WO2024180798A1

WO2024180798A1 - Robot

Info

Publication number: WO2024180798A1
Application number: PCT/JP2023/032231
Authority: WO
Inventors: 進宮▲崎▼
Original assignee: 本田技研工業株式会社
Priority date: 2023-02-28
Filing date: 2023-09-04
Publication date: 2024-09-06

Abstract

This robot (1), which performs an underwater operation, is provided with a body upper part (3) located at the top of a robot body (2), and a body lower part (4) located at the bottom of the robot body (2). The body upper part (3) has a greater buoyancy relative to the body lower part (4), and the body lower part (4) has a greater weight relative to the body upper part (3). The body upper part (3) and the body lower part (4) are connected by a plurality of links (5L, 5R, 6L, 6R) and a connecting part (7). The connecting part (7) comprises joints (8A, 8P) that can rotate in the pitch and roll directions of the robot body (2).

Description

robot

The present invention relates to a robot.
The present invention claims priority based on Japanese Patent Application No. 2023-029174, filed on February 28, 2023, the contents of which are incorporated herein by reference.

For example, Non-Patent Document 1 discloses a robot equipped with a parallel link and two separate floats. The float is divided into two at the top of the robot. In this robot, the attitude of the robot (pitch angle or roll angle) is changed by controlling the movement of the two floats.

However, in a configuration in which the float is divided into two at the top of the robot, there is a high possibility that the float (part of the robot) will be damaged when the robot collides with an obstacle or the like.
Therefore, it is desirable to improve the robustness of robots.

The purpose of this application is to improve the robustness of robots in order to solve the above problems.

As a means for solving the above problems, the present invention has the following configuration.
(1) A robot according to an aspect of the present invention is a robot for operating underwater, comprising an upper body part located on the upper part of the robot body, and a lower body part located on the lower part of the robot body, the upper body part having a greater buoyancy than the lower body part, and the lower body part having a greater weight than the upper body part, the upper body part and the lower body part being connected by a plurality of links and connecting parts, and the connecting parts having joints that can rotate in the pitch and roll directions of the robot body.

(2) In the robot described in (1) above, the multiple links may be arranged parallel to one another.

(3) The robot described in (1) or (2) above may be provided with an actuator for at least one of the joints that can rotate the link in the pitch direction and the roll direction.

(4) In the robot described in any of (1) to (3) above, the upper and lower main bodies may have an outer shape that is rectangular or rhombus in a plan view, and the multiple links may extend between the four upper corners of the upper main body and the four lower corners of the lower main body.

(5) The robot described in any one of (1) to (4) above may further include a manipulator and a power supply system, the manipulator being provided on one longitudinal side of the lower part of the main body, and the power supply system being provided on the other longitudinal side of the lower part of the main body.

According to the robot described in (1) above of the present invention, the robot is capable of operating underwater and comprises an upper body part located at the top of the robot body and a lower body part located at the bottom of the robot body, the upper body part has a greater buoyancy than the lower body part and the lower body part is heavier than the upper body part, the upper body part and the lower body part are connected by a plurality of links and connecting parts, and the connecting parts have joints that can rotate in the pitch direction and roll direction of the robot body, thereby achieving the following effects.
Since the robot body is composed of an upper body portion and a lower body portion, the upper and lower portions of the robot body can each be integrally configured, thereby improving the robustness of the robot.
In addition, the posture of the robot body can be changed by moving the joints at the connecting parts, so even if equipment is added to the robot, it does not take time to adjust the static posture.

According to the robot described in (2) above of the present invention, the multiple links are arranged parallel to each other, thereby achieving the following effects.
For example, when the upper and lower parts of the main body are connected by a two-link or trapezoidal four-link mechanism, the upper part of the main body moves in a circular orbit. Therefore, to increase the amount of horizontal movement, it is necessary to set the virtual center of rotation below (far away from) the robot body.
For example, when the upper and lower parts of the main body are connected by an XY slide mechanism, the movement direction of the upper part of the main body is a horizontal direction at a constant height. Therefore, the amount of horizontal movement and the distance between the center of the upper part of the main body and the center of the lower part of the main body (the distance between the two points) are relatively large, making it easier to stabilize the posture. Note that the centers of the upper and lower parts of the main body are used to easily consider the positional changes of the center of buoyancy and the center of gravity of each and the entire body when there are no arms.
In contrast, with this configuration, the upper and lower parts of the main body are connected by a parallel link, so the movement direction of the upper part of the main body is a swinging motion at the top dead center, which is the joint center of the lower part of the parallel link. Furthermore, the upper part of the main body moves while remaining parallel to the lower part of the main body. Therefore, the amount of movement in the horizontal direction is relatively large. This can be achieved with a simple structure, so it is possible to prevent the external size of the robot from becoming too large.

According to the robot described in (3) above of the present invention, by providing at least one of the multiple joints with an actuator capable of rotating the link in the pitch direction and the roll direction, the following effects are achieved.
By driving the actuators, multiple links can be rotated in sync, allowing the robot's posture to be changed easily and smoothly.

According to the robot described in (4) above of the present invention, the upper and lower main bodies have an outer shape that is rectangular or diamond shaped when viewed from above, and the multiple links extend between the upper four corners of the upper main body and the lower four corners of the lower main body, thereby achieving the following effects.
The outer shape of the robot body can be formed by the upper and lower parts of the main body and the multiple links connecting each of the four corners. Therefore, it is easier to make the internal space of the robot body larger than when multiple links extend to connect the four central upper points of the upper part of the main body and the four central lower points of the lower part of the main body. For example, even when equipment or the like is installed in the internal space of the robot body, the degree of freedom in arranging the equipment or the like can be improved. In addition, the multiple links connecting the upper and lower parts of the main body and each of the four corners can protect the above-mentioned equipment or the like from external factors.

According to the robot described in (5) above of the present invention, the robot further includes a manipulator and a power supply system, the manipulator being provided on one longitudinal side of the lower part of the main body, and the power supply system being provided on the other longitudinal side of the lower part of the main body, thereby achieving the following effects.
For example, the manipulator and power supply system are relatively heavy items among the equipment of a robot, etc. Therefore, if the manipulator and power supply system are all provided on one side in the longitudinal direction of the lower part of the main body, there is a high possibility that the weight balance of the robot will become unstable.
In contrast, with this configuration, the manipulator, which is a heavy object, and the power supply system are provided on opposite sides of the lower body in the longitudinal direction, making it easier to stabilize the weight balance of the robot.

FIG. 1 is a perspective view of a robot according to a first embodiment. FIG. 2 is a front view of the robot according to the first embodiment. FIG. 2 is a left side view of the robot according to the first embodiment. FIG. 4 is a left side view including a cross section taken along line IV-IV of FIG. 2. FIG. 5 is an enlarged view of a portion V in FIG. 4 . FIG. 6 is an enlarged view of a portion VI in FIG. 4 . FIG. 7 is a top view including a cross section taken along line VII-VII of FIG. FIG. 8 is an enlarged view of a portion VIII of FIG. 7 . FIG. 8 is an enlarged view of a portion IX in FIG. 7 . 4 is a bottom view including the XX cross section of FIG. 3. 4A to 4C are explanatory diagrams of a rolling motion of the robot according to the first embodiment. 5A to 5C are explanatory diagrams of a pitching motion of the robot according to the first embodiment. 4A to 4C are diagrams illustrating posture changes of the robot according to the first embodiment. 13A to 13C are explanatory diagrams of posture changes of a two-link robot according to a second embodiment. FIG. 11 is an explanatory diagram of a trapezoidal four-link robot according to a second embodiment. 13A to 13C are explanatory diagrams of posture changes of a robot according to a third embodiment.

Below, an embodiment of the present invention will be described with reference to the drawings. In the following description, an example of a robot will be described using a robot (ROV; Remote Operating Vehicle) that operates underwater (an example of underwater) by remote control via wired communication. In the following description, expressions indicating relative or absolute arrangements, such as "parallel," "orthogonal," "center," and "coaxial," do not only mean such an arrangement strictly, but also include a state in which there is a relative displacement with a tolerance or an angle or distance that provides the same function. In the drawings used in the following description, the scale of each component has been appropriately changed to make each component large enough to be recognized.

First Embodiment
<ROBOT>
1 to 3, 7 and 10, the robot 1 includes a robot body 2 which is a main body portion of the robot 1. The robot body 2 includes an upper body part 3 located at the top of the robot body 2, and a lower body part 4 located at the bottom of the robot body 2.

In the following description, the direction in which the robot 1 moves forward is referred to as "forward", the opposite direction to forward is referred to as "backward", the right hand relative to the direction in which the robot 1 moves forward is referred to as the "right side", the left hand relative to the direction in which the robot 1 moves forward is referred to as the "left side", and the left-right direction of the robot 1 is referred to as the "width direction". The up-down direction of the robot 1 is a direction perpendicular to the front-back direction and width direction of the robot 1. The upper side of the robot 1 is the side on which the upper body 3 is located in the up-down direction of the robot 1. The lower side of the robot 1 is the opposite side to the side on which the upper body 3 is located in the up-down direction of the robot 1 (the side on which the lower part of the robot 1 is located). In the example shown in the figure, the robot 1 is disposed horizontally. The up-down direction of the robot 1, the upper side of the robot 1, and the lower side of the robot 1 correspond to the up-down direction (vertical direction), the vertical upper side, and the vertical lower side when the robot 1 is disposed horizontally. In the following description, the symbol L may be added to the end of the elements on the left side of the robot 1, and the symbol R may be added to the end of the elements on the right side.

<Upper part of main unit>
The upper body part 3 is located at the top of the robot body 2. The upper body part 3 has a relatively large buoyancy compared to the lower body part 4. The upper body part 3 has a rectangular outer shape in a plan view. For example, the upper body part 3 may be provided with ballast and buoyancy material to keep the robot 1 horizontal. For example, the installation manner of the ballast and buoyancy material can be changed according to the design specifications.

The upper main body 3 is provided with an upper propulsion unit 10 (hereinafter also referred to as "upper thruster 10") for moving the robot 1 in the vertical direction. One upper thruster 10 is disposed in the center of the front-rear direction and the center of the width direction of the upper main body 3. Note that the number and locations of the upper thrusters 10 are not limited to the above and can be changed according to the design specifications.

The upper thruster 10 is equipped with a propeller that rotates around an axis above and below the upper body 3. For example, the upper thruster 10 moves the robot 1 upward (ascends) by rotating the propeller in one direction around the axis. For example, the upper thruster 10 moves the robot 1 downward (descends) by rotating the propeller in the other direction around the axis.

The upper body 3 is provided with an attachment section 11 for power lines for sending power to the components of the robot 1 and signal lines for sending signals (not shown). A through hole 12 through which the power line or signal line passes is formed on the front or rear side of the attachment section 11 in the upper body 3. In the example shown in the figure, the attachment section 11 is provided at the rear of the upper body 3. Note that the installation location of the attachment section 11 is not limited to the above and can be changed according to the design specifications. Although not shown, a posture detection sensor (e.g., a gyro sensor) that detects the posture of the robot 1 (rotation and direction in the front-rear, width, and up-down directions, etc.) may be provided near the attachment section 11. For example, the posture detection sensor may be provided in the area where the arm is attached.

<Bottom of unit>
The lower body part 4 is located at the bottom of the robot body 2. The lower body part 4 is relatively heavy compared to the upper body part 3, and has a small buoyancy (volume). The lower body part 4 has a rectangular outer shape in a plan view. For example, the lower body part 4 may be provided with a weight to keep the robot 1 horizontal and to make the lower body part heavier than the upper body part 3. For example, the manner in which the weight is provided can be changed according to the design specifications.

The lower body portion 4 is provided with a frame 20 having a rectangular outer shape in a plan view. The frame 20 has a rectangular outer shape with its long sides in the front-to-rear direction. The frame 20 has an opening 21 formed in a portion that overlaps with the upper thruster 10 in a top view. A bracket 22 with its long sides in the width direction is provided on the front lower portion of the frame 20.

The lower body 4 is provided with multiple

lower propulsion units

23L, 23R, 24L, 24R for moving the robot 1 in the forward/backward and width directions. The multiple

lower propulsion units

23L, 23R, 24L, 24R are a pair of left and right

front thrusters

23L, 23R for moving the robot 1 forward or width direction, and a pair of left and right

rear thrusters

24L, 24R for moving the robot 1 backward or width direction (corresponding to four horizontal thrusters). For example, the four thrusters may be used simultaneously to move the robot 1 forward/backward and left/right. For example, if one side rotates forward/backward or width direction, the other side may rotate in the reverse direction. The number and installation locations of the

lower propulsion units

23L, 23R, 24L, 24R and the operation method are not limited to the above and can be changed according to the design specifications.

The

front thrusters

23L, 23R are provided at the front of the frame 20. The

front thrusters

23L, 23R are provided with propellers that rotate around an axis that is inclined so as to be positioned outward in the width direction as it moves from the front to the rear of the lower body 4. For example, the

front thrusters

23L, 23R move the robot 1 forward by rotating the propeller in one direction around the axis. For example, the robot 1 moves in one width direction (diagonal direction) by rotating one propeller of the pair of left and right

front thrusters

23L, 23R. For example, the robot 1 moves in the other width direction (diagonal direction) by rotating the other propeller of the pair of left and right

front thrusters

23L, 23R. For example, the front and rear thrusters may be used simultaneously to move in the width direction. The

front thrusters

23L, 23R may be provided so as to be rotatable around an axis on the top and bottom of the lower body 4. For example, the installation manner of the

front thrusters

23L, 23R may be changed according to the design specifications.

The

rear thrusters

24L, 24R are provided at the rear of the frame 20. The

rear thrusters

24L, 24R are provided with propellers that rotate around an axis that is inclined so as to be positioned outward in the width direction as it moves from the rear of the lower body 4 to the front. For example, the

rear thrusters

24L, 24R rotate the propellers in one direction around the axis to move the robot 1 backward. For example, the robot 1 moves in one width direction (diagonal direction) by rotating one propeller of the pair of left and right

rear thrusters

24L, 24R. For example, the robot 1 moves in the other width direction (diagonal direction) by rotating the other propeller of the pair of left and right

rear thrusters

24L, 24R. For example, the front and rear thrusters may be used simultaneously to move the robot 1 in the width direction. The

rear thrusters

24L, 24R may be provided so as to be rotatable around an axis on the top and bottom of the lower body 4. For example, the installation manner of the

rear thrusters

24L, 24R may be changed according to the design specifications.

The lower body 4 is provided with

thruster drive units

25L, 25R for applying drive force (rotational force for each propeller) to each

thruster

10, 23L, 23R, 24L, 24R. In the example shown in the figure, a pair of

thruster drive units

25L, 25R are provided on the left and right sides at the front of the frame 20. Note that the number and locations of the

thruster drive units

25L, 25R are not limited to the above and can be changed according to the design specifications.

Although not shown, a thruster control device that controls the

thruster drive units

25L, 25R may be provided at the front of the frame 20. For example, the thruster control device may be built into the

thruster drive units

25L, 25R. Note that the location of the thruster control device is not limited to the above and can be changed according to the design specifications.

A camera 26 is provided in the lower body 4. In the example shown in the figure, one camera 26 is provided in the front of the frame 20 between the pair of left and right

thruster drive units

25L, 25R. Note that the number and locations of the cameras 26 are not limited to the above and can be changed according to the design specifications.

A pair of left and

right manipulators

30L, 30R are provided on the lower body 4. The

manipulators

30L, 30R each include an arm 31 and a hand 32.
The arm 31 is formed of a combination of joints and links. A base end of the arm 31 is connected to an outer end in the width direction of the bracket 22. The base end of the arm 31 is connected to the frame 20 via the bracket 22. For example, the arm 31 has six rotation axes. Note that the rotation axes of the arm 31 are not limited to those described above and can be changed according to design specifications.

The hand 32 is provided at the tip of the arm 31 (the part of the arm 31 opposite the base end). The hand 32 is capable of grasping an object. In the example shown in the figure, the hand 32 has three fingers. Note that the number of fingers is not limited to the above and can be changed according to the design specifications.

In the example shown in the figure, the

manipulators

30L, 30R are U-shaped with the widthwise inner side open when viewed from the front, but this is not limited to this. For example, when the robot 1 moves in the front-rear direction, the

manipulators

30L, 30R may be linear along the front-rear direction. This reduces resistance when the robot 1 moves in the front-rear direction, allowing for smooth movement.

A position detection sensor 35 is provided on the lower body 4 to detect the position of the robot 1 (e.g., the distance from the seabed to the robot 1). For example, the position detection sensor 35 is an ultrasonic sensor. In the example shown in the figure, one position detection sensor 35 is provided between the pair of left and

right manipulators

30L, 30R at the front of the frame 20. Note that the number and locations of the position detection sensors 35 are not limited to the above and can be changed according to design specifications.

Power supply systems

36, 37 are provided in the lower body 4. In the example shown in the figure, the

power supply systems

36, 37 are each provided at the rear of the frame 20. Note that the number and locations of the

power supply systems

36, 37 are not limited to the above and can be changed according to the design specifications.

The lower body portion 4 may be provided with a weight installation area 38 for installing weights (see FIG. 7). In the example shown, the weight installation area 38 is provided at the rear of the frame 20, behind the power supply system 37. The location of the weight installation area 38 can be changed according to the design specifications.

As described above, the robot 1 is equipped with

manipulators

30L, 30R and

power supply systems

36, 37. The

manipulators

30L, 30R are provided at the front of the lower main body 4 (an example of one longitudinal side). The

power supply systems

36, 37 are provided at the rear of the lower main body 4 (an example of the other longitudinal side). The

manipulators

30L, 30R are provided on the opposite side of the lower main body 4 in the longitudinal direction from the location where the

power supply systems

36, 37 are installed, via the opening 21.

<Link>
The upper body 3 and the lower body 4 are connected to each other by a plurality of

links

5L, 5R, 6L, and 6R at a connecting portion 7. The

links

5L, 5R, 6L, and 6R are arranged parallel to each other. The

links

5L, 5R, 6L, and 6R extend between the four upper corners of the upper body 3 and the four lower corners of the lower body 4.

The

multiple links

5L, 5R, 6L, 6R are a pair of left and right front links 5L, 5R and a pair of left and right

rear links

6L, 6R, for a total of four links. The upper body 3 and lower body 4 are connected in parallel by the four

links

5L, 5R, 6L, 6R. The number and locations of the

links

5L, 5R, 6L, 6R are not limited to the above and can be changed according to the design specifications.

<Joints>
The connecting unit 7 includes

joints

8A, 8P that are rotatable in the pitch and roll directions of the robot body 2. A total of eight

joints

8A, 8P are provided, one each at the upper and lower ends of the four

links

5L, 5R, 6L, 6R. Note that the number of

joints

8A, 8P provided is not limited to the above and can be changed according to design specifications.

The robot 1 is provided with an actuator 9 capable of rotating the

links

5L, 5R, 6L, and 6R in the pitch and roll directions at one joint 8A (one example of at least one joint) of the eight

joints

8A and 8P. The actuator 9 is provided at the joint 8A at the lower end of the left rear link 6L of the four

links

5L, 5R, 6L, and 6R. No actuator 9 is provided at any other joints 8P other than the joint 8A at the lower end of the left rear link 6L. The joint 8A at which the actuator 9 is installed is not limited to the above and can be changed according to the design specifications.

Hereinafter, the joint 8A in which the actuator 9 is provided will be referred to as the "active joint 8A," and the joint 8P that is moved by the movement of the active joint 8A (the joint 8P in which the actuator 9 is not provided) will be referred to as the "passive joint 8P." The robot 1 has one active joint 8A and seven passive joints 8P.

<Active joints>
Referring to FIGS. 4, 6, 7, and 9 together, the active joint 8A is provided with, as the actuator 9, a pitching drive device 40 for rotating the

links

5L, 5R, 6L, and 6R in the pitch direction, and a rolling drive device 50 for rotating the

links

5L, 5R, 6L, and 6R in the roll direction.

The pitching drive device 40 includes a pitching motor 41 that rotates the

links

5L, 5R, 6L, and 6R in the pitch direction, a driven pulley 42 that reduces the rotational speed of the pitching motor 41 to a predetermined speed or less, a reducer 43 that further reduces the rotation reduced by the driven pulley 42, and a case 44 that houses the pitching motor 41 and the driven pulley 42. Although not shown, a pitching control device that controls the pitching motor 41 may be provided in the case 44. The location of the pitching control device is not limited to the above and can be changed according to design specifications.

The pitching motor 41 is housed in the upper part of the case 44. The driven pulley 42 is equipped with a drive pulley on the output shaft of the pitching motor 41. For example, the driven pulley 42 is connected to the output shaft of the pitching motor 41 via a belt pulley mechanism. The reducer 43 is housed in the lower part of the case 44. The reducer 43 is arranged coaxially with the shaft of the driven pulley 42. One end of the reducer 43 is connected to the driven pulley 42. The case 44 may be constructed by connecting case halves 45A and 45B divided in the width direction with fastening members such as bolts 46.

The other end of the reducer 43 is connected to the lower end of the left rear link 6L. The rotational force transmitted to the reducer 43 is transmitted to the lower end of the left rear link 6L. This causes the left rear link 6L to move around the axis of the reducer 43.

The rolling drive device 50 includes a rolling motor 51 that rotates the

links

5L, 5R, 6L, and 6R in the roll direction, a driven pulley 52 that reduces the rotational speed of the rolling motor 51 to a predetermined speed or less, a reducer 53 that further reduces the rotation reduced by the driven pulley 52, and a case 54 that houses the rolling motor 51 and the driven pulley 52. Although not shown, a rolling control device that controls the rolling motor 51 may be provided in the case 54. The installation location of the rolling control device is not limited to the above and can be changed according to the design specifications.

The rolling motor 51 is housed in the upper part of the case 54. The driven pulley 52 is equipped with a drive pulley on the output shaft of the rolling motor 51. For example, the driven pulley 52 is connected to the output shaft of the rolling motor 51 via a belt pulley mechanism. The reducer 53 is housed in a part below the rolling motor 51 at the rear of the case 54. The reducer 53 is arranged coaxially with the shaft of the driven pulley 52. The case 54 may be constructed by connecting case halves 55A and 55B divided into front and rear parts with fastening members such as bolts 56.

One end of the reducer 53 is connected to the driven pulley 52. The other end of the reducer 53 is connected to the lower end of the left rear link 6L via the case 54 of the pitching drive device 40. The rotational force transmitted to the reducer 53 is transmitted to the lower end of the left rear link 6L via the case 54 of the pitching drive device 40. As a result, the left rear link 6L moves around the axis of the reducer 53.

<Passive joints>
The following describes the configuration of the seven passive joints 8P provided at the lower end of the left front link 5L. The passive joints 8P provided at other parts have the same configuration as the passive joints 8P provided at the lower end of the left front link 5L, so detailed descriptions are omitted.
4, 5, 7, and 8, the passive joint 8P is provided with a mechanism that can tilt in any direction by combining two orthogonal axes, that is, a so-called gimbal mechanism 60. Note that the passive joint 8P may be provided with a mechanism other than the gimbal mechanism 60. For example, the installation mode of the gimbal mechanism 60 can be changed according to design specifications.

The gimbal mechanism 60 includes a gimbal body 61, which is the main body of the gimbal mechanism 60; a pitching shaft member 62 for rotating the

links

5L, 5R, 6L, and 6R in the pitch direction; a rolling shaft member 63 for rotating the

links

5L, 5R, 6L, and 6R in the roll direction; a support member 64 for supporting the rolling shaft member 63; and a number of

plain bearings

65 and 66.

The gimbal body 61 supports the pitching shaft member 62 and the rolling shaft member 63 via multiple

plain bearings

65, 66. The pitching shaft member 62 is supported at the widthwise end of the gimbal body 61 via plain bearings 65. The widthwise outer end of the pitching shaft member 62 is connected to the lower end of the left front link 5L via a fastening member such as a bolt 67. A space is formed in the widthwise center of the pitching shaft member 62 through which the rolling shaft member 63 passes.

The rolling shaft member 63 is supported at the front-rear end of the gimbal body 61 via a sliding bearing 66. The front-rear end of the rolling shaft member 63 is connected to a support member 64 via a fastening member such as a bolt 68. One front-rear end of the rolling shaft member 63 is connected to one end of the support member 64 via a fastening member such as a bolt and a connecting member 69 (see FIG. 5). In the example shown, the support member 64 has a U-shape (concave shape) in cross section. The support member 64 at the lower end of the left front link 5L is fixed to the upper surface of the left front part of the frame 20.

<An example of a robot's rolling motion>
FIG. 11 is an explanatory diagram of the rolling motion of the robot according to the first embodiment.
11, for example, when the output shaft of the rolling motor 51 in the active joint 8A is rotated in one direction around its axis (around the axis in the front-rear direction), the multiple driven joints 8P rotate synchronously around their axis (around the axis in the front-rear direction). This causes the robot body 2 to rotate in the roll direction. In the example shown in the figure, the robot body 2 rotates clockwise when viewed from the front (an example of one direction in the roll direction).

<An example of a robot's pitching motion>
FIG. 12 is an explanatory diagram of the pitching motion of the robot according to the first embodiment.
12, for example, when the output shaft of the pitching motor 41 in the active joint 8A is rotated in one direction about its axis (about its axis in the width direction), the multiple driven joints 8P rotate synchronously about their axis (about their axis in the width direction). This causes the robot main body 2 to rotate in the pitch direction. In the example shown in the figure, the robot main body 2 rotates counterclockwise when viewed from the left side (an example of one direction in the pitch direction).

Although not shown, it is also possible to rotate the output shaft of the rolling motor 51 in the active joint 8A in one direction about its axis (around the axis in the front-rear direction) and to rotate the output shaft of the pitching motor 41 in the active joint 8A in one direction about its axis (around the axis in the width direction). In this case, multiple driven joints 8P rotate synchronously about their axis (around the axis in the front-rear direction), and multiple driven joints 8P rotate synchronously about their axis (around the axis in the width direction). This causes the robot body 2 to rotate in both the roll and pitch directions.

<An example of a robot's posture change>
FIG. 13 is an explanatory diagram of a change in posture of the robot according to the first embodiment.
Also referring to Figure 13, it is preferable that the center of buoyancy P1 and the center of gravity P2 of the robot 1 do not coincide. In the example shown in the figure, the center of buoyancy P1 and the center of gravity P2 of the robot 1 are spaced apart from each other in the up-down direction. In the initial stable posture, the arms 31 of the

manipulators

30L, 30R are in a retracted state. In the initial stable posture (the posture at the bottom of the figure) in the example shown in the figure, the outer shapes of the upper body 3, the lower body 4 and the

multiple links

5L, 5R, 6L, 6R are rectangular with their long sides in the front-to-rear direction when viewed from the right side.

After the arm 31 is extended, the arm 31 is stretched from the initial stable posture. After the arm 31 is extended, the center of gravity P2 of the robot 1 shifts, causing the posture of the robot 1 to collapse. In the example shown in the figure, after the arm 31 is extended (the posture in the middle of the figure), the center of gravity P2 of the robot 1 shifts in the direction of arrow A. Therefore, when viewed from the right side, the external shapes of the upper body 3, lower body 4 and

multiple links

5L, 5R, 6L, 6R are rectangular with their long sides inclined relative to the front-to-rear direction (downward from the front).

From this state, the pitching motor 41 in the active joint 8A is driven. In the example shown (top of the figure), when the output shaft of the pitching motor 41 in the active joint 8A is rotated in one direction around its axis (around the axis in the width direction), the

multiple links

5L, 5R, 6L, and 6R rotate in the direction of arrow B. This causes the center of buoyancy P1 of the robot 1 to shift in the direction of arrow C. This causes the robot main body 2 to rotate in the direction of arrow D (an example of one direction in the pitch direction) when viewed from the right side. As a result, the posture of the robot 1 can be made horizontal with the arm 31 extended.

<Action and effect>
As described above, the robot 1 of the above embodiment is a robot 1 that operates underwater, and comprises an upper body part 3 located at the top of the robot body 2, and a lower body part 4 located at the bottom of the robot body 2, with the upper body part 3 having a greater buoyancy than the lower body part 4, and the lower body part 4 being greater in weight than the upper body part 3, and the upper body part 3 and the lower body part 4 being connected by a plurality of

links

5L, 5R, 6L, 6R and a connecting part 7, and the connecting part 7 has

joints

8A, 8P that can rotate in the pitch and roll directions of the robot body 2.
According to this configuration, since the robot body 2 is composed of the upper body portion 3 and the lower body portion 4, the upper and lower portions of the robot body 2 can each be integrally configured. Therefore, the robustness of the robot 1 can be improved.
In addition, the posture of the robot body 2 can be changed by the movement of the

joints

8A, 8P of the connecting part 7. Therefore, even when equipment is added to the robot 1, it does not take time to adjust the inclination of the static posture.
For example, if a robot has an arm, extending the arm will shift the center of gravity of the entire robot body, causing the robot body to tilt. Also, if the arm is operated dynamically, the tilt of the robot body will not be stable, making remote control difficult. In response to this, this configuration can solve the above problem by controlling the attitude of the robot body 2. Furthermore, it can also handle changes in attitude due to tides and changes in the center of gravity due to the addition of equipment.
For example, even a typical remote-controlled ROV with a hovering function has the following problems. The posture changes dynamically due to changes in the overall center of gravity caused by arm movement, thrust from the thrusters during movement, and currents. When stopping to perform arm operations, the operator must wait until the posture stabilizes or adjust it with the thrusters. Ultimately, this depends on the skill of the operator and the time it takes to wait for stability, which can make operation difficult. In contrast, with this configuration, the robot body 2 stabilizes the posture, allowing the operator to concentrate on arm operations and shortening the time required.

In the above embodiment, the

multiple links

5L, 5R, 6L, and 6R are arranged parallel to each other.
For example, when the upper body 3 and the lower body 4 are connected by a two-link or trapezoidal four-link mechanism, the movement direction of the upper body 3 is a circular orbit. Therefore, in order to increase the amount of horizontal movement, it is necessary to set the virtual center of rotation below (far away from) the robot body 2.
For example, when the upper body 3 and the lower body 4 are connected by an XY slide mechanism, the movement direction of the upper body 3 is the horizontal direction at a constant height. Therefore, the amount of horizontal movement and the distance between the center of the upper body 3 and the center of the lower body 4 (the distance between the two points) are relatively large, making it easy to stabilize the posture.
In contrast, according to the present configuration, the upper body 3 and the lower body 4 are connected by the

parallel links

5L, 5R, 6L, and 6R, so that the movement direction of the upper body 3 is a swinging motion at the top dead center, which is the joint center of the lower parallel links. Furthermore, the upper body 3 moves while remaining parallel to the lower body 4. Therefore, the amount of movement in the horizontal direction is relatively large. Because this can be achieved with a simple structure, it is possible to prevent the external size of the robot 1 from becoming too large.

In the above embodiment, one joint 8A among the

multiple joints

8A and 8P is provided with the actuator 9 capable of rotating the

links

5L, 5R, 6L, and 6R in the pitch and roll directions.
According to this configuration, the

multiple links

5L, 5R, 6L, and 6R can be rotated synchronously by driving the actuator 9. Therefore, the posture of the robot 1 can be changed easily and smoothly.
In addition, the number of actuators 9 installed can be minimized, which is advantageous in terms of reducing the number of parts and costs.

In the above embodiment, the upper body 3 and the lower body 4 have a rectangular outer shape when viewed in a plane, and the

multiple links

5L, 5R, 6L, and 6R extend between the upper four corners of the upper body 3 and the lower four corners of the lower body 4.
According to this configuration, the outer shape of the robot body 2 can be formed by the upper body 3, the lower body 4, and the

multiple links

5L, 5R, 6L, and 6R that connect the four corners. Therefore, it is easier to make the internal space of the robot body 2 wider than when the

multiple links

5L, 5R, 6L, and 6R extend to connect the four central points on the upper side of the upper body 3 and the four central points on the lower side of the lower body 4. For example, even when equipment or the like is installed in the internal space of the robot body 2, the degree of freedom in arranging the equipment or the like can be improved. In addition, the upper body 3, the lower body 4, and the

multiple links

5L, 5R, 6L, and 6R that connect the four corners can protect the above-mentioned equipment or the like from external factors.

In the above embodiment, the robot 1 further includes

manipulators

30L, 30R and

power supply systems

36, 37, the

manipulators

30L, 30R being provided on one longitudinal side of the lower main body 4, and the

power supply systems

36, 37 being provided on the other longitudinal side of the lower main body 4.
For example, the

manipulators

30L, 30R and the

power supply systems

36, 37 are relatively heavy among the devices of the robot 1. Therefore, if the

manipulators

30L, 30R and the

power supply systems

36, 37 are all provided on one side in the longitudinal direction of the lower main body 4, there is a high possibility that the weight balance of the robot 1 will become unstable.
In contrast, according to the present configuration, the

manipulators

30L, 30R and the

power supply systems

36, 37, which are heavy objects, are provided on opposite sides in the longitudinal direction of the lower main body 4. This makes it easier to stabilize the weight balance of the robot 1.

Second Embodiment
In the first embodiment, an example was described in which the upper body 3 and the lower body 4 are connected in parallel by a plurality of

parallel links

5L, 5R, 6L, and 6R, but this is not limited to this. As shown in Figures 14 and 15, in the second embodiment, the configuration of

mechanisms

210A and 210B that connect the upper body 3 and the lower body 4 is different from that of the first embodiment. In the following description, the same reference numerals are used for configurations similar to those of the first embodiment, and detailed description thereof will be omitted.

Fig. 14 is an explanatory diagram of a posture change of a two-link robot 201A according to the second embodiment. Fig. 15 is an explanatory diagram of a trapezoidal four-link robot 201B according to the second embodiment.
14 and 15, for example, the upper body 3 and the lower body 4 may be connected by a two-link or trapezoidal four-

link mechanism

210A, 210B. In this case, the movement direction of the upper body 3 is a circular orbit. For example, in the case of a trapezoidal link, the virtual center of rotation VC may be set below (far away from) the robot body 2 so that the upper and lower parts move in a substantially parallel state.

Third Embodiment
In the first embodiment, an example was described in which the upper body 3 and the lower body 4 are connected in parallel by a plurality of

parallel links

5L, 5R, 6L, and 6R, but this is not limited thereto. As shown in Fig. 16, in the third embodiment, the aspect of the mechanism 310 that connects the upper body 3 and the lower body 4 is different from that of the first embodiment. In the following description, the same reference numerals are used for the same components as in the first embodiment, and detailed description thereof will be omitted.

FIG. 16 is an explanatory diagram of a change in posture of the robot 301 according to the third embodiment.
16, for example, the upper body 3 and the lower body 4 may be connected by an XY slide mechanism 310. In this case, the movement direction of the upper body 3 is the horizontal direction at a constant height. Therefore, the amount of horizontal movement and the distance between the center of the upper body 3 and the center of the lower body 4 (the distance between the two points) are relatively large, making it easy to stabilize the posture.

<Modification>
In the above embodiment, an example in which the links are arranged parallel to each other has been described, but the present invention is not limited to this. For example, the links may be arranged so as to cross each other. For example, the arrangement of the links may be changed according to the design specifications.

In the above embodiment, an example has been described in which one of the multiple joints is provided with an actuator capable of rotating the link in the pitch and roll directions, but this is not limited to the above. For example, two or more of the multiple joints may be provided with actuators. For example, it is sufficient that at least one of the multiple joints is provided with an actuator. For example, the installation mode of the actuator can be changed according to the design specifications.

In the above embodiment, the upper and lower main body parts have an outer shape that is rectangular in plan view, but this is not limited to the above. For example, the upper and lower main body parts may have an outer shape that is diamond-shaped in plan view. For example, the outer shape of the upper and lower main body parts in plan view may be a polygon other than a rectangle, or may be a circle. For example, the outer shape of the upper and lower main body parts in plan view may be changed according to the design specifications.

In the above embodiment, an example has been described in which the multiple links extend between the four upper corners of the upper part of the main body and the four lower corners of the lower part of the main body, but this is not limited to this. For example, the multiple links may extend between the four upper central points of the upper part of the main body and the four lower central points of the lower part of the main body. For example, the installation mode of the multiple links can be changed according to the design specifications.

In the above embodiment, the robot further includes a manipulator and a power supply system, and the manipulator is provided on one longitudinal side of the lower part of the main body, and the power supply system is provided on the other longitudinal side of the lower part of the main body. However, this is not limited to this. For example, the manipulator and the power supply system may all be provided on one longitudinal side of the lower part of the main body. For example, the installation manner of the manipulator and the power supply system can be changed according to the design specifications.

In addition, a program for implementing some or all of the functions of the control device in the present invention (for example, a thruster control device, a pitching control device, and a rolling control device) may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read into a computer system and executed to perform all or part of the processing performed by the control device. Note that the term "computer system" here includes hardware such as an OS and peripheral devices. The term "computer system" also includes a WWW system equipped with a homepage providing environment (or display environment). The term "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs, and CD-ROMs, and storage devices such as hard disks built into computer systems. The term "computer-readable recording medium" also includes those that hold a program for a certain period of time, such as volatile memory (RAM) inside a computer system that becomes a server or client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line.

The above program may also be transmitted from a computer system in which the program is stored in a storage device or the like to another computer system via a transmission medium, or by transmission waves in the transmission medium. Here, the "transmission medium" that transmits the program refers to a medium that has the function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. The above program may also be one that realizes part of the above-mentioned functions. Furthermore, it may be a so-called difference file (difference program) that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

In the above embodiment, a robot that is operated underwater by remote control via wired communication has been described as an example of a robot, but this is not limiting. For example, the robot may be remotely controlled via wireless communication. For example, the robot may be applied when operating in places other than underwater, such as in rivers or lakes. For example, the application location of the robot can be changed according to the design specifications.

　Although the above describes the form for carrying out the present invention using an embodiment, the present invention is in no way limited to such an embodiment, and various modifications and substitutions can be made without departing from the spirit of the present invention.

1, 201A, 201B, 301 Robot 2 Robot body 3 Upper body 4

Lower body

5L, 5R Front link (link)
6L, 6R Rear link (link)
7

Connection part

8A, 8P Joint 9

Actuator

30L,

30R Manipulator

36, 37 Power supply system

Claims

A robot that performs operations underwater,
a main body upper portion located at the top of the robot main body;
a main body lower portion located at a lower portion of the robot main body,
The upper part of the main body has a relatively large buoyancy relative to the lower part of the main body,
The lower part of the main body is relatively heavy compared to the upper part of the main body,
The upper body portion and the lower body portion are connected by a plurality of links and connecting portions,
The connecting portion includes a joint that is rotatable in a pitch direction and a roll direction of the robot body.
robot.
The plurality of links are arranged parallel to each other.
The robot according to claim 1.
an actuator for rotating the link in the pitch direction and the roll direction, the actuator being provided in at least one of the plurality of joints;
The robot according to claim 1 or 2.
The upper body portion and the lower body portion have a rectangular or rhombic shape in a plan view,
The plurality of links extend between the four upper corners of the upper portion of the main body and the four lower corners of the lower portion of the main body.
The robot according to claim 1 or 2.
Further comprising a manipulator and a power supply system;
The manipulator is provided on one side in a longitudinal direction of the lower portion of the main body,
The power supply system is provided on the other side in the longitudinal direction of the lower part of the main body.
The robot according to claim 1 or 2.