a pulley 11F, a drive pulley 11G, a drive belt 11H, and a motor 11J.
  • the pulley 11F is fixed to the upper side of the fuselage connection part 11B.
  • the pulley 11F is provided so as to cover the periphery of a hole in which the body connecting portion 11B has a cylindrical internal space.
  • the center axis of the pulley 11F is made to coincide with the center axis of the hole.
  • a lower cylindrical portion of the neck portion 11C passes through the pulley 11F.
  • the pulley 11F rotatably holds the lower cylindrical portion of the neck portion 11.
  • the drive pulley 11G is provided to rotate around a rotation axis parallel to the AZ3 axis. In the standard state, the pulley 11F and the drive pulley 11G are arranged along the Y3 axis.
  • the drive belt 11H is stretched between the drive pulley 11G and the pulley 11F.
  • the drive belt 11H allows the drive pulley 11G, neck portion 11C, and camera holding portion 11D to rotate around the pulley 11F as the drive pulley 11G rotates.
  • the motor 11J is attached to the bottom surface of the neck portion 11C.
  • the rotation axis of the motor 11J passes through an opening provided in the bottom surface of the neck portion 11C.
  • a drive pulley 11G is attached to the rotating shaft of the motor 11J.
  • the drive pulley 11G rotates.
  • the drive pulley 11G rotates inside the drive belt 11H.
  • the portion of the drive belt 11H that contacts the pulley 11F also rotates. Since the drive pulley 11G and the camera holder 11D are attached to the neck 11C, the drive pulley 11G, the neck 11C and the camera holder 11D rotate around the pulley 11F. In this way, when the motor 11J rotates forward or backward, the neck portion 11C rotates clockwise or counterclockwise with respect to the body connecting portion 11B.
  • the angle that the optical axes of the right-eye camera 2 R and the left-eye camera 2 L make with the X3Y3 plane is called a line-of-sight elevation angle.
  • the EL3 axis is called the line-of-sight elevation angle changing axis.
  • a mechanism for rotating the camera holding part 11D around the EL3 axis with respect to the neck part 11C is called a line-of-sight elevation angle changing part.
  • the line-of-sight elevation angle changing unit includes a pulley 11K, a drive pulley 11L, a drive belt 11M, and a motor 11N.
  • the pulley 11K is attached to the lower cylindrical portion of the camera holding portion 11D.
  • the pulley 11K and the drive pulley 11L are provided to rotate within a plane perpendicular to the EL3 axis.
  • the pulley 11K and the drive pulley 11L are provided so that their centers are vertically aligned on the AZ3 axis.
  • the motor 11N is attached to the side surface of the neck 11C.
  • the rotation axis of the motor 11N passes through an opening provided in the side surface of the neck portion 11C.
  • a drive pulley 11L is attached to the rotating shaft of the motor 11N. When the motor 11K rotates, the drive pulley 11L rotates.
  • the drive belt 11M is stretched around the drive pulley 11L and pulley 11K.
  • the drive belt 11M transmits the rotation of the drive pulley 11L to the pulley 11K.
  • the camera holder 11D rotates around the EL3 axis. In this way, as the motor 11N rotates forward or backward, the camera holding section 11D rotates upward or downward around the EL3 axis with respect to the neck section 11C.
  • the right eye camera 2 R and the left eye camera 2 L are cameras provided on the upper side of the body section 12 .
  • the AZ3 axis is a head rotation axis that intersects with the body portion 12.
  • the X3Y3 plane perpendicular to the AZ3 axis is a torso reference plane perpendicular to the head rotation axis.
  • the neck portion 11C is rotatably supported by the body portion 12 around three AZ axes.
  • the neck portion 11C supports the camera holding portion 11D, the right eye camera 2R , and the left eye camera 2L so that the elevation angle of the line of sight can be changed.
  • the head rotating section rotates the head 11 around the AZ3 axis.
  • the head rotating section connects the head 11 to the body section 12 so as to be rotatable around the AZ3 axis.
  • the line-of-sight elevation angle changing unit rotates the camera holding unit 11D, the right eye camera 2R , and the left eye camera 2L around the EL3 axis.
  • the line-of-sight elevation angle changing section connects the camera holding section 11D, the right eye camera 2R , and the left eye camera 2L to the neck section 11C so as to be rotatable around the EL3 axis.
  • the optical axes of the right eye camera 2 R and the left eye camera 2 L are oriented in a direction parallel to the Y3 axis.
  • the line-of-sight elevation angle changing unit can rotate the optical axes (line-of-sight directions) of the right-eye camera 2 R and the left-eye camera 2 L by, for example, ⁇ 30 degrees to 60 degrees around the EL3 axis.
  • the head rotating section can rotate the neck section 11C around the AZ3 axis by, for example, -100 degrees to 100 degrees.
  • the rotation angles around the EL3 axes and the AZ3 axes are both 0 degrees.
  • the viewing direction in the reference state is parallel to the vehicle reference plane (X1Y1 plane) and the head reference plane (X3Y3 plane).
  • the rotation angle around the EL3 axis is positive.
  • the rotation angle around the AZ3 axis is positive.
  • the angle of rotation about an axis is the angle of rotation about that axis.
  • the line of sight can be directed in a direction different from the direction in which the head 11 faces.
  • the line of sight has a large angle at which it can be directed upward with respect to the body reference plane.
  • the arm connection section 19 has an arm connection structure section 19A and two arm rotation sections 19B.
  • the arm connection structure 19A has a thick plate shape.
  • the arm rotating portion 19B has a rectangular parallelepiped shape.
  • the main surfaces on both sides of the arm connection structure 19A face in the left-right direction.
  • Rectangular parallelepiped-shaped arm rotation parts 19B are connected to the front parts of the main surfaces on both sides of the arm connection structure part 19A, respectively.
  • the arm rotating section 19B houses a mechanism for rotating the arm section 5.
  • the rear portion of the arm connection structure portion 19A is connected to the control board storage portion 20 at a fixed angle.
  • the front direction of the arm connection part 19 and the front direction of the control board storage part 20 exist on the same plane perpendicular to the horizontal plane.
  • the front direction of the arm connection part 19 is a direction with an elevation angle larger than the front direction of the control board storage part 20 by about 30 degrees.
  • a motor 19D that generates power to rotate the base of the arm portion 5 is inserted into the arm rotation portion 19B from the rear side.
  • the rotation axis or changing mechanism that the robot 1 has will be explained.
  • the robot 1 other than the arm 5 has a rotation axis or a changing mechanism, as described below.
  • AZ axis Azimuth rotation axis AZ.
  • the AZ axis coincides with the Z1 axis.
  • Elevation angle changing mechanism This is a mechanism for changing the elevation angle (EL angle), which is the angle formed between the upper surface of the vehicle section 1W and the direction in which the body section 12 (strictly speaking, the control board storage section 20) extends.
  • EL angle elevation angle
  • the slide mechanism 17 is an elevation angle changing mechanism.
  • the slide mechanism 17 changes the elevation angle by moving the position of the lower end of the body section 12 within a plane parallel to the upper surface of the vehicle section 1W. Further, the slide mechanism 17 supports the body portion 12 so that the elevation angle can be changed.
  • Telescoping mechanism The telescoping mechanism 18 changes the length of the torso. The body length is the distance between the lower end of the first link 17A and the arm connecting portion 19 in a straight line representing the direction in which the first link 17A extends in the Y2Z1 plane.
  • AZ3 axis Head rotation axis. A rotation axis for rotating the head 11 with respect to the arm connection portion 19. The head rotation axis is perpendicular to the upper surface of the arm connection part 19.
  • EL3 axis Line of sight elevation angle change axis. This is the rotation axis that changes the line of sight elevation angle.
  • the line-of-sight elevation angle is the angle that the optical axes of the right-eye camera 2 R and the left-eye camera 2 L make with the X3Y3 plane.
  • the vehicle connection part 16 connects the slide mechanism 17 to the vehicle part 1W so as to be rotatable with one rotation degree of freedom.
  • the vehicle connection section 16 connects the slide mechanism 17 to the vehicle section 1W so as to be rotatable around the AZ axis.
  • the AZ axis is a rotation axis parallel to the height direction of the vehicle portion 1W.
  • the vehicle connection section 16 is an azimuth angle changing mechanism provided in the vehicle section 1W that supports the slide mechanism 17 rotatably around the AZ axis.
  • the robot 1 can take a posture with the lowest height (referred to as a stowed posture).
  • the storage posture is the posture that the robot 1 takes when moving. Furthermore, during work, the robot 1 can handle distant objects by extending the arm 5 and setting the telescoping mechanism 18 to a state where the body length is at its maximum.
  • 20 to 25 show a perspective view, a front view, a right side view, a rear view, a left side view, and a plan view of the robot 1 in the stored posture as another posture 1.
  • 26 to 28 show a perspective view, a right side view, and a plan view of the robot 1 in a posture in which the arm portion 5 is extended as another posture 2.
  • FIG. 29 is a right side view illustrating variables representing the length of each part of the slide mechanism 17. The following variables are used to represent the length of each part of the slide mechanism 17.
  • P 1 A point representing the vehicle side link attachment portion J1 on the Y2Z1 plane.
  • P 2 A point representing the moving member attachment part J2 in the Y2Z1 plane.
  • P 3 Point representing the moving side link attachment part J3 on the Y2Z1 plane.
  • P 4 Point representing the upper end of the first link 17A in the Y2Z1 plane.
  • L 1 Length of the second link 17C. Distance between point P1 and point P3 .
  • L 2 Length of the supported portion of the first link 17A. Distance between point P2 and point P3 .
  • L B Length of the first link 17A. Distance between points P2 and P4 .
  • x Difference between the Y2 coordinates of point P1 and point P2 . It is called horizontal distance.
  • x min Lower limit value of the horizontal distance x. This is called the horizontal distance lower limit.
  • x max Upper limit value of the horizontal distance x. This is called the horizontal distance upper limit value.
  • H Difference between the Z2 coordinates of point P1 and point P2 . It is called vertical distance.
  • Lx Distance between point P1 and point P2 . It is called straight line distance.
  • FIG. 29 shows a state in which the horizontal distance x is the horizontal distance lower limit value x min .
  • the actual height of the robot is the sum of the robot height T, the height of the vehicle section 1W, and the height from the upper end of the first link 17 to the highest point of the head 11.
  • the telescoping mechanism 18 is in its shortest state.
  • Equation (9) expresses the cosine theorem regarding the interior angle at vertex P2 in a triangle whose vertices are points P 1 , P 2 , and P 3 .
  • L x H Maximum value of straight line distance L x .
  • L x L Minimum value of straight line distance L x .
  • ⁇ H Maximum value of elevation angle ⁇ .
  • ⁇ L Minimum value of elevation angle ⁇ .
  • ⁇ H Maximum value of inclination angle ⁇ .
  • ⁇ L Minimum value of inclination angle ⁇ .
  • T L Minimum value of robot height T.
  • ⁇ H0 Tolerance value that the maximum value ⁇ H of the elevation angle ⁇ should satisfy.
  • ⁇ L0 Tolerance value that should be satisfied by the minimum value ⁇ L of the elevation angle ⁇ .
  • T L0 Tolerance value that the minimum value T L of the robot height T should satisfy.
  • the horizontal distance upper limit value x max determined from the vehicle length of the vehicle section 1W.
  • the upper limit of the control angle ⁇ and the lower limit of the horizontal distance x min are restricted.
  • the center of gravity be present in the vicinity of the azimuth axis AZ in all possible postures that the robot 1 may take during movement and work to ensure stability of the center of gravity. All postures include postures with varying torso lengths.
  • the humanoid part 1H assumes the storage position, it is necessary to prevent the body position changing mechanism 1B, the arm part 5, and the vehicle part 1W from interfering with each other. Further, it is desirable that the range in which the robot 1 can work is as large as possible. It is also desirable that the height in the stored position be as small as possible within the range below the allowable value.
  • Equation (1) is an equation that defines a movable range that is a range in which the slide moving member 17B can move.
  • ⁇ L is the minimum value of the elevation angle ⁇ (minimum elevation angle value) obtained in each state in which the slide moving member 17B moves within the movable range.
  • ⁇ L0 is the minimum allowable elevation angle value determined for the minimum elevation angle value ⁇ L.
  • Equation (29) represents that the minimum elevation angle value ⁇ L is equal to or less than the minimum elevation angle allowable value ⁇ L0 .
  • ⁇ H is the maximum value of the elevation angle ⁇ (maximum elevation angle value) obtained in each state in which the slide moving member 17B moves within the movable range.
  • ⁇ H0 is the maximum allowable elevation angle value determined for the maximum elevation angle value ⁇ H.
  • Equation (30) represents that the maximum elevation angle value ⁇ H is greater than or equal to the maximum elevation angle allowable value ⁇ H0 .
  • Point P4 is a point representing a determined location on the body portion 12. Point P4 is located outside the body part 12 but has a determined position relative to the body part 12.
  • T L is the minimum value of the robot height T (robot height minimum value) obtained in each state in which the slide moving member 17B moves within the movable range.
  • T L0 is a robot height tolerance value determined for the robot height minimum value T L . Equation (31) indicates that the robot height minimum value T L is equal to or less than the robot height tolerance value T L0 .
  • H, D, L 1 and L 2 can be determined so as to minimize the robot T L.
  • H, D, L 1 and L 2 are determined by calculating partial differentials of equations (14) to (31) with respect to each variable to find values that take extreme values. Determining H, D, L 1 and L 2 in this way means determining the robot height minimum value T L to be the minimum within a determined movable range.
  • a body part In a robot having a humanoid part, when a single robot performs a wide variety of tasks, a body part is required to place the hand part in a desired position.
  • a body section having many joints is effective when moving an arm section having a hand section over a wider range of positions and angles.
  • increasing the number of joints to ensure more degrees of freedom increases the number of required parts, which increases cost and mass.
  • a large number of parts leads to an increase in failure rate.
  • a self-propelled robot with a humanoid part moves to a work site by itself and performs work there.
  • Robots need to be small enough to pass through narrow passageways and height-restricted areas when moving to work locations.
  • the hand section needs to be able to access a wide range when the robot is used for work. It is necessary to satisfy both of these conflicting demands in order to increase the number of situations in which self-propelled humanoid robots are used.
  • Cost is also an important factor. The inventors believe that the robot 1 is a solution that balances compactness during movement, wide operable range, and cost.
  • the robot 1 has a body position changing mechanism 1B that includes a vehicle connection section 16, a slide mechanism 17, and an extension mechanism 18.
  • the body position changing mechanism 1B can change the azimuth and elevation angle of the position of the body part 12, and can change the body length.
  • the body of the robot disclosed in Patent Document 5 has a very large degree of freedom in its possible posture. However, most of the possible postures are considered to be postures that are not used at all or are used infrequently when the robot is actually used. Even though the torso can only change azimuth and elevation, the arms can be oriented at a wide range of different angles relative to the torso. Even if the variations in the postures that the torso can take are reduced, this is not considered to be much of a problem in practice.
  • the inclination angle (elevation angle) of the first link extending in the direction of the elevation angle is changed, so when the elevation angle is reduced, the height required for the slide mechanism can be made smaller than the robot of Patent Document 5.
  • the length of the torso can be increased by the telescoping mechanism 18.
  • the body length is the distance from the vehicle section 1W to the arm connection section 19.
  • the length of the torso can be lengthened or shortened by the telescoping mechanism 18. Therefore, when moving, the robot 1 takes a compact storage position that occupies a small volume, and when working, the workable range can be wider than that of a robot that does not have the telescoping mechanism 18.
  • the telescoping mechanism 18 is set to its shortest state, allowing the center of gravity of the robot 1 to be lowered from the ground, improving stability during movement.
  • the vehicle connection portion 16 is rotatable around the AZ axis, for example, within a range of -165 degrees to 185 degrees.
  • the rotation angle around the AZ axis is 0 degrees when the direction in which the humanoid part 1H faces is parallel to the direction in which the vehicle part 1W faces.
  • the rotation angle around the AZ axis is positive if it rotates clockwise when viewed from above.
  • the slide mechanism 17 can change the elevation angle in the range of 15 degrees to 60 degrees.
  • the telescopic mechanism 18 can move the body portion 12 by a maximum of 0.2 m relative to the first link 17A.
  • the two arm sections 5 can be moved significantly relative to the vehicle section 1W, and the two arm sections 5 can be directed in a direction suitable for the work.
  • the expansion and contraction mechanism 18 can also expand the range in which the hand section 26 can exist, allowing the robot 1 to work in a wider space.
  • the body position changing mechanism 1B allows the arm connecting portion 19 to be placed at any position within a predetermined three-dimensional space. Further, the two arm portions 5 can be placed at any position in a three-dimensional space within a predetermined range with respect to the arm connection portion 19.
  • the right eye camera 2R and the left eye camera 2L can be directed in the direction where the hand section 26 is present. Further, even if the elevation angle is changed by the slide mechanism 17, the right eye camera 2 R and the left eye camera 2 L can be operated in a mode (referred to as a line-of-sight linked mode) in which the directions of the optical axes are not changed.
  • a line-of-sight linked mode when changing the elevation angle with the slide mechanism 17, the camera holding part 11D holding the right eye camera 2R and left eye camera 2L is moved around the EL3 axis in the opposite direction to the direction in which the elevation angle changes. changes by the same angle as the angle that changes.
  • ⁇ 1 is the first angle that changes the elevation angle.
  • ⁇ 2 is a second angle that has the same absolute value as ⁇ 1 but a different sign.
  • FIG. 30 is a perspective view of the arm portion 5.
  • FIG. 31 is another perspective view of the arm portion 5.
  • FIG. 32 to 37 are a front view, a right side view, a rear view, a left side view, a top view, and a bottom view of the arm portion 5.
  • FIG. The arm portion 5 has the same structure as the arm portion of the robot according to the fifth embodiment of Patent Document 5, except for the hand portion 26.
  • the arm portion 5 includes an arm base portion 22, an upper arm portion 24, a forearm portion 25, and a hand portion 26 connected in series.
  • the arm base 22 is rotatably supported by the arm connection section 19.
  • the upper arm portion 24 is rotatably connected to the arm base portion 22 through a shoulder joint portion 27 with two rotational degrees of freedom.
  • the forearm section 25 is rotatably connected to the upper arm section 24 through an elbow joint section 28 with two rotational degrees of freedom.
  • the hand portion 26 is rotatably connected to the forearm portion 25 through a wrist joint portion 29 with two rotational degrees of freedom.
  • FIG. 38 is a diagram showing the rotation axis of the arm portion 5. As shown in FIG. 38(A) is a left side view of the left arm 5, and FIG. 38(B) is a front view of the left arm 5.
  • the arm portion 5 has seven rotation axes shown below.
  • AZ4 axis Rotation axis that rotates the arm portion 5 relative to the arm connection portion 19.
  • the AZ4 axis is called the arm base rotation axis.
  • the rotation angle around the AZ4 axis is called the arm base rotation angle.
  • the arm base rotation angle is represented by a variable ⁇ AZ4 .
  • EL4 axis A rotation axis that changes the angle formed between the upper arm portion 24 and the arm base portion 22.
  • the EL4 axis is orthogonal to the AZ4 axis.
  • the rotation angle around the EL4 axis is called the upper arm inclination angle.
  • the upper arm inclination angle is represented by a variable ⁇ EL4 .
  • AZ5 axis A rotation axis that passes through the upper arm 24 and rotates the upper arm 24.
  • the AZ5 axis is orthogonal to the EL4 axis.
  • the AZ5 axis is called the upper arm rotation axis.
  • the rotation angle around the AZ5 axis is called the upper arm rotation angle.
  • the upper arm rotation angle is represented by a variable ⁇ AZ5 .
  • EL5 axis A rotation axis that changes the angle formed by the forearm portion 25 and the upper arm portion 24.
  • the EL5 axis is orthogonal to the AZ5 axis.
  • the rotation angle around the EL5 axis is called the forearm inclination angle.
  • the forearm inclination angle is represented by the variable ⁇ EL5 .
  • AZ6 axis A rotation axis that passes through the forearm portion 25 and rotates the forearm portion 25.
  • the AZ6 axis is orthogonal to the EL5 axis.
  • the AZ6 axis is called the forearm rotation axis.
  • the rotation angle around the AZ6 axis is called the forearm rotation angle.
  • the forearm rotation angle is represented by a variable ⁇ AZ6 .
  • EL6 axis A rotation axis that rotates the angle formed by the hand section 26 and the forearm section 25 (AZ6 axis) in a plane (front-back rotation plane) that includes the AZ6 axis and the XEL2 axis.
  • the EL6 axis is orthogonal to the AZ6 axis and the XEL2 axis.
  • the rotation angle around the EL6 axis is called the first hand inclination angle.
  • the hand first inclination angle is represented by a variable ⁇ EL6 .
  • XEL2 axis A rotation axis that rotates the angle formed by the hand portion 26 and the forearm portion 25 (AZ6 axis) in a plane (left-right rotation plane) including the AZ6 axis and the EL6 axis.
  • the XEL2 axis is perpendicular to the AZ6 axis and the EL6 axis.
  • the rotation angle around the second XEL axis is called the second hand inclination angle.
  • the hand second inclination angle is represented by a variable ⁇ XEL2 .
  • the longitudinal rotation plane is a first plane that includes the AZ6 axis.
  • the left-right rotation plane is a second plane that intersects the front-rear rotation plane and includes the AZ6 axis.
  • the first plane and the second plane do not have to be orthogonal. It is sufficient that the first plane and the second plane include the AZ6 axis and intersect with each other.
  • the AZ4 axis is a rotation axis that rotates the arm base 22 with respect to the arm connection section 19.
  • the EL4 axis and the AZ5 axis are rotation axes that change the connection angle between the arm base 22 and the upper arm 24 at the shoulder joint 27.
  • the EL5 axis and the AZ6 axis are rotation axes that change the connection angle between the upper arm part 24 and the forearm part 25 at the elbow joint part 28.
  • the EL6 axis and the XEL2 axis are rotation axes that change the connection angle between the forearm part 25 and the hand part 26 at the wrist joint part 29.
  • the front-back rotation plane and the left-right rotation plane are two planes that pass through the forearm portion 25 and are orthogonal to each other.
  • the AZ4 axis is perpendicular to the arm connection part 19.
  • the AZ4 axis only needs to intersect with the arm connection portion 19.
  • the AZ4 axis is also called the shoulder rotation axis.
  • the shoulder rotation axis is a rotation axis that intersects the arm connection part 19.
  • the rotation angle around the AZ4 axis is called the arm base rotation angle or shoulder rotation angle.
  • the arm base 22 has a cylindrical shape.
  • the arm base 22 is rotatably inserted into a hole provided in the arm rotation section 19B of the arm connection section 19.
  • a motor 19D is inserted into the arm rotating section 19B from the back side.
  • a worm gear mechanism that rotates the arm base 22 by the rotational torque produced by the motor 19D is housed inside the arm rotation section 19B.
  • a worm wheel (not shown) is provided at the end of the arm base 22. The worm wheel meshes with a worm (not shown) that rotates due to rotation of the motor 19D.
  • the motor 19D and the worm rotate, the worm wheel, arm base 22, and arm 5 rotate around the AZ4 axis.
  • the arm portion 5 in the reference state rotates in the front-rear direction of the humanoid portion 1H.
  • a flange is provided at the end of the arm base 22 on the shoulder joint 27 side.
  • a shoulder joint 27 is connected to the flange of the arm base 22.
  • the arm base 22 rotates around the AZ4 axis.
  • the AZ4 axis passes through the center of the cylindrical arm base 22.
  • the hole provided in the arm rotating portion 19B and the arm base 22 rotatably inserted into the hole are connected to the arm base joint portion 22A (which rotatably connects the arm base 22 to the body portion 12 with at least one rotational degree of freedom).
  • the reference numeral is not shown).
  • the rotatable range of the arm base 22 is, for example, from -35 degrees to 180 degrees.
  • the angle at which the arm base 22 rotates around the AZ4 axis is such that the arm base rotation angle is 0 degrees when the upper arm 24 faces downward, and when the upper arm 24 rotates forward.
  • the arm base rotation angle is assumed to be positive.
  • the arm base rotation angle ⁇ AZ4 can take any value within the range of ⁇ 35 degrees ⁇ AZ4 ⁇ 180 degrees, for example.
  • the shoulder joint portion 27 includes a mechanism for rotating the intermediate cylindrical portion 24B with respect to the joint connecting portion 24A.
  • the shoulder joint portion 27 connects the upper arm portion 24 to the arm base portion 22 so as to be rotatable with two degrees of freedom.
  • the shoulder joint 27 rotates around the upper arm rotation axis (AZ5 axis) that passes through the upper arm 24, and around the rotation axis (EL4 axis) that changes the angle formed between the upper arm 24 and the arm base 22. enable.
  • Rotation around the AZ5 axis in the shoulder joint 27 rotates the upper arm 24 and the forearm 25.
  • the structure is simpler than when the forearm portion 25 is rotated around the AZ5 axis at the elbow joint portion 28.
  • the shoulder joint portion 27 may be considered to connect the upper arm portion 24 to the upper arm base 22 in a rotatable manner with one rotational degree of freedom around the EL4 axis.
  • the mechanism that enables the upper arm 24 to rotate around the upper arm rotation axis (AZ5 axis) may be considered to be provided in the upper arm 24 rather than in the shoulder joint 27.
  • the shoulder joint portion 27 rotatably connects the upper arm portion 24 to the upper arm base 22 with at least one rotational degree of freedom.
  • the upper arm portion 24 is rotatable around the upper arm rotation axis passing through the upper arm portion 24 .
  • the arm base 22 and the arm base joint 22A may be considered part of the shoulder joint.
  • the shoulder joint portion connects the upper arm portion 24 to the arm rotating portion 19B in a rotatable manner with three rotational degrees of freedom.
  • the three rotational degrees of freedom that the shoulder joint has are rotational degrees of freedom around the AZ4 axis, the EL4 axis, and the AZ5 axis.
  • the shoulder joint section connects the upper arm section 24 to the arm connection section 19 so as to be rotatable with three rotational degrees of freedom.
  • the shoulder joint portion connects the upper arm portion 24 to the body portion 12 in a rotatable manner with three rotational degrees of freedom.
  • the shoulder joint rotatably connects the arm 5 to the body 12.
  • the rotatable range around the EL4 axis is, for example, ⁇ 10 degrees to 75 degrees.
  • the rotation angle (upper arm inclination angle) of the EL4 axis in the shoulder joint 27 is 0 degrees when the upper arm 24 is perpendicular to the arm base 22.
  • the angle between the upper arm 24 and the arm base 22 becomes smaller, that is, when the upper arm 24 rotates away from the body 12, the angle of the EL4 axis is positive.
  • the upper arm section 24 can be raised laterally outward up to 75 degrees in the standard state, and the upper arm section 24 can be rotated up to 10 degrees in the direction toward the body section 12.
  • the upper arm inclination angle ⁇ EL4 can take any value within the range of -10 degrees ⁇ ⁇ EL4 ⁇ 75 degrees, for example.
  • the rotatable range of the shoulder joint portion 27 around the AZ5 axis passing through the upper arm portion 24 is, for example, ⁇ 90 degrees to 20 degrees.
  • the rotation angle (upper arm rotation angle) around the AZ5 axis is 0 degrees in the standard state, and when the upper arm 24 rotates toward the body section 12, the angle is negative.
  • the forearm 25 With the upper arm 24 facing downward and the elbow joint 28 bent at 90 degrees, the forearm 25 can be rotated inward by rotation around the AZ5 axis until it becomes parallel to the front surface of the arm connecting portion 19. On the outside, the forearm part 25 can rotate until it forms an angle of 20 degrees with respect to the front direction of the arm connection part 19.
  • the upper arm rotation angle ⁇ AZ5 can take any value within the range of -90 degrees ⁇ AZ5 ⁇ 20 degrees, for example.
  • the elbow joint portion 28 includes a mechanism for rotating the forearm base portion 25B with respect to the rotation shaft connecting portion 25A.
  • the elbow joint 28 connects the forearm 25 to the upper arm 24 in a rotatable manner with two degrees of freedom.
  • the elbow joint 28 rotates around a forearm rotation axis (AZ6 axis) passing through the forearm 25 and around a rotation axis (EL5 axis) that changes the angle formed between the forearm 25 and the upper arm 24. is possible.
  • Rotation around the AZ6 axis rotates the forearm portion 25 and the hand portion 26.
  • the structure is simpler than when the hand part 26 is made to be rotatable around the AZ6 axis at the wrist joint part 29.
  • the elbow joint 28 may be considered to connect the forearm 25 to the upper arm 24 in a rotatable manner with one degree of freedom around the EL5 axis.
  • the mechanism that enables the forearm 25 to rotate around the forearm rotation axis (AZ6 axis) may be considered to be provided in the forearm 25 rather than the elbow joint 28.
  • the elbow joint 28 rotatably connects the forearm 25 to the upper arm 24 with at least one rotational degree of freedom.
  • the forearm portion 25 is rotatable around a forearm rotation axis passing through the forearm portion 25.
  • the rotatable range around the EL5 axis is, for example, 10 degrees to 125 degrees.
  • the rotation angle (forearm inclination angle) around the EL5 axis is 0 degrees when the forearm 25 and the upper arm 24 are on the same straight line.
  • the angle formed by the forearm 25 and a straight line extending the upper arm 24 toward the side where the forearm 25 is present than the elbow joint 28 is the rotation angle around the EL5 axis.
  • the rotation angle around the EL5 axis is positive.
  • the forearm inclination angle is 0 degrees
  • the angle between the forearm 25 and the upper arm 24 is 180 degrees.
  • the elbow joint 28 can be bent and extended within the range where the angle between the forearm 25 and the upper arm 24 is from about 170 degrees to about 55 degrees.
  • Forearm inclination angle ⁇ EL5 can take any value within the range of 10 degrees ⁇ EL5 ⁇ 125 degrees, for example.
  • the rotatable range around the forearm rotation axis is, for example, from -100 degrees to 100 degrees.
  • the front-back rotation plane is parallel to the front direction of the forearm portion 25.
  • the angle of the AZ6 axis is 0 degrees in the reference state.
  • the angle of the AZ6 axis is positive.
  • the forearm rotation angle ⁇ AZ6 can take any value within the range of ⁇ 100 degrees ⁇ AZ6 ⁇ 100 degrees, for example.
  • the wrist joint portion 29 connects the hand portion 26 to the forearm portion 25 so as to be rotatable with two rotational degrees of freedom.
  • the wrist joint 29 is a two-axis gimbal.
  • the wrist joint portion 29 can change the angle formed by the forearm portion 25 and the hand portion 26 in each of the front-back rotation plane and the left-right rotation plane.
  • the front-back rotation plane and the left-right rotation plane are both planes that include the forearm portion 25, and are orthogonal to each other.
  • the EL6 axis is orthogonal to the longitudinal rotation plane.
  • the EL6 axis is a rotation axis that allows the hand section 26 to rotate in the front-back rotation plane.
  • the XEL2 axis is orthogonal to the horizontal rotation plane.
  • the XEL2 axis is a rotation axis that allows the hand section 26 to rotate in the horizontal rotation plane.
  • the longitudinal rotation plane is a first forearm plane including the forearm rotation axis (AZ6 axis).
  • the left-right rotation plane is a second forearm plane that includes the AZ6 axis and is perpendicular to the front-back rotation plane.
  • the front-back rotation plane and the left-right rotation plane do not have to be orthogonal to each other, but only need to intersect with each other.
  • the front-back rotation plane, which is the first forearm plane does not need to include the AZ6 axis.
  • the left-right rotation plane, which is the second forearm plane does not need to include the AZ6 axis. It is sufficient that the longitudinal rotation plane and the horizontal rotation plane intersect with each other.
  • the rotation angle in the front-back rotation plane due to rotation around the EL6 axis can rotate the hand portion 26 from, for example, ⁇ 45 degrees to 60 degrees.
  • the rotation angle on the left-right rotation plane due to rotation around the two XEL axes allows the hand portion 26 to be rotated, for example, from -60 degrees to 60 degrees.
  • the rotation angle around the EL6 axis and the XEL2 axis is 0 degrees when the hand section 26 and the forearm section 25 are on the same straight line.
  • the rotation angle around the EL6 axis (hand first inclination angle) is positive.
  • the hand first inclination angle ⁇ EL6 can take any value within the range of ⁇ 45 degrees ⁇ EL6 ⁇ 60 degrees, for example.
  • the hand second inclination angle ⁇ XEL2 can take any value within the range of -60 degrees ⁇ ⁇ XEL2 ⁇ 60 degrees, for example.
  • the direction of the hand part 26 with respect to the forearm part 25 can be changed significantly.
  • the connection angle between the forearm section 25 and the hand section 26 can be changed in the longitudinal rotation plane and the horizontal rotation plane that are perpendicular to each other, so that the hand section 26 can be directed in the intended direction with respect to the forearm section 25. It is easy to do. If the wrist joint is a joint that rotates the hand 26 relative to the forearm 25 to change the angle that the hand 26 makes with the forearm 25, the angle between the hand 26 and the forearm 25 is changed.
  • the rotational degree of freedom at the wrist joint can be one rotational degree of freedom, and the wrist joint can be simplified. Since the forearm part 25 rotates around the forearm rotation axis (AZ6 axis) at the elbow joint part 28, the rotatable range of the hand part 26 with respect to the forearm rotation axis can be set to the required range at the wrist joint part. However, if the angle between the hand portion 26 and the forearm portion 25 is close to 180 degrees, it becomes difficult to orient the hand portion 26 in the intended direction with respect to the forearm rotation axis.
  • the arm base joint may have two rotational degrees of freedom.
  • the shoulder joint portion 27 may have one rotational degree of freedom or three rotational degrees of freedom.
  • the elbow joint 28 may have one rotational degree of freedom or three rotational degrees of freedom.
  • the wrist joint portion 29 may have one rotational degree of freedom or three rotational degrees of freedom.
  • the total rotational degree of freedom of the arm base joint, the rotational degree of freedom of the shoulder joint 27, the rotational degree of freedom of the elbow joint 28, and the rotational degree of freedom of the wrist joint 29 may be 6 rotational degrees of freedom or 8 rotational degrees of freedom. .
  • the shoulder joint section 27 includes a shoulder joint structure section 27A, a motor 27B, a motor installation section 27C, and a rotating shaft member 27D.
  • the rotating shaft member 27D is a rod-shaped member parallel to the EL4 axis.
  • the upper arm portion 24 is connected to the rotating shaft member 27D. When the rotating shaft member 27D rotates, the upper arm portion 24 rotates around the EL4 axis.
  • a mechanism for rotating the upper arm section 24 around the AZ5 axis is provided in the upper arm section 24.
  • the shoulder joint structure section 27A and the motor installation section 27C are members that rotatably hold the rotating shaft member 27D.
  • the rotation shaft member 27D is perpendicular to the shoulder joint structure 27A.
  • the shoulder joint structure section 27A has a shape including a cylinder having a flange and a rectangular parallelepiped connected to the arm connection section 19 side.
  • the flange portion has a shape obtained by cutting the left and right opposing portions of a circle with straight lines.
  • the motor installation portion 27C also has a cylindrical shape with a flange.
  • the flanges have the same shape in the shoulder joint structure section 27A and the motor installation section 27C.
  • the cylindrical flange of the shoulder joint structure section 27A and the flange of the motor installation section 27C are joined to each other.
  • a motor 27B is installed inside the motor installation section 27C.
  • the motor 27B generates power to rotate the rotating shaft member 27D.
  • a gear for transmitting the rotational torque of the motor 27B to the rotating shaft member 27D is also housed inside the motor installation portion 27C.
  • the upper arm portion 24 has a joint connecting portion 24A, an intermediate cylindrical portion 24B, a lid 24C, and a lower cylinder 24D.
  • the joint connecting portion 24A is a member having a square rod-shaped portion that connects to the rotating shaft member 27D that the shoulder joint portion 27 has.
  • the rotating shaft member 27D and the joint connecting portion 24A are integrally formed.
  • the joint connecting portion 24A has a cylindrical portion below a square rod-shaped portion.
  • the cylindrical portion is rotatably inserted into the intermediate cylindrical portion 24B. As the intermediate cylindrical portion 24B rotates with respect to the joint connection portion 24A, the upper arm portion 24 rotates around the AZ5 axis.
  • the joint connecting portion 24A passes through an opening provided in the shoulder joint structure portion 27A.
  • the opening provided in the shoulder joint structure 27A faces downward in the standard state.
  • the angle of rotation of the shoulder joint 27 in the left-right direction is limited by the square rod portion of the joint connecting portion 24A coming into contact with the opening.
  • An opening is provided on the back side of the intermediate cylindrical portion 24B.
  • the opening on the back side is provided for maintenance of the motor inside the intermediate cylindrical portion 24B.
  • the lid 24C closes the opening of the intermediate cylindrical portion 24B.
  • a motor and gears for rotating the intermediate cylindrical portion 24B with respect to the joint connecting portion 24A are housed inside the upper side of the intermediate cylindrical portion 24B.
  • a motor 24E (not shown) used in the elbow joint portion 28 is also housed inside the lower side of the intermediate cylindrical portion 24B. The rotation shaft of the motor 24E exits from the lower side of the intermediate cylindrical portion 24B.
  • the lower cylinder 24D is connected to the lower side of the intermediate cylinder part 24B.
  • the lower cylinder 24D is a cylinder having a smaller diameter than the intermediate cylinder part 24B.
  • the joint connecting portion 24A, the intermediate cylindrical portion 24B, and the lower cylinder 24D exist on one straight line.
  • the lower cylinder 24D is connected to the rotation shaft holding yoke 28A of the elbow joint portion 28.
  • the elbow joint 28 connects the forearm 25 to the upper arm 24 with two rotational degrees of freedom.
  • the elbow joint 28 allows rotation around the forearm rotation axis (AZ6 axis) passing through the forearm 25 and rotation to change the angle formed between the upper arm 24 and the forearm 25.
  • the elbow joint portion 28 includes a rotating shaft holding yoke 28A, a rotating shaft member 28B, a worm wheel 28C, a worm 28D, a gear portion 28E, a motor 28F, a gear portion 28G, a motor storage portion 28H, and a gear cover 28J. Since a worm gear mechanism is used, the angle formed by the forearm section 25 and the upper arm section 24 at the elbow joint section 28 can be maintained even if the power supply is interrupted.
  • the rotating shaft member 28B is a shaft member that constitutes a rotating shaft (EL5 axis) that changes the angle between the forearm portion 25 and the upper arm portion 24.
  • the forearm portion 25 is connected to the rotating shaft member 28B.
  • the rotating shaft member 28B extends in a direction perpendicular to the upper arm portion 24.
  • the rotating shaft holding yoke 28A rotatably holds the rotating shaft member 28B.
  • the rotating shaft holding yoke 28A has a shape including two opposing plate-shaped portions through which the rotating shaft member 28B passes, and a plate-shaped portion connecting the upper portions of the two plates.
  • the rotating shaft holding yoke 28A is connected to the lower cylinder 24D at an upper plate-shaped portion.
  • the worm wheel 28C, the worm 28D, and the gear portion 28E constitute a mechanism for rotating the rotating shaft member 28B by the motor 24E housed inside the upper arm portion 24.
  • the worm wheel 28C is attached to the rotating shaft member 28B.
  • the worm wheel 28C rotates, the rotating shaft member 28B rotates.
  • the worm wheel 28C is located outside the elbow joint portion 28 in the left-right direction.
  • the gear portion 28E is rotated by the rotation of the motor 24E.
  • the gear portion 28E is installed parallel to the lower surface of the intermediate cylindrical portion 24B.
  • the gear portion 28E includes a gear that meshes with the rotating shaft of the motor 24E and a gear that meshes with the worm 28D.
  • the worm 28D exists in the direction in which the intermediate cylindrical portion 24B extends.
  • the worm 28D meshes with the gear portion 28E on the side closer to the intermediate cylindrical portion 24B. Further, the worm 28D meshes with the worm wheel 28C on the side far from the intermediate cylindrical portion 24B.
  • Gear cover 28J is a cover that covers worm wheel 28C, worm 28D, and gear portion 28E.
  • the motor 28F, gear section 28G, and motor storage section 28H are provided in the forearm section 25.
  • the motor 28F, the gear portion 28G, and the motor storage portion 28H constitute a mechanism for rotating the forearm portion 25 around the forearm rotation axis passing through the forearm portion 25 at the elbow joint portion 28.
  • Motor 28F generates power to rotate forearm portion 25.
  • the gear portion 28G is a gear for rotating the forearm portion 25 by rotation of the motor 28F.
  • the motor storage section 28H stores the motor 28F.
  • the gear portion 28G has a cylindrical outer shape with a flange.
  • the motor housing section 28H is connected to the wrist side of the gear section 28G.
  • the motor housing portion 28H is a member having two side surfaces sandwiching the motor 28F and a bottom surface connecting the side surfaces.
  • Gear portion 28G exists between motor 28F and forearm base 25B (described later). Inside the gear portion 28G, there are a rotating shaft connecting portion 25A (described later), a gear mechanism, and a rotating shaft of a motor 28F.
  • the gear mechanism is a mechanism that rotates the forearm base 25B with respect to the rotating shaft connecting portion 25A by rotation of the motor 28F.
  • the forearm portion 25 has a rotation shaft connecting portion 25A, a forearm base portion 25B, a forearm bone portion 25C, an actuator structure portion 25D, a threaded rod holding portion 25E, and a threaded rod holding portion 25F.
  • the rotating shaft connecting portion 25A is a member that rotates together with the rotating shaft member 28B.
  • the rotating shaft connecting portion 25A and the rotating shaft member 28B are integrally formed.
  • the rotating shaft connecting portion 25A has a similar shape to the joint connecting portion 24A.
  • the shape of the rotating shaft connecting portion 25A is such that it has a cylindrical portion that connects to the rotating shaft member 28B of the elbow joint portion 28, and a cylindrical portion that connects to the lower side of the cylindrical portion.
  • the forearm base 25B has a cylindrical shape with a flange.
  • a cylindrical portion of the rotating shaft connecting portion 25A is rotatably inserted into the circular opening on the upper surface of the forearm base 25B.
  • the gear portion 28G where the flange of the forearm base 25B and the flange of the gear portion 28G are joined, is located on the side where the hand portion 26 is located rather than the forearm base 25B.
  • a gear mechanism provided inside the gear portion 28G causes the forearm base 25B to rotate relative to the rotation shaft connecting portion 25A.
  • the forearm bone portion 25C is a prismatic member connected to the side of the forearm base 25B where the hand portion 26 is present.
  • a wrist joint portion 29 is provided at the tip of the forearm portion 25C.
  • a gear portion 28G having a cylindrical outer shape is connected to the lower side of the forearm base 25B. The forearm portion 25C passes through the gear portion 28G and extends toward the wrist.
  • the actuator structure 25D is a structural member for installing two actuators that change the connection angle at the wrist joint 29.
  • the actuator structure 25D is fixed to the forearm bone 25C.
  • the surface to which the actuator structure portion 25D is fixed is the surface facing the front side of the forearm bone portion 25C in the reference state.
  • the actuator structure portion 25D is a member having a shape in which the cross section of half of the wrist joint portion 29 is T-shaped, and the side on the elbow joint portion 28 side is only a vertical bar of the T.
  • the vertical bar portion (vertical plate portion) of T connects to the outside and flange of gear portion 28G having a cylindrical outer shape.
  • the threaded rod holding portion 25E is attached to the end portion of the actuator structure portion 25D on the side of the hand portion 26, which has a T-shaped cross section.
  • the threaded rod holding portion 25F is connected to the end of the vertical plate portion of the actuator structure portion 25D and the flange of the forearm base portion 25B. Two threaded rods are rotatably held between the threaded rod holding portion 25E and the threaded rod holding portion 25F.
  • the wrist joint portion 29 connects the hand portion 26 to the forearm portion 25 with two rotational degrees of freedom.
  • the wrist joint section 29 changes the angle between the hand section 26 and the forearm section 25 on each of two mutually orthogonal planes whose intersection lines pass through the forearm section 25.
  • the two planes whose intersection lines pass through the forearm portion 25 and are orthogonal to each other are a front-back rotation plane and a left-right rotation plane.
  • the front-back rotation plane and the left-right rotation plane make an angle of 45 degrees with respect to the plane determined by the actuator structure 25D.
  • FIG. 39 shows a cross-sectional view of the wrist joint 29.
  • FIG. 39 is a cross-sectional view taken along the line AA shown in FIG. 35.
  • the wrist joint portion 29 includes a T-shaped member 29A, a T-shaped member holding yoke 29B, a T-shaped member holding portion 29C, and a wrist base 29D.
  • the T-shaped member 29A is a T-shaped member that allows connection with two rotational degrees of freedom.
  • the T-shaped member 29A connects the forearm bone portion 25C and the wrist base portion 29D with two rotational degrees of freedom.
  • the T-shaped member holding yoke 29B is provided at the tip of the forearm portion 25C.
  • the T-shaped member holding portion 29C is provided at the wrist base 29D.
  • the EL6 axis passes through the horizontal bar of the T of the T-shaped member 29A, and the XEL2 axis passes through the vertical bar of the T.
  • the horizontal bar portion of the T of the T-shaped member 29A is cylindrical, and the center of the cylinder of the horizontal bar portion of the T is the EL6 axis.
  • the vertical bar portion of the T of the T-shaped member 29A is cylindrical, and the center of the cylinder of the vertical bar portion of the T is the XEL2 axis.
  • the EL6 axis and the XEL6 axis exist on the same plane.
  • the T-shaped member holding yoke 29B is a member having two opposing plates and a plate connecting the two plates on the forearm bone portion 25C side.
  • the T-shaped member holding yoke 29B rotatably holds both ends of the horizontal bar of the T-shaped member 29A.
  • a bearing 29E (shown in FIG. 39) exists between the T-shaped member holding yoke 29B and the T-shaped member 29A to enable rotation of both.
  • the T-shaped member holding portion 29C is a member that rotatably holds the vertical bar of the T of the T-shaped member 29A.
  • the bearing 29F (shown in FIG. 39) exists between the T-shaped member holding portion 29C and the T-shaped member 29A, and allows them to rotate relative to each other.
  • the T-shaped member holding portion 29C is a member having a cross section like an isosceles trapezoid.
  • the vertical bar portion of the T of the T-shaped member 29A is inserted into the side surface of the lower bottom side of the trapezoid of the T-shaped member holding portion 29C.
  • the wrist base 29D is a disc-shaped member.
  • a T-shaped member holding portion 29C is vertically connected to the surface of the wrist base portion 29D on the side opposite to the side where the hand portion 26 is present.
  • the portion of the T-shaped member 29A where the two XEL axes extend (the vertical bar portion of the T) is rotatably held by the T-shaped member holding portion 29C.
  • the XEL2 axis and the EL6 axis are parallel to the disc-shaped wrist base 29D.
  • the forearm rotation axis (AZ6 axis) passes through the intersection of the XEL2 axis and the EL6 axis.
  • the other ends of the fixed length links of the outer forearm actuator 35 and the inner forearm actuator 36 are rotatably connected to the T-shaped member holding portion 29C.
  • the outer forearm actuator 35 and the inner forearm actuator 36 change the rotation angle at the wrist joint 29.
  • the outer forearm actuator 35 and the inner forearm actuator 36 have similar shapes.
  • the outer forearm actuator 35 and the inner forearm actuator 36 each have a moving member and a fixed length link that connects at one end to the moving member. The other ends of the two fixed length links connect to the wrist joint 29.
  • the wrist joint 29 is driven by two fixed length links, one end of which is moved by a moving member.
  • the outer forearm actuator 35 and the inner forearm actuator 36 are provided on the forearm portion 25.
  • the forearm outer actuator 35 includes a threaded rod 35A, a moving member 35B, a rail 35C, a link 35D, a motor installation plate 35E, a motor 35F, a belt 35G, a pulley 35H, and a pulley 35J. Both ends of the threaded rod 35A are rotatably held by the threaded rod holder 25E and the threaded rod holder 25F. In the threaded rod holding portion 25E and the threaded rod holding portion 25F, a rectangular parallelepiped member is provided in a portion that holds the threaded rod 35A.
  • the moving member 35B has a through hole provided with a female thread that engages with the male thread of the threaded rod 35A.
  • the rail 35C is provided on the side surface of the vertical plate portion of the actuator structure portion 25D in parallel with the threaded rod 35A.
  • the moving member 35B has a portion that sandwiches the rail 35C. Since the moving member 35B sandwiches the rail 35C, when the threaded rod 35A rotates, the moving member 35B moves along the threaded rod 35A without rotating.
  • the motor installation plate 35E is provided on the threaded rod holding section 25E that is present on the hand section 26 side.
  • the motor installation plate 35E is provided substantially perpendicular to the direction in which the forearm portion 25 extends.
  • a motor 35F is attached to the motor installation plate 35 perpendicularly to the motor installation plate 35E and parallel to the threaded rod 35A.
  • the threaded rod 35A and the rotating shaft of the motor 35F pass through an opening provided in the motor installation plate 35.
  • Belt 35G, pulley 35H, and pulley 35J transmit the rotation of motor 35F to threaded rod 35A.
  • Pulley 35H is attached to threaded rod 35A.
  • Pulley 35J is attached to the rotating shaft of motor 35F.
  • Belt 35G is passed around pulley 35H and pulley 35J.
  • a pulley 35H, a pulley 35J, and a belt 35G are provided on the side of the motor installation plate 35 where the motor 35F is not present. Since the pulley 35H and the pulley 35J are connected by the belt 35G, when the rotating shaft of the motor 35F rotates, the threaded rod 35A rotates.
  • the moving member 35B When viewed from the direction in which the threaded rod 35A extends, the moving member 35B has a shape that is a combination of two rectangles that share one corner and are perpendicular to each other, with the shared corner removed by a concave arc surface. It is.
  • the two rectangular portions of the moving member 35B have the same thickness.
  • the moving member 35B is a member having a shape like two rectangular parallelepipeds connected by a connecting member.
  • the connecting member is a member having a shape having a concave arc-shaped side surface and two mutually orthogonal planes.
  • a threaded rod 35A passes through one rectangular parallelepiped of the moving member 35B.
  • the other rectangular parallelepiped sandwiches the rail 35C.
  • link 35D One end of the link 35D is rotatably connected to the rectangular parallelepiped portion on both sides of the rail 35C with two degrees of freedom.
  • the length of link 35D is constant and does not change.
  • Link 35D has one rotational degree of freedom that allows for twisting.
  • the part where one end of the link 35D is rotatably connected to the moving member 35B is called the forearm outer link attachment part J11.
  • the forearm outer link attachment portion J11 is a two-axis gimbal.
  • a yoke rotatably provided on the moving member 35B rotatably holds a shaft member provided at one end of the link 35D.
  • the yoke of the forearm outer link attachment portion J11 is provided perpendicularly to the vertical plate portion of the actuator structure portion 25D.
  • the other end of the link 35D is rotatably connected to the hand portion 26 (strictly speaking, the T-shaped member holding portion 29C) with two rotational degrees of freedom.
  • the part where one end of the link 35D connects to the hand part 26 is called a hand side link attachment part J13.
  • the hand outer link attachment portion J13 has a similar structure to the forearm outer link attachment portion J11.
  • the inner forearm actuator 36 includes a threaded rod 36A, a moving member 36B, a rail 36C, a link 36D, a motor installation plate 36E, a motor 36F, a belt 36G, a pulley 36H, and a pulley 36J.
  • One end of the link 36D is rotatably connected to the moving member 36D with two rotational degrees of freedom by the forearm inner link attachment portion J12.
  • the forearm inner link attachment portion J12 is a two-axis gimbal.
  • the forearm inner link attachment portion J12 has a similar structure to the forearm outer link attachment portion J11.
  • the other end of the link 36D is rotatably connected to the movable member 36D with two rotational degrees of freedom by a near-side link attachment portion J14.
  • the inner forearm actuator 36 has a similar structure to the outer forearm actuator 35. Regarding the forearm inner side actuator 36, a detailed description of the structure will be omitted.
  • a motor 35F, a motor 28F, and a motor 36F are arranged in parallel. By doing so, the width and thickness of the forearm portion 25 can be reduced.
  • the arm portion 5 employs a hybrid drive method that combines a joint portion driven by a gear and a joint portion driven by a link.
  • a shoulder joint having two rotational degrees of freedom
  • one rotational degree of freedom passes through the upper arm and rotates the upper arm.
  • an elbow joint with two rotational degrees of freedom one rotational degree of freedom passes through the forearm and rotates the forearm. Therefore, the arm portion 5 can be made compact, and the range in which the hand portion 26 can exist can be made equal to or greater than that of a human being.
  • the hybrid drive system allows the arm section 5 to generate the necessary power and is quiet. Further, with the hybrid drive method, each joint portion of the arm portion 5 can be driven with high precision.
  • the robot 1 can also operate in a mode in which the connection angle of the arm base joint 22A changes in conjunction with the elevation angle (referred to as arm interlocking mode).
  • the elevation angle is an angle between the direction in which the body section 12 extends and the vehicle section reference plane.
  • the connection angle at the arm base joint 22A is changed around the AZ4 axis by the same angle as the angle at which the elevation angle changes in the opposite direction to the direction in which the elevation angle changes. do.
  • ⁇ 1 is the first angle that changes the elevation angle.
  • ⁇ 2 is a second angle that has the same absolute value as ⁇ 1 but a different sign.
  • This is an arm interlocking control unit that controls the base joint 22A.
  • the operator 90 can control the arm section 5 and the right eye camera 2 R. and the left eye camera 2L can be operated while facing in the same direction. There is no need for the operator 90 to perform an operation to change the direction of the arm portion 5 and the viewing direction of the right eye camera 2R and left eye camera 2L in accordance with the change in the elevation angle.
  • FIG. 40 is a perspective view of the hand section 26.
  • 41 to 46 are a front view, a right side view, a rear view, a left side view, a top view, and a bottom view of the hand section 26.
  • the finger section is often horizontal.
  • the front of the hand section 26 is in a direction perpendicular to the direction in which the fingers extend, with the fingers being horizontal.
  • the hand section 26 has five fingers.
  • one finger section and four finger sections arranged in a line are arranged to face each other. The one finger and the four fingers move linearly so that their spacing increases or decreases.
  • the entire five finger parts are rotatable from the base.
  • 47 to 51 are perspective views showing states 1 to 5 in which the hand portion 26 has changed.
  • FIG. 52 is a perspective view showing the electric screwdriver being operated in changed state 5.
  • the hand section 26 includes a first finger section 91, four second finger sections 92, a third finger section 93, a fourth finger section 94, and a fifth finger section 95, a first finger connection section 96, and a second finger section 95. It has a finger connection part 97 and a wrist connection part 98.
  • the first finger portion 91 is arranged opposite to the third finger portion 93.
  • the second finger portion 92 is arranged in line with the third finger portion 93.
  • a fourth finger portion 94 is arranged in line with the third finger portion 93 on the side opposite to the side where the second finger portion 92 is lined up.
  • a fifth finger portion 95 is arranged in line with the fourth finger portion 94 on the side opposite to the side where the third finger portion 93 is lined up.
  • the first finger portion 91 is rotatably connected to the first finger connection portion 96 .
  • Four finger parts, a second finger part 92 , a third finger part 93 , a fourth finger part 94 , and a fifth finger part 95 are connected to the second finger connection part 97 so as to be rotatable independently.
  • the wrist connecting portion 98 connects to the wrist joint portion 29 .
  • the first finger part 91 corresponds to the thumb of a human hand
  • the second finger part 92 corresponds to the index finger
  • the third finger part 93 corresponds to the middle finger
  • the fourth finger part 94 corresponds to the ring finger
  • the fifth finger part 94 corresponds to the ring finger. It can be considered that the finger portion 95 corresponds to the little finger.
  • X4 axis axis perpendicular to the wrist connection part 98.
  • Y4 axis Axis parallel to the direction in which the fingers move linearly.
  • Z4 axis An axis parallel to the direction in which the four fingers are lined up.
  • the direction of the fingertip in the reference state is the positive direction of the X4 axis
  • the direction from the first finger part 91 to the third finger part 93 is the positive direction of the Y4 axis
  • the direction toward is defined as the positive direction of the Z4 axis.
  • the direction parallel to the X4 axis is called the fingertip direction.
  • the side with a larger X4 coordinate value is called the fingertip side, and the side with a smaller X4 coordinate value is called the fingertip side.
  • the direction parallel to the Z4 axis is called the hand width direction.
  • the side with a larger Z4 coordinate value is called the second finger side, and the side with a smaller Z4 coordinate value is called the fifth finger side.
  • the direction parallel to the Y4 axis is called the sliding direction.
  • the side with a larger Y4 coordinate value is called the third finger side, and the side with a smaller Y4 coordinate value is called the first finger side.
  • the first finger connection part 96 is movable in the sliding direction with respect to the wrist connection part 98.
  • the first finger portion 91 is rotatably connected to the first finger connection portion 96 .
  • the second finger connection part 97 is movable in the sliding direction with respect to the wrist connection part 98.
  • a second finger portion 92 , a third finger portion 93 , a fourth finger portion 94 , and a fifth finger portion 95 are rotatably connected to the second finger connection portion 97 .
  • the wrist connection section 98 has a hand base 98A, a connecting cylinder section 98B, a first rail 98C, a second rail 98D, a pinion 98E (shown in FIG. 41), and a motor 98F (not shown).
  • the hand base 98A is a plate-shaped member parallel to the Y4Z4 plane.
  • a first finger connecting portion 96 and a second finger connecting portion 97 are connected to the hand base 98A.
  • the hand base 98A When the hand base 98A is viewed from a direction parallel to the X4 axis, it has a rectangular shape with a ratio of the length in the Z4 axis direction to the length in the Y4 axis direction of about 10:11.
  • the connecting cylinder portion 98B is a member that connects to the wrist joint portion 29.
  • the connecting cylinder portion 98B connects to the main surface of the hand base portion 98A on the finger base side.
  • the connecting cylindrical portion 98B has a cylindrical outer shape, and the diameter is large on the fingertip side and becomes smaller in a stepwise manner on the side where the wrist joint portion 29 is present.
  • the connecting cylinder portion 98B is fixed to the wrist base portion 29D of the wrist joint portion 29.
  • the central axis of the connecting cylindrical portion 98B is the X4 axis.
  • the central axis of the connecting cylindrical portion 98B is located at the center of the hand base 98A in the Z4-axis direction, and at a position slightly closer to the first finger portion 91 in the Y4-axis direction.
  • the intersection of the main surface of the hand base 98A, on which the first rail 98C and the like are provided, and the X4 axis is the origin of the fourth orthogonal coordinate system.
  • the central axis (X4 axis) of the connecting cylinder part 98B passes through the intersection of the EL6 axis and the XEL axis, which are the two rotation axes of the wrist joint part 29.
  • the forearm rotation axis (AZ6 axis) also passes through the intersection of the EL6 axis and the XEL axis. Therefore, the wrist joint part 29 can connect the hand part 26 to the forearm part 25 in a state where the X4 axis coincides with the AZ6 axis (the X4 axis is on the same straight line as the AZ6 axis).
  • the first rail 98C is a rail on which the first finger connecting portion 96 slides and moves in a direction parallel to the Y4 axis.
  • the second rail 98D is a rail on which the second finger connecting portion 97 slides and moves in a direction parallel to the Y4 axis.
  • the first rail 98C and the second rail 98D are provided on the main surface of the hand base 98A on the fingertip side.
  • the first rail 98C is provided along the side of the main surface of the hand base 98A on the second finger side.
  • the second rail 98D is provided along the side of the main surface of the hand base 98A on the fifth finger side.
  • the pinion 98E is a gear that rotates around the X4 axis.
  • the pinion 98E engages with a first rack 96A provided on the first finger connection portion 96 and a second rack 97A provided on the second finger connection portion 97.
  • the motor 98F generates power to move the first rack 96A and the second rack 97A relative to the pinion 98E.
  • the hand section 26 does not include a moving mechanism that moves the first finger connecting section 96 and the second finger connecting section 97, but a moving mechanism that moves only either the first finger connecting section 96 or the second finger connecting section 97. It's okay.
  • the hand portion 26 may include a moving mechanism that moves at least one of the first finger connecting portion 96 and the second finger connecting portion 97.
  • the first finger connection part 96 has a first rack 96A, a first frame 96B, a first grip part 96C, and a first finger connection frame 96D.
  • the first frame 96B is a rectangular parallelepiped frame with a main surface parallel to the Y4Z4 plane.
  • the first rack 96A is provided along the finger base side (parallel to the Y4 axis) of the side surface of the first frame 96B on the fifth finger side.
  • the first gripping portion 96C is a member that grips the first rail 98C. Since the first gripping part 96C grips the first rail 98C, the first finger connecting part 96 can move along the first rail 98C without separating from the hand base 98A.
  • the first gripping portion 96C is provided along the side (parallel to the Y4 axis) on the second finger portion side of the main surface on the finger base side of the first frame 96B.
  • the first finger connection frame 96D is a member to which the first finger portion 91 is rotatably connected.
  • the first finger connection frame 96D is connected to the side surface of the first frame 96B on the first finger side.
  • the second finger connection part 97 has a second rack 97A, a second frame 97B, a second grip part 97C, a second finger connection frame 97D, and a palm part 97E.
  • the second frame 97B is a rectangular parallelepiped frame with a main surface parallel to the Y4Z4 plane.
  • the length of the second frame 97B in the X4 axis direction is slightly shorter than the first frame 96B.
  • the second rack 97A is provided along the finger base side (parallel to the Y4 axis) of the second finger side side surface of the second frame 97B.
  • the distance between the second rack 97A and the hand base 98A is the same as the distance between the first rack 96A and the hand base 98A.
  • the second gripping portion 97C is a member that grips the second rail 98D. Since the second gripping part 97C grips the second rail 98D, the second finger connecting part 97 can move along the second rail 98D without separating from the hand base 98A.
  • the second gripping portion 97C is provided along the side (parallel to the Y4 axis) on the fifth finger portion side of the main surface on the finger base side of the second frame 97B.
  • the second finger connection frame 97D is a member to which the second finger portion 92, third finger portion 93, and fourth finger portion 95 are rotatably connected.
  • the second finger connection frame 97D is connected to the side surface of the second frame 97B on the third finger side.
  • the first rail 98C, the first gripping part 96C, the second rail 98D, the second gripping part 97C, the first rack 96A, the second rack 97A, the pinion 98E, and the motor 98F are connected to the first finger part 91 and the third finger part 93.
  • a finger moving section is configured as a moving mechanism that moves at least one of the first finger connecting section 96 and the second finger connecting section 97 relative to the hand base 98 so that the distance between the finger connecting section 96 and the second finger connecting section 97 increases or decreases.
  • the finger moving section included in the hand section 26 moves the first finger connecting section 96 and the second finger connecting section 97.
  • the finger moving section may be one that moves only one of the first finger connecting section or the second finger connecting section with respect to the base of the hand.
  • the palm flesh portion 97E is connected to the side surface of the second finger connecting frame 97D on the first finger side at a position closer to the fingertip than the second frame 97B.
  • the palm flesh portion 97E has a rectangular parallelepiped-shaped notch 97F in the sliding direction at a portion facing the first finger portion 91 in the hand width direction.
  • the notch 97F can accommodate the first finger portion 91 rotated with respect to the first finger connection frame 96D.
  • the palm flesh portion 97E contacts the object on the finger base side when the hand portion 26 grips the object.
  • the palm part 97E supports the second finger part 92, the fourth finger part 94, and the fifth finger part 95, which have been rotated with respect to the second finger connection frame 97D, on the finger base side.
  • Each of the second finger portion 92, fourth finger portion 94, and fifth finger portion 95 can rotate within a range from an angle perpendicular to the hand base 98A to an angle at which they contact the palm flesh portion 97E.
  • the first finger 91 can rotate within a range from an angle perpendicular to the hand base 98A to an angle at which it contacts the first frame 96B or the third finger 93.
  • the third finger portion 93 can rotate within a range from an angle perpendicular to the hand base 98A to an angle at which it contacts the palm flesh portion 97E or the first finger portion 91.
  • the first finger portion 91 includes a finger body portion 91A, a fingertip portion 91B, an inner finger portion 91C, a finger joint portion 91D, a worm wheel 91E (shown in FIG. 48), a worm 91F (not shown), and a motor 91G (not shown). ), a distance sensor 91H, and an opening 91J.
  • the finger body portion 91A has a shape having an inner surface of the finger portion made of a steel plate and side surfaces on both sides thereof.
  • the inner side of the first finger portion 91 is the surface facing the hand base 98A when rotated.
  • the inner side of the second finger portion 92 and the like is similarly defined.
  • the side surface of the finger body portion 91A is low in height on the fingertip side and high on the fingertip side.
  • the finger body portion 91A has a bottom surface on the finger base side that is thicker than the side surface.
  • the fingertip side of the finger body portion 91A is open.
  • the fingertip portion 91B is a resin member attached to the inside of the fingertip of the finger body portion 91A.
  • the surface of the fingertip portion 91B is provided with unevenness having a height of about 2 mm, so that the fingertip portion 91B and an object come into more secure contact.
  • the fingertip portion 91B is designed to have a sufficient area to come into contact with an object when holding the object.
  • the finger inner part 91C is a resin member attached to the inner surface of the finger body part 91A.
  • the finger inner part 91C is thinner than the fingertip part 91B.
  • the finger joint portion 91D is configured such that a yoke 91DA provided on the first finger connection frame 96D rotatably holds a phalanx rotation shaft 91DB provided on the first finger portion 91.
  • the worm wheel 91E is connected to the bottom surface of the finger body portion 91A on the finger base side so as to rotate together with the phalanx rotation axis 91DB.
  • the worm 91F fits into the worm wheel 91E.
  • the worm 91F is housed in the first finger connection frame 96D. There is an opening in the surface of the first finger connection frame 96D on the side where the finger joint portion 91D is present, and the worm wheel 91E enters into the opening and is fitted with the worm 91F.
  • the motor 91G generates power to rotate the worm 91F.
  • the motor 91G is housed in the first finger connection frame 96D.
  • a gear that transmits the rotation of the motor 91G to the worm 91F is also housed in the first finger connection frame 96D.
  • the distance sensor 91H is a sensor that measures the distance between the fingertip portion 91B and a nearby object.
  • the distance sensor 91H measures the distance to an object by emitting a light beam that passes through the finger body 91A and an opening 91J provided in the finger body 91A.
  • the distance sensor 91H is a first distance sensor provided at the fingertip of the first finger portion 91.
  • the third finger portion 93 has a similar structure to the first finger portion 91.
  • the third finger section 93 includes a finger body section 93A, a fingertip section 93B, an inner finger section 93C, a finger joint section 93D, a worm wheel 93E (shown in FIG. 49), a worm 93F (shown in FIG. 49), and a motor 93G (not shown). ), a distance sensor 93H, and an opening 93J.
  • the distance sensor 93H is a second distance sensor provided at the fingertip of the third finger portion 93.
  • the main body portion 93A is made of steel plate.
  • the fingertip portion 93B and the inner finger portion 93C are made of resin.
  • the finger body portion 93A has a stepped shape on its inner surface. On the inner surface of the finger body portion 93A, there is a step between a portion where the fingertip portion 93B is provided and a portion where the inner finger portion 93C is provided. Although the portion where the fingertip portion 93B is provided and the portion where the inner finger portion 93C is provided are parallel, the portion where the fingertip portion 93B is provided is located on the inside.
  • the worm 93F and the motor 93G are housed in the second finger connection frame 97D.
  • the fourth finger portion 94 and the fifth finger portion 95 have the same shape as the third finger portion 95.
  • the fourth finger 94 and the fifth finger 95 do not have a distance sensor or an opening.
  • the fourth finger portion 94 is lined up with the third finger portion 93 on the side opposite to the side where the second finger portion 92 is lined up, and is rotatably connected to the second finger connecting portion 97 .
  • the fifth finger portion 95 is lined up with the fourth finger portion 94 on the side opposite to the side where the third finger portion 93 is lined up, and is rotatably connected to the second finger connecting portion 97 .
  • the second finger 92 has a slide fingertip 92K that moves toward the finger base along the finger body 92A and a drive mechanism therefor.
  • the second finger section 92 includes a finger body section 92A, a fingertip section 92B, an inner finger section 92C, a finger joint section 92D, a worm wheel 92E (shown in FIG. 49), a worm 92F (shown in FIG. 49), and a motor 92G (not shown). ), a slide fingertip portion 92K, a motor storage portion 92L, a motor 92M (not shown), a threaded rod 92N (shown in FIG. 45), a groove 92P (shown in FIG.
  • the sliding fingertip portion 92K is provided on the side surface of the finger body portion 92A on the side that is not adjacent to the third finger portion 93.
  • the slide fingertip portion 92K has an inwardly curved shape when viewed from the direction of the Z4 axis.
  • the position of the bent tip of the sliding fingertip part 92K in the direction perpendicular to the fingertip part 92B is almost the same as the position of the surface of the fingertip part 92B, and the position in the direction in which the second finger part 92 extends is the same as that of the fingertip part 92B. It is almost the same as the end on the finger base side.
  • the sliding fingertip portion 92K when gripping an object with the second finger portion 92, the sliding fingertip portion 92K does not become an obstacle.
  • the sliding fingertip portion 92K can move toward the finger base side along the finger body portion 92A by a distance of approximately 20% of the length of the finger body portion 92A.
  • the sliding fingertip portion 92K is a hook portion provided on the side of the fingertip of the second finger portion 92 opposite to the side where the third finger portion 93 is arranged and bent toward the side where the first finger portion 91 is present (inward). be.
  • the finger body portion 92A houses a mechanism for moving the slide fingertip portion 92K therein, and has a rectangular cylindrical outer shape.
  • a groove 92P extending in the length direction of the finger body 92A is provided on the side surface of the finger body 92A on the side other than the side where the third finger 93 is lined up.
  • the length of the groove 92P is approximately equal to the length over which the slide fingertip portion 92K can move.
  • the threaded rod 92N is provided in the groove 92P.
  • the threaded rod 92N enters inside the finger body portion 92A on the finger base side.
  • Inside the finger body portion 92A there is a nut 92Q provided with a through hole having a female thread that fits into the threaded rod 92N.
  • the position of the nut 92Q in the length direction with respect to the finger body 92A is fixed, and as the nut 92Q rotates, the length of the threaded rod 92N coming out from the finger body 92A changes.
  • Motor 92G generates power to rotate nut 92Q.
  • the motor storage section 92L stores the motor 92G.
  • the mechanism for moving the sliding fingertip portion 92K is a hook portion moving portion that moves the sliding fingertip portion 92K along the second finger portion 92 in a direction closer to the second finger connecting portion 97.
  • the number of movable parts that the hand section 26 has is seven.
  • five fingers namely a first finger section 91, a second finger section 92, a third finger section 93, a fourth finger section 94, and a fifth finger section 95, rotate.
  • the distance between the first finger connecting portion 96 and the second finger connecting portion 97 can be changed.
  • the sliding fingertip portion 92K of the second finger portion 92 is movable.
  • the hand portion 26 has a simple structure. For example, if five fingers bend at two knuckles, at least ten drive mechanisms are required.
  • the first finger portion 91 can rotate from a position perpendicular to a position parallel to the hand base 98A.
  • the first finger portion 91 fits into the notch 97F provided in the palm flesh portion 97E.
  • the second finger part 92, the third finger part 93, the fourth finger part 94, and the fifth finger part 95 can each independently change the angle with respect to the hand base 98A.
  • the second finger part 92, the third finger part 93, the fourth finger part 94, and the fifth finger part 95 can rotate from a position perpendicular to the hand base 98A to a position in contact with the palm flesh part 97E.
  • the first finger 91, second finger 93, third finger 93, fourth finger 94, and fifth finger 95 are perpendicular to the hand base 98A, and the first The fingertip portion 91B of the finger portion 91 and the fingertip portion 93B of the third finger portion 93 can be brought into contact.
  • an object can be held between the fingertips 91B and 93B.
  • the hand section 26 in state 1 can hold even thin objects such as paper.
  • the object is held between the four fingers and the first finger section 91, so even a large object can be held.
  • the first finger part 91 and the third finger part 93 are perpendicular to the hand base 98A, and the second finger part 93, the fourth finger part 94, and the fifth finger part 95 are placed on the palm of the hand. It is brought into contact with the portion 97E.
  • an object can be held between the fingertips 91B and 93B. Hold an object by inserting the fingertips of the first finger 91 and third finger 93 into a narrow space that cannot be entered with the second finger 93, fourth finger 94, and fifth finger 95 upright. be able to.
  • the first finger 91 is perpendicular to the hand base 98A, and the second finger 93, third finger 93, fourth finger 94, and fifth finger 95 are tilted.
  • the fingertip portion 93B of the third finger portion 93 is in oblique contact with the first fingertip portion 91B.
  • the hand portion 26 in state 5 is the state that the hand portion 26 should be in when gripping the grip of an electric screwdriver, for example.
  • grip 41 of electric screwdriver 40 is gripped with five fingers.
  • the lever 42 can be pulled by placing the sliding fingertip 92K of the second finger 92 on the lever 42 of the electric screwdriver 40 and moving the sliding fingertip 92K toward the finger base.
  • the hand section 26 in state 5 can use the electric screwdriver 40, for example.
  • FIG. 53 is a diagram showing an example of using the hand section 26 in state 4.
  • a perspective view is shown in FIG. 53(A)
  • a front view is shown in FIG. 53(B).
  • the hand section 26 in state 4 holds a regular octagonal cylindrical object 45 between the fingertip section 91B of the first finger section 91 and the fingertip section 93B of the third finger section 93.
  • FIG. 53(B) when the first finger part 91 and the third finger part 93 are perpendicular to the hand base 98A, the fingertip part 91B and the fingertip part 93B are parallel to each other.
  • a rotation axis (X4 axis) for rotating the hand base 98A passes through the center of the space between the fingertips 91B and 93B.
  • the center of this space is also the midpoint between the fingertips of the first finger section 91 and the third finger section 93.
  • the hand section 26 rotates together with the forearm section 25 around the forearm rotation axis (AZ6 axis) of the elbow joint section 28.
  • the hand section 26 cannot rotate around the central axis (X4 axis) of the connecting columnar section 98B.
  • the arm portion 5 can rotate the hand portion 26 around the AZ6 axis (X4 axis).
  • the hand section 26 is directed toward the forearm rotation axis (AZ6 axis). That is, the X4 axis is made to coincide with the AZ6 axis.
  • the hand section 26 is connected to the forearm section 25 so that the X4 axis and the AZ6 axis are on one straight line. Then, the forearm rotation axis (AZ6 axis) becomes the rotation axis (X4 axis) for rotating the hand base 98A. In this state, when the forearm section 25 is rotated around the forearm rotation axis (AZ6 axis) at the elbow joint section 26, the hand section 26 is also rotated around the X4 axis. In this way, the robot 1 can hold and rotate a type of tool, such as a driver, with the hand section 26. As described above, the arm portion 5 has a total of seven rotational degrees of freedom in its joint portions, and can perform various movements including the movement of rotating the hand portion 26.
  • the wrist joint part may be made to have three rotational degrees of freedom that can also rotate around the rotation axis passing through the hand part 26. In that case, even when the hand section 26 is oriented in a direction different from that of the forearm section 25, the driver or the like can be held and rotated with the hand section 26.
  • the wrist joint has three rotational degrees of freedom, the forearm 25 does not need to be able to rotate around the forearm rotation axis at the elbow joint 28.
  • the wrist joint has three rotational degrees of freedom, it is necessary to use a spherical bearing or add a member to rotatably hold the 2-axis gimbal, and also use three links to drive the joint. is necessary.
  • the wrist joint with three rotational degrees of freedom has a more complex structure than the wrist joint 29 with two rotational degrees of freedom.
  • the hand section 26 operates in three modes: finger rotation mode, interval change mode, and slide mode.
  • finger rotation mode the angle between the first finger section 91 and the first finger connecting section 96 can be changed, and the angle between the second finger section 92, the third finger section 93, the fourth finger section 94, and the fifth finger section 95 can be changed.
  • the angle formed by each of them with respect to the second finger connecting portion 97 can be changed independently.
  • interval change mode the interval between the first finger connecting part 96 and the second finger connecting part 97 can be changed. Note that in state 2 shown in FIG. 48, the distance between the first finger connecting portion 96 and the second finger connecting portion 97 cannot be changed.
  • State 2 can be taken when the distance between the first finger connection part 96 and the second finger connection part 97 is the widest.
  • the slide fingertip portion 92K can be moved toward the fingertip side.
  • the operation mode of the hand section 26 and the hand operating device 80 can be easily changed by the operator 90 operating the mode switching pedal 9 with his/her foot. Therefore, the operator 90 can change the operation mode of the hand section 26 and the hand operating device 80 while maintaining a state such as holding an object in the hand section 26. Operation instructions for moving the hand unit 26 other than mode switching are input by the operator 90 using the hand operating device 80.
  • the hand operating device 80 is held in the hand of an operator 90.
  • the hand operating device 80 may be provided with a button, switch, lever, or the like for switching the operation mode. The hand operating device 80 will be explained later.
  • the hand section 26 that can be used in multiple operation modes can be considered a hybrid robot hand that has multiple functions.
  • the hand section 26 has a simple structure with only seven movable parts.
  • the hand portion 26 can be used in many ways, such as holding an object in many variations, using a tool, and performing actions such as shoveling snow with the four fingers.
  • the hand section 26 can perform many tasks that are equivalent to or similar to those performed by humans. It is possible to set the hand section 26, hand operating device 80, and control calculation device as a set and use only this set. A set of the hand unit 26, the hand operating device 80, and the control calculation device constitutes a robot hand system that operates the robot hand.
  • the hand section 26 can grip objects in various forms.
  • an object can be held between the first finger section 91 and the third finger section 93.
  • the first finger part 91, the second finger part 92, the third finger part 93, the fourth finger part 94, and the fifth finger part 95 can hold an object.
  • the rotational moment acting on the object is dispersed and received by the five fingers, and the object can be stably grasped.
  • the reaction force against the rotational moment can be received by the five fingers.
  • first finger section 91 By appropriately bending the first finger section 91, second finger section 92, third finger section 93, fourth finger section 94, and fifth finger section 95, it is possible to hold an object in a way suitable for the shape of the object. .
  • a normal manipulator can only grasp an object with two fingers, but the hand section 26 can grasp an object with two to five fingers. Even objects that do not have a flat surface can be held by rotating the five fingers appropriately according to the shape of the object.
  • the operator 90 determines the angle at which the fingers should be bent, and the five finger sections, the first finger connection section 96 and the second finger connection section are adjusted so that the operator 90 manipulates the hand section 26 to obtain an appropriate shape. 97. Since the number of fingers used when holding an object and the angle of each finger can be changed according to the object, the variety of objects that the hand section 26 can hold is greatly expanded.
  • the second finger portion 92 which corresponds to the index finger, has a sliding fingertip portion 92K that allows the fingertip to bend inward and move toward the base of the finger.
  • the electric screwdriver, water nozzle, etc. can be easily operated by gripping the electric screwdriver, water nozzle, etc. with five fingers, hooking the slide fingertip portion 92K to the lever and pulling (moving toward the fingertip side).
  • the lever etc. may have any shape as long as the slide fingertip portion 92K can be hung thereon.
  • the inventors are not aware of any other robot hand or manipulator that can operate electric screwdrivers, water nozzles, etc., and can hold objects in various forms.
  • FIG. 54 is a perspective view of the operating device 3 in a used state. In FIG. 54, an operator 90 is also illustrated.
  • FIG. 55 is a perspective view of the operating device 3. In FIG. 55, the operator 90 is not shown.
  • the operating device 3 includes a display device 4, a body input device 8, a mode switching pedal 9, a foot operation input device 10 (not shown), and a control calculation device 60.
  • the display device 4 displays an image taken by the on-site camera 2, a model image that is an image of a three-dimensional model of the robot 1 and the surrounding environment viewed from a viewpoint specified by the operator 90, and the like.
  • the control calculation device 60 has a function of generating an image to be displayed on the display device 4.
  • the display device 4 may be a display device capable of stereoscopic display.
  • Stereoscopic display refers to displaying so that it looks three-dimensional.
  • Stereoscopic display devices and other types of display devices may also be used together.
  • the upper body input device 8 is a device for inputting operation instructions for operating the left and right arms 5 and the left and right hands 26 of the robot 1.
  • the mode switching pedal 9 is used by the operator 90 to input switching of the mode in which the hand section 26 operates.
  • the mode switching pedal 9R when the operator 90 takes a posture facing the upper body input device 8, the one on the right side of the operator 90 is called a mode switching pedal 9R , and the one on the left side is called a mode switching pedal 9L . It is called.
  • the operator 90 depresses the mode switching pedal 9R with his right foot and the mode switching pedal 9L with his left foot.
  • the foot operation input device 10 is operated by the operator 90 with his or her feet in order to operate the vehicle section 1W and the humanoid section 1H that does not include the arm section 5.
  • the foot operation input device 10 is similar to that described in Japanese Patent Application No. 2020-57275 (filing date: March 27, 2020). The foot operation input device 10 will not be described in this specification.
  • Japanese Patent Application No. 2020-57275 was published as Japanese Patent Application Publication No. 2021-49633 on April 1, 2021. The contents of Japanese Patent Application No. 2020-57275 are incorporated into the present application by reference.
  • the upper body input device 8 is similar to that described in the international patent application PCT/JP2021/045527 (filed date: December 10, 2021).
  • PCT/JP2021/045527 is an application that claims priority to Japanese Patent Application No. 2020-205183 (filing date: December 10, 2020). The contents of PCT/JP2021/045527 are incorporated into this application by reference.
  • the upper body input device 8 includes arm operating devices 50 R and 50 L , hand operating devices 80 R and 80 L , and a support frame 51.
  • the operator 90 operates the right arm portion 5 using the arm operating device 50R .
  • the left arm portion 5 is operated using the arm operating device 50L .
  • the right hand portion 26 is operated by the hand operating device 80R .
  • the left hand section 26 is operated by the hand operating device 80L .
  • the support frame 51 arranges the arm operating devices 50 R and 50 L at predetermined positions.
  • the upper end of the arm operating device 50R is connected to the right side of the support frame 51.
  • the upper end of the arm operating device 50L is connected to the left side of the support frame 51.
  • the support frame 51 arranges the upper ends of the arm operating devices 50 R and 50 L in front of the operator 90 sitting on the chair at a position slightly lower than the chest.
  • the hand operating device 80R is connected to the tip of the arm operating device 50R .
  • the hand operating device 80L is connected to the tip of the arm operating device 50L .
  • the control calculation device 60 controls the right arm portion 5 based on the operation instruction input from the right arm operation device 50R , and controls the left arm portion 5 based on the operation instruction input from the left arm operation device 50L . Control 5.
  • the control calculation device 60 controls the right hand section 26 based on the operation instruction input from the right hand operation device 80R , and controls the left hand section 26 based on the operation instruction input from the left hand operation device 80L . 26.
  • the arm operating device 50 uses a mechanical angle input device that is operated by the operator 90 with his arm and hand to change the angle of each measurement joint.
  • the joints that the arm operating device 50 has are called measurement joints. Therefore, stable operation of the arm portion 5 (robot arm) of the robot 1 is possible without depending on the habits of the operator 90 or the like.
  • the driving time may be limited by battery capacity or the like. Further, in the acceleration sensor, a minute angular difference may occur due to drift or the like.
  • the arm operating device 50 mechanically inputs the angle of each measured joint by the operator 90 and controls each joint of the robot 1 based on the angle data, so the arm can be operated stably even when operating for a long time. Can operate part 5.
  • the arm operating device 50 has a function of maintaining (locking) the angle of each measurement joint. If maintaining the posture of the arm operating device 50 that corresponds to the posture that the arm 5 should take is a burden on the muscles of the operator 90, the angle maintaining mechanism (locking mechanism) of each measurement joint of the arm operating device 50 may be (mechanism) is turned on. By doing so, the operator 90 can rest his arms and the like. Since the arm operating device 50 has joint degrees of freedom of a total of seven degrees of freedom similar to a human, the operator 90 can move the arm operating device 50 and control the arm portion 5 with the same feeling as moving his own arm. The arm operating device 50 can reduce the burden on the operator 90 in operating the arm section 5 compared to the conventional art.
  • a switch (lock switch) for determining whether to activate the locking mechanism of the arm operating device 50 is provided in the hand operating device 80.
  • a lock switch included in the hand operating device 80R locks and unlocks the arm operating device 50R .
  • a lock switch included in the hand operating device 80L locks and unlocks the arm operating device 50L .
  • By operating the lock switch of either hand operating device 80 R or 80 L both arm operating devices 50 R or 50 L may be locked and unlocked.
  • the hand operating device 80 may be lockable. Locking the hand operating device 80 means that no operating instructions are generated even if the joystick moves.
  • a lock switch for locking the hand operating device 80 may be provided on the hand operating device 80 or may be provided separately from the hand operating device 80. When the hand operating device 80 is provided with a lock switch for locking the hand operating device 80, only the lock switch can be operated even when the hand operating device 80 is locked.
  • the lock switch uniformly switches the arm operating device 50 between a locked state in which the measurement joints of the shoulder, elbow, and wrist are locked so that they do not move, and an unlocked state in which they are not locked. In the locked state, the angles of the measurement joints of the arm operating device 50 do not change. In the unlocked state, the angle of each measurement joint of the arm operating device 50 can be changed.
  • the lock switch may be provided separately from the hand operating device 80. The lock switch may be operated by the operator 90 with his/her foot.
  • FIG. 56 is a perspective view of the hand operating device 80L operated by the operator 90 with his left hand to move the left hand portion 26L .
  • 57 and 58 are perspective views of the hand operating device 80L seen from another direction. In the figure, the vicinity of the lower end of the arm operating device 50L is also illustrated.
  • the 56 to 58 also show a UVW coordinate system, which is an orthogonal coordinate system with the hand operating device 80 as a reference.
  • the U axis is an axis in the thickness direction of the hand operating device 80.
  • the side where the operator 90's hand is located is the positive direction of the U axis.
  • the V-axis is an axis of the hand operating device 80 in the front-rear direction.
  • the positive direction of the V-axis is from the front to the back.
  • the W axis is an axis in the height direction of the hand operating device 80.
  • the positive direction of the W axis is from the bottom to the top.
  • the hand operating device 80 includes a first joystick 81 , a second joystick 82 , a third joystick 83 , a fourth joystick 84 , a fifth joystick 85 , a main body portion 86 , and a hand attachment portion 87 .
  • the first joystick 81, the second joystick 82, the third joystick 83, the fourth joystick 84, and the fifth joystick 85 are the first finger 91, the second finger 92, the third finger 93, and They correspond to the fourth finger section 94 and the fifth finger section 95, respectively.
  • the main body portion 86 is a portion that is held by the operator 90.
  • the hand mounting portion 87 is provided on the outer main surface of the main body portion 86 (on the back side of the operator 90's hand). By putting the operator's hand into the hand attachment part 87, the main body part 86 will not be separated from the operator's hand even if the operator 90 is not holding the main body part 86.
  • the main body portion 86 is approximately rectangular when viewed from the front, and approximately pentagonal when viewed from the side, with one side of a quadrilateral bent at a little less than 30 degrees in the middle.
  • five joysticks are arranged at positions where they can be easily operated with five fingers of a human hand.
  • the operator 90 operates the first joystick 81 with his or her thumb.
  • Operate the second joystick 82 with your index finger.
  • Operate the fifth joystick 85 with your little finger.
  • the finger rotation mode when the first joystick 81 is operated, the first finger portion 91 moves.
  • the operator 90 switches the operation mode of the hand section 26 and the hand operating device 80 using the mode switching pedals 9 R and 9 L.
  • the hand unit 26 and the hand operating device 80 operate in the switched operation mode.
  • the left and right hand sections 26 operate in the same operation mode.
  • the hand operating device 80R is operated, the right hand section 26 moves.
  • the hand operating device 80L is operated, the left hand section 26 moves.
  • the left and right hand sections 26 can be operated in the finger rotation mode by operating the hand operating devices 80 R and 80 L.
  • the left and right hand sections 26 can be operated in the interval change mode by operating the hand operating devices 80R and 80L .
  • the left and right hand sections 26 can be operated in the slide mode by operating the hand operating devices 80R , 80L .
  • the left and right hand sections 26 can be operated in the finger rotation mode by operating the hand operating devices 80 R and 80 L.
  • operating the joystick rotates the corresponding finger.
  • the fingers do not rotate.
  • the operator 90 tilts the joystick until the finger rotates to the intended angle, and releases the finger from the joystick when the intended angle is reached.
  • the operator 90 can easily set each finger at an intended angle.
  • the finger portion corresponding to the joystick rotates at a monotonically non-decreasing predetermined speed depending on the speed at which the joystick is moved. For example, when the first joystick 81 is moved quickly, the first finger portion 91 moves quickly. When the first joystick 81 is moved slowly, the first finger section 91 moves slowly. The same applies to finger parts corresponding to other joysticks. Therefore, the operator 90 can easily rotate the finger whether he or she wants to move it quickly or to move it accurately to an intended angle.
  • the first joystick 81 controls the first finger connection section 96 and the second finger connection section 97.
  • the first finger connection section 96 and the second finger connection section 97 are connected in a direction that increases the distance between them.
  • the portion 96 and the second finger connecting portion 97 move.
  • the first finger connection becomes narrower in the direction in which the distance between the first finger connection part 96 and the second finger connection part 97 narrows.
  • the portion 96 and the second finger connecting portion 97 move. However, if the rotation angle of the first finger portion 91 is less than or equal to the threshold value, the first finger connection portion 96 and the second finger connection portion 97 do not move even if the first joystick 81 is operated in the interval change mode.
  • the rotation angle of the first finger portion 91 is set to zero degrees when the first finger portion 91 becomes parallel to the upper surface of the first frame 96B.
  • the threshold value is appropriately determined, for example, 3 degrees.
  • the distance between the first finger connecting portion 96 and the second finger connecting portion 97 reaches the maximum possible range, the distance does not widen any further.
  • the distance between the first finger connecting portion 96 and the second finger connecting portion 97 becomes the minimum possible range, the distance does not narrow any further. If at least one of the first finger part 91 and the third finger part 93 is not perpendicular to the hand base 98A, once the first finger part 91 and the third finger part 93 come into contact, the distance becomes narrower. It is not possible.
  • the spacing can be changed and the fingers can be rotated further. After changing the spacing, the fingers can be rotated to further change the spacing. Note that in a situation where the first finger part 91 and the third finger part 93 are in contact with each other, the first finger part 91 and the third finger part 93 can only rotate or move toward the side where the contact is canceled.
  • the operator 90 operates according to the following procedure, for example.
  • the angle of the first finger portion 91 with respect to the first finger connecting portion 96 is set to the intended angle.
  • the angles of the second finger section 92, third finger section 93, fourth finger section 94, and fifth finger section 95 with respect to the second finger connection section 97 are set to intended angles.
  • the first finger connecting part 96 and the second finger connecting part 97 are moved until the distance between the first finger connecting part 96 and the second finger connecting part 97 becomes the intended distance.
  • the angles of the first finger 91, second finger 92, third finger 93, fourth finger 94, and fifth finger 95 are finely adjusted. If necessary, the distance between the first finger connecting portion 96 and the second finger connecting portion 97 is further changed in the distance changing mode.
  • Each of the second finger portion 92 , third finger portion 93 , fourth finger portion 94 , and fifth finger portion 95 is set at an intended angle with respect to the second finger connecting portion 97 .
  • the hand section 26 can grip an object with two fingers, a first finger section 91 and a third finger section 93. Further, the hand section 26 can grip an object with three to five fingers including at least one of the second finger section 92, the fourth finger section 94, and the fifth finger section 95. .
  • the second joystick 82 controls the movement of the slide fingertip portion 92K.
  • the sliding fingertip portion 92K moves toward the palm portion 97E.
  • the sliding fingertip portion 92K moves away from the palm portion 97E.
  • the slide fingertip portion 92K moves.
  • the speed at which the slide fingertip portion 92K moves changes.
  • the speed at which the slide fingertip portion 92K moves is determined to be monotonous and non-decreasing.
  • the hand section 26 can also operate in the slide mode, so by grasping the grip of an electric screwdriver, water nozzle, etc. and hooking the slide fingertip section 92K onto the operating lever, move the slide fingertip section 92K toward the fingertip side. , can operate electric screwdrivers, water spray nozzles, etc. When operating an electric screwdriver, water nozzle, etc., it is not necessary to replace the hand portion 26.
  • the burden on the operator 90 can be reduced compared to the conventional method.
  • Using a joystick makes it easier to keep your grip on an object.
  • the fingers can maintain their current state. Therefore, the operator 90 can rest his hands and nerves during operation.
  • the operator 90 can perform operations such as gripping an object or letting go of an object, as if it were an ON/OFF control.
  • the robot 1 is placed in a storage position and moved to a work location.
  • the user operates the body position changing mechanism 1B and the arm section 5 to move the hand section 26 close to the object to be worked on.
  • the robot 1 is made to handle an object by operating the hand section 26 and the arm section 5.
  • the robot 1 is placed in the storage position and moved to the next work place. In this way, work is carried out at all locations. After all the work is completed, the robot 1 is placed in a storage position and moved to a storage location.
  • the robot 1 can handle the object while avoiding the obstacle by appropriately bending the two arm sections 5. Even if the obstacle is located between the object to be manipulated and the robot 1 on the side closer to the arm connection part 19, the object can be handled while avoiding the obstacle. In that case, the robot 1 can handle the object by orienting the direction in which the body section 12 extends in a direction where there are no obstacles and by directing the two arm sections 5 toward the object. Note that the object needs to be within the reach of the arm 5 with the body 12 facing in a direction free of obstacles.
  • the height of the robot 1 can be lowered than before in a posture (storage posture) in which the height of the robot is lowered.
  • a posture storage posture
  • the torso support arm and the torso support part need to be arranged so as to overlap vertically, making it difficult to reduce the height of the robot.
  • the robot and robot operation system according to the present disclosure even in a situation where an unexpected event occurs, the robot can be operated remotely based on the operator's judgment so that the robot can take actions suitable for the situation.
  • an operator can give flexible work instructions in various environments that cannot be handled by autonomous robots that apply artificial intelligence technology.
  • the robot operation system according to the present disclosure can reduce the burden on the operator of operating the robot compared to the conventional method.
  • the robot and robot operation system according to the present disclosure can be applied to a wide variety of applications. For example, the following can be considered. ⁇ Fields where human substitutes are required for dangerous work that involves human life. ⁇ Fields that require labor saving. such as the nursing care field and the agricultural field. ⁇ Remote operation business field that aims to realize telework.
  • Robot operation systems can also be used in the field of guarding important facilities. It can be applied to 24-hour security at unmanned facilities such as unmanned communication stations and unmanned stations. When necessary, the quality of work in monitoring and security services can be improved, for example, by remotely controlling robots by humans.
  • the robot may be a robot that moves on regular wheels instead of crawlers.
  • the vehicle part may be of any type as long as it moves by rotating the wheels.
  • the humanoid part may be of any type as long as it has two arms and a body part to which the two arms are connected.
  • Any robot may be used as long as it has a vehicle part, a body part, and a body position changing mechanism that supports the body part so that the position of the body part with respect to the vehicle part can be changed.
  • the body position changing mechanism may not include a telescopic mechanism. If the telescopic mechanism is not provided, the first link supports the body.
  • the torso position changing mechanism includes: an elevation angle changing mechanism that supports the body part so as to be able to change an elevation angle that is an angle between a vehicle part reference plane that is a plane perpendicular to an azimuth axis that intersects the vehicle part and a direction in which the body part extends; , an azimuth angle changing mechanism provided in the vehicle section that supports the elevation angle changing mechanism rotatably around the azimuth axis;
  • the elevation angle changing mechanism is a base supported by the azimuth angle changing mechanism; a moving part that moves along a straight line parallel to the vehicle reference plane above the base; a first link whose lower end is rotatably connected to the moving part, extends in a direction forming the elevation angle with the vehicle part reference plane, and supports the body part;
  • a minimum elevation angle value which is a minimum value of the elevation angle in each state in which the moving unit moves through a movable range, which is a movable range of the moving unit, becomes a predetermined minimum elevation angle tolerance value or less, a maximum elevation angle value that is a maximum value of the elevation angle in each state in which the moving unit moves in the movable range is equal to or greater than a predetermined maximum elevation angle tolerance;
  • a minimum robot height value is determined, which is a minimum value of the robot height, which is a distance of a predetermined portion of the body portion from the vehicle portion reference plane in each state in which the movable portion moves within the movable range.
  • a robot described in Appendix 1 or Appendix 2 that falls below the robot high tolerance value. (Additional note 4) The distance between the connection point of the first link with the moving part and the connection point of the second link, and the second link so that the minimum robot height is minimized in the determined movable range. the distance between the connection point with the first link and the link lower end supporter in The robot described in Appendix 3, in which the distance between the robots is determined. (Appendix 5) a torso support part that supports the torso part and is supported by the first link; The robot according to any one of Supplementary Notes 1 to 4, further comprising a telescoping mechanism that allows the body support portion to move along the first link.
  • (Appendix 6) a camera provided on the upper side of the body part;
  • the head is supported by the body so as to be rotatable around a head rotation axis that intersects with the body, and has a line-of-sight elevation angle that is the angle formed by the body reference plane perpendicular to the head rotation axis and the optical axis of the camera.
  • a neck for changeably supporting the camera;
  • a head rotation part that connects the neck part to the body part so as to be rotatable around the head rotation axis;
  • the robot according to any one of Supplementary Notes 1 to 5, further comprising a line-of-sight elevation angle changing unit that connects the camera to the neck so that the line-of-sight elevation angle can be changed.
  • the line-of-sight elevation angle changing unit changes the line-of-sight elevation angle by a second angle that has the same absolute value as the first angle but a different sign.
  • the robot according to supplementary note 6, comprising a line-of-sight interlocking control unit that controls.
  • (Appendix 8) two arm base joints connecting each of the two arms to the body so as to be rotatable around an arm base rotation axis parallel to the body reference plane;
  • the elevation angle changing mechanism changes the elevation angle by a first angle, a second angle having the same absolute value and a different sign as the first angle is changed between the direction in which the arm portion extends and the body portion.
  • an arm interlocking control unit that controls the arm base joint so as to change an arm base rotation angle that is an angle formed with a reference plane.
  • Appendix 9 two arm base joints connecting each of the two arms to the body so as to be rotatable around an arm base rotation axis parallel to the body reference plane;
  • the elevation angle changing mechanism changes the elevation angle by the first angle
  • the arm base rotation angle is the angle between the direction in which the arm extends and the torso reference plane by the second angle.
  • the robot according to appendix 7 further comprising an arm interlocking control section that controls the arm base joint section so as to change the arm joint section.

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