JP2015174175A - Joint structure of humanoid robot - Google Patents

Joint structure of humanoid robot Download PDF

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JP2015174175A
JP2015174175A JP2014051882A JP2014051882A JP2015174175A JP 2015174175 A JP2015174175 A JP 2015174175A JP 2014051882 A JP2014051882 A JP 2014051882A JP 2014051882 A JP2014051882 A JP 2014051882A JP 2015174175 A JP2015174175 A JP 2015174175A
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frame
arm
trunk
wiring
wiring guide
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JP6135562B2 (en
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将弘 土井
Masahiro Doi
将弘 土井
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Toyota Motor Corp
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Toyota Motor Corp
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Abstract

PROBLEM TO BE SOLVED: To provide more compact joint structure of a humanoid robot.SOLUTION: The joint structure of a humanoid robot related to the present invention includes: an arm region frame; a trunk frame; and a joint region which connects the arm region frame and the trunk frame to each other. The arm region frame includes an arm region wiring guide as a guide member which has a hole at a position adjacent to the joint region and has a substantially cylindrical shape having a hyperboloid. The trunk region includes a trunk wiring guide which has a cylindrical shape having a narrowed central portion, and is so located as to be communicated with a hole 121 of the arm region wiring guide 12 when the arm region frame is positioned along the trunk region wiring guide. A wiring is so located as to penetrate the hole of the arm wiring guide and a hole of the trunk wiring guide.

Description

本発明は人型ロボットの関節構造に関する。   The present invention relates to a joint structure of a humanoid robot.

近年、人型のロボットの開発が盛んに行われている。人型ロボットの関節部分は、より人間の動きに近づけることが求められる。   In recent years, humanoid robots have been actively developed. The joint portion of the humanoid robot is required to be closer to human movement.

特許文献１には、ロボットの関節構造であって、第１のアクチュエータと第２のアクチュエータとの伸縮運動により、第１部材に対して回転出力軸を軸線の周りに相対的に回転させる関節構造が記載されている。   Patent Document 1 discloses a joint structure for a robot, in which a rotation output shaft is rotated relative to a first member around an axis by expansion and contraction of a first actuator and a second actuator. Is described.

特開２０１３−１１４９６号公報JP 2013-11696 A

ところで、人型ロボットの肩関節を通る配線は、人型ロボットの手首や肘を稼働させるための配線を含むために太くなる。また、肩関節は、複数の関節が直交し、また可動域も非常に大きいため、配線を遊ばせるための広い空間が必要となる。配線を遊ばせるための空間は、肩関節のフレームとカバーとの間に設けられるために、ロボットのコンパクト化の大きな妨げとなっている。   By the way, the wiring passing through the shoulder joint of the humanoid robot becomes thick because it includes wiring for operating the wrist and elbow of the humanoid robot. In addition, since a plurality of joints are orthogonal to each other and the movable range is very large, a wide space for playing wiring is necessary. Since the space for allowing the wiring to play is provided between the frame of the shoulder joint and the cover, this greatly hinders the downsizing of the robot.

本発明はこのような問題点を解決するためになされたものであり、よりコンパクトな人型ロボットの関節構造を提供することを課題とする。   The present invention has been made to solve such problems, and an object thereof is to provide a more compact joint structure of a humanoid robot.

本発明にかかる人型ロボットの関節構造は、腕部フレームと、胴体フレームと、前記腕部フレームと胴体フレームとを接続する関節部とを具備し、前記腕部フレームは、関節部に隣接する位置に穴を有する略筒状の形状であって、筒形状が双曲面を有するガイド部材である腕部配線ガイドを備え、前記胴部フレームは、中央部分が細くなっている円筒形状であり、前記腕部フレームが、胴部配線ガイドに沿った位置にあるとき、腕部配線ガイド１２の穴１２１と連通する位置になるように配置された、胴部配線ガイドを備え、前記腕部配線ガイドの穴と、前記胴部配線ガイドの穴と、を貫通するように配線が配置されたものである。これにより、フレームの内部に配線の遊びを収納することができる。   A joint structure of a humanoid robot according to the present invention includes an arm part frame, a torso frame, and a joint part that connects the arm part frame and the torso frame, and the arm part frame is adjacent to the joint part. It is a substantially cylindrical shape having a hole at a position, and is provided with an arm part wiring guide that is a guide member having a hyperboloid, and the trunk frame has a cylindrical shape with a thin central portion, A body wiring guide disposed so as to be in a position communicating with the hole 121 of the arm wiring guide 12 when the arm frame is positioned along the body wiring guide; The wiring is arranged so as to pass through the hole and the hole of the trunk portion wiring guide. Thereby, the play of wiring can be accommodated in the inside of a frame.

本発明によれば、よりコンパクトな人型ロボットの関節構造を提供することができる。   According to the present invention, a more compact joint structure of a humanoid robot can be provided.

本実施の形態にかかる関節部分を示す図である。It is a figure which shows the joint part concerning this Embodiment. 本実施の形態にかかる関節部分を示す斜視図である。It is a perspective view which shows the joint part concerning this Embodiment. 本実施の形態にかかる関節部分を示す斜視図である。It is a perspective view which shows the joint part concerning this Embodiment.

実施の形態１
以下、図面を参照して本発明の実施の形態について説明する。図１は、本実施の形態にかかる関節部分１を示す図である。関節部分１は、腕部フレーム１０と、関節部２０と、胴体フレーム３０と、を有する。 Embodiment 1
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing a joint portion 1 according to the present embodiment. The joint portion 1 includes an arm part frame 10, a joint part 20, and a body frame 30.

腕部フレーム１０は、関節部２０に連結された腕本体部１１と、腕部配線ガイド１２と、を有する。腕部配線ガイド１２は、穴１２１を有する略筒状の形状であるが、筒形状が双曲面を有するガイド部材である。腕部配線ガイド１２は、関節部２０隣接して設けられる。   The arm part frame 10 includes an arm main body part 11 connected to the joint part 20 and an arm part wiring guide 12. The arm wiring guide 12 is a substantially cylindrical shape having a hole 121, but the cylindrical shape is a guide member having a hyperboloid. The arm part wiring guide 12 is provided adjacent to the joint part 20.

関節部２０は、腕部フレーム１０と胴体フレーム３０とを連結し、胴体部３０に対して、相対的に腕部フレーム１０を、ピッチ・ロール・ヨーの３つの軸に対して回動可能に連結する。   The joint part 20 connects the arm part frame 10 and the body frame 30 so that the arm part frame 10 can rotate relative to the body part 30 with respect to three axes of pitch, roll, and yaw. Link.

胴体フレーム３０は、人型ロボット（不図示）の胴体部のフレームである。胴体フレーム３０は、胴本体部３１と、胴部配線ガイド３２とを有する。胴部配線ガイド３２は、略円筒形の形状であり、円筒の高さの中央部分が細くなっている。胴部配線ガイド３２は、腕部フレーム１０が、胴部配線ガイド２０に沿った位置である基準位置（図２（ａ）参照）にある場合に、腕部配線ガイド１２の穴１２１と、胴部配線ガイド３２の穴３２１とが連通する位置になるように配置されている。   The body frame 30 is a frame of a body part of a humanoid robot (not shown). The body frame 30 includes a body main body 31 and a body wiring guide 32. The trunk | drum wiring guide 32 is a substantially cylindrical shape, and the center part of the height of a cylinder is thin. When the arm part frame 10 is in a reference position (see FIG. 2A) that is a position along the trunk part wiring guide 20, the trunk part wiring guide 32 is connected to the hole 121 of the arm part wiring guide 12 and the trunk part guide. It arrange | positions so that it may become a position which the hole 321 of the partial wiring guide 32 communicates.

図２は、本実施の形態にかかる関節部分１を示す斜視図である。図２（ａ）は腕部フレーム１０が基準位置にある場合を示し、図２（ｂ）は腕部フレーム１０がロール方向に駆動している状態、図２（ｃ）は腕部フレーム１０がロール・ピッチ方向に駆動している状態、図２（ｄ）は腕部フレーム１０がロール・ピッチ・ヨー方向に駆動している状態を示す。   FIG. 2 is a perspective view showing the joint portion 1 according to the present embodiment. 2A shows a case where the arm frame 10 is at the reference position, FIG. 2B shows a state in which the arm frame 10 is driven in the roll direction, and FIG. FIG. 2D shows a state in which the arm part frame 10 is driven in the roll / pitch / yaw direction.

図２に示されるように、配線３５は、腕部フレーム１０の先端部分に設けられた固定器具１３を通り、腕部配線ガイド１２の穴部１２１と、胴部配線ガイド３２の穴３２１を通るように配線される。また、配線３５は、図示されていない配線を胴体側に引くテンション機構により、たるみが出ないように、胴体部方向に引っ張られている。   As shown in FIG. 2, the wiring 35 passes through the fixing device 13 provided at the distal end portion of the arm portion frame 10, and passes through the hole portion 121 of the arm portion wiring guide 12 and the hole 321 of the trunk portion wiring guide 32. Are wired as follows. Further, the wiring 35 is pulled in the direction of the trunk so as not to sag by a tension mechanism that pulls a wiring (not shown) toward the trunk.

図３（ａ）は、関節部分１をロール軸周りに腕部フレーム１０を大きく回転させた状態を示す図である。図３（ｂ）は、関節部分１の断面を示す図である。図に示されるように、関節部分１の配線はコンパクトに収まっていることが確認できる。   FIG. 3A is a diagram illustrating a state in which the arm portion frame 10 is largely rotated around the roll axis of the joint portion 1. FIG. 3B is a view showing a cross section of the joint portion 1. As shown in the figure, it can be confirmed that the wiring of the joint portion 1 is compactly accommodated.

本実施の形態にかかるロボットの関節部分１は、腕部配線ガイド１２と胴部配線ガイド３２とを備え、ガイド部分に配線を貫通することにより、フレーム内部に配線の遊びを収納することができ、よりコンパクトな関節部分１を構成することができる。また、胴体部分方向に配線３５を引くテンション機構を設けることにより、さらに配線３５のたるみを減らすことができる。また更に、配線３５を滑らかに引き込むことが可能であるため、関節のトルク制御に与える影響をより低減することができる。   The joint portion 1 of the robot according to the present embodiment includes the arm portion wiring guide 12 and the trunk portion wiring guide 32, and wiring can be stored in the frame by penetrating the wiring through the guide portion. A more compact joint portion 1 can be formed. Further, by providing a tension mechanism that pulls the wiring 35 in the body part direction, the slackness of the wiring 35 can be further reduced. Furthermore, since the wiring 35 can be pulled in smoothly, the influence on the torque control of the joint can be further reduced.

なお、本発明は上記実施の形態に限られたものではない。   The present invention is not limited to the above embodiment.

１ 関節部分
１０ 腕部フレーム
１１ 腕本体部
１２ 腕部配線ガイド
１２１ 穴
１３ 固定器具１３
２０ 関節部
３０ 胴体フレーム
３１ 胴本体部
３２ 胴部配線ガイド
３２１ 穴 DESCRIPTION OF SYMBOLS 1 Joint part 10 Arm part frame 11 Arm main-body part 12 Arm part wiring guide 121 Hole 13 Fixing instrument 13
20 joint part 30 trunk frame 31 trunk body part 32 trunk part wiring guide 321 hole

Claims (1)

腕部フレームと、
胴体フレームと、
前記腕部フレームと胴体フレームとを接続する関節部とを具備し、
前記腕部フレームは、関節部に隣接する位置に穴を有する略筒状の形状であって、筒形状が双曲面を有するガイド部材である腕部配線ガイドを備え、
前記胴部フレームは、中央部分が細くなっている円筒形状であり、前記腕部フレームが、胴部配線ガイドに沿った位置にあるとき、腕部配線ガイド１２の穴１２１と連通する位置になるように配置された、胴部配線ガイドを備え、
前記腕部配線ガイドの穴と、前記胴部配線ガイドの穴と、を貫通するように配線が配置された、ロボットの関節構造。 An arm frame,
A fuselage frame,
A joint for connecting the arm frame and the torso frame;
The arm part frame has a substantially cylindrical shape having a hole adjacent to the joint part, and includes an arm part wiring guide that is a guide member having a hyperboloid.
The trunk frame has a cylindrical shape with a thin central portion, and when the arm frame is positioned along the trunk wiring guide, the trunk frame is in a position communicating with the hole 121 of the arm wiring guide 12. Equipped with a trunk wiring guide,
The joint structure of the robot, wherein the wiring is disposed so as to penetrate the hole of the arm part wiring guide and the hole of the trunk part wiring guide.
JP2014051882A 2014-03-14 2014-03-14 Joint structure of humanoid robot Expired - Fee Related JP6135562B2 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023202463A1 (en) * 2022-04-20 2023-10-26 华为技术有限公司 Device and movable apparatus

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003225883A (en) * 2002-01-31 2003-08-12 Denso Wave Inc Joint part structure for robot
JP2008149411A (en) * 2006-12-18 2008-07-03 Toyota Motor Corp Robot, cable holding structure for robot, and parts for holding cable
JP2009220219A (en) * 2008-03-17 2009-10-01 Ihi Corp Cable retention device for robot arm
JP2013086199A (en) * 2011-10-14 2013-05-13 Seiko Epson Corp Robot
JP2013111716A (en) * 2011-11-30 2013-06-10 Kawasaki Heavy Ind Ltd Multijoint type industrial robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003225883A (en) * 2002-01-31 2003-08-12 Denso Wave Inc Joint part structure for robot
JP2008149411A (en) * 2006-12-18 2008-07-03 Toyota Motor Corp Robot, cable holding structure for robot, and parts for holding cable
JP2009220219A (en) * 2008-03-17 2009-10-01 Ihi Corp Cable retention device for robot arm
JP2013086199A (en) * 2011-10-14 2013-05-13 Seiko Epson Corp Robot
JP2013111716A (en) * 2011-11-30 2013-06-10 Kawasaki Heavy Ind Ltd Multijoint type industrial robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023202463A1 (en) * 2022-04-20 2023-10-26 华为技术有限公司 Device and movable apparatus

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