JP5573993B1 - Obstacle avoidance leading robot - Google Patents

Obstacle avoidance leading robot Download PDF

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JP5573993B1
JP5573993B1 JP2013047987A JP2013047987A JP5573993B1 JP 5573993 B1 JP5573993 B1 JP 5573993B1 JP 2013047987 A JP2013047987 A JP 2013047987A JP 2013047987 A JP2013047987 A JP 2013047987A JP 5573993 B1 JP5573993 B1 JP 5573993B1
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force
front wheel
obstacle avoidance
main leg
wheel
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JP2014171729A (en
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功幸 嵯峨山
博教 小川
和輝 飛田
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NSK Ltd
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Priority to PCT/JP2014/001016 priority patent/WO2014141602A1/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Robotics (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)

Abstract

【課題】簡便な装置構成、簡便な制御、軽量化を図った障害物回避先導ロボットを提供する。
【解決手段】主脚２、主脚の下部に連結した自走式の前輪部３と、下部に後輪７が連結されて主脚の立ち上がりを補助する補助脚６を備え、使用者が主脚の上部に設けた把持部２１を把持して押し力、引き力などの外力を作用することで、使用者の歩行補助を行いながら移動する障害物回避先導ロボット１である。前輪部３は、駆動部から正方向の回転力、或いは逆方向の回転力が伝達される２台の全方向移動車輪１１Ａ，１１Ｂを備え、これら２台の全方向移動車輪は互いに近接した位置に配置されているとともに、前輪部が移動する際に、主脚を介して使用者から外力、或いはモーメントが伝達されることで移動するようにした。
【選択図】図１An obstacle avoidance leading robot is provided which has a simple device configuration, simple control, and light weight.
A main leg 2, a self-propelled front wheel part 3 connected to the lower part of the main leg, and an auxiliary leg 6 to which a rear wheel 7 is connected to the lower part to assist the rising of the main leg are provided. It is an obstacle avoidance leading robot 1 that moves while performing walking assistance of a user by gripping a gripping portion 21 provided on an upper portion of a leg and applying external force such as pushing force and pulling force. The front wheel unit 3 includes two omnidirectional moving wheels 11A and 11B to which a forward rotational force or a reverse rotational force is transmitted from the drive unit, and these two omnidirectional wheels are close to each other. In addition, when the front wheel portion is moved, it is moved by an external force or a moment transmitted from the user via the main leg.
[Selection] Figure 1

Description

本発明は、移動経路上の障害物を回避しながら使用者を先導することが可能な障害物回避先導ロボットに関する。   The present invention relates to an obstacle avoidance leading robot capable of leading a user while avoiding an obstacle on a moving path.

使用者の移動経路上に存在している障害物を検出する装置として、例えば特許文献１に示すように、歩行補助として使用する杖に、障害物を検出するセンサーを設けたものが知られている。
また、この特許文献１の杖の下端に、センサーの情報に基づいて障害物以外の方向に移動可能な全方向移動車輪を組み付けると、障害物を回避した移動経路に歩行者を先導することが可能な障害物回避先導ロボットとなる。
ここで、全方向移動車輪として、例えば特許文献２に示すように、４つの車輪が独立駆動することで全方向に移動可能な装置が知られている。 As an apparatus for detecting an obstacle present on a user's movement route, for example, as shown in Patent Document 1, a cane used as a walking aid is provided with a sensor for detecting an obstacle. Yes.
Moreover, if the omnidirectional moving wheel which can move to directions other than an obstruction based on the information of a sensor is assembled | attached to the lower end of the cane of this patent document 1, a pedestrian will be led to the movement path | route which avoided the obstruction. It becomes a possible obstacle avoidance leading robot.
Here, as an omnidirectional moving wheel, for example, as shown in Patent Document 2, a device that is movable in all directions by independently driving four wheels is known.

特開２００３−９３４５４号公報JP 2003-93454 A 特開２００５−４７３１２号公報JP-A-2005-47312

特許文献２で示した全方向移動車輪は、４つの車輪をそれぞれ独立して駆動する４つの駆動ユニットを必要とし、複雑な装置構成で、複雑な駆動ユニットの駆動制御となるおそれがある。
また、４つの車輪と駆動ユニットとを備えた特許文献２の全方向移動ロボットは重量物であり、障害物回避先導ロボットを、階段や段差などの使用不可能な場所から持ち運ぶのが困難である。
そこで、本発明は、上記従来例の未解決の課題に着目してなされたものであり、簡便な装置構成、簡便な制御とすることでコストの低減化を図るとともに、軽量化を図ることで持ち運びが容易な障害物回避先導ロボットを提供することを目的としている。 The omnidirectional moving wheel shown in Patent Document 2 requires four drive units that independently drive the four wheels, and there is a risk of driving control of the complex drive unit with a complicated device configuration.
Moreover, the omnidirectional mobile robot of Patent Document 2 including four wheels and a drive unit is heavy, and it is difficult to carry the obstacle avoidance leading robot from an unusable place such as a staircase or a step. .
Therefore, the present invention has been made paying attention to the unsolved problems of the above-described conventional example, and by reducing the cost and reducing the weight by adopting a simple device configuration and simple control. The object is to provide an obstacle avoidance leading robot that is easy to carry.

上記目的を達成するために、本発明の一態様に係る障害物回避先導ロボットは、主脚と、この主脚の下部に連結した自走式の前輪部と、下部に後輪が連結されて前記主脚の立ち上がりを補助する補助脚と、を備え、使用者が前記主脚の上部に設けた把持部を把持して押し力、引き力などの外力を作用することで、前記使用者の歩行補助を行いながら移動する障害物回避先導ロボットであって、前記主脚に、ロボット全体を持ち上げる際に使用する把手を設け、前記前輪部は、前後方向に延在するロール回転軸を介して前記主脚の下部に連結されており、前記前輪部は、複数の樽形状の小径輪と、これら複数の小径輪を外周に回転自在に保持する車輪本体とを有し、前記車輪本体は、前記小径輪を当該車輪本体の軸方向である中心線に対して４５度傾けて設置した２台の全方向移動車輪で構成し、これら２台の前記全方向移動車輪は、互いの軸を一致させた状態で近接した位置に配置されており、前記主脚を介して前記使用者から前記外力、或いはモーメントが伝達されることで前記前輪部が移動するようにし、階段や段差などの使用不可能な場所では、前記把手を使用してロボット全体を持ち運ぶようにしたことを特徴とする障害物回避先導ロボットである。 In order to achieve the above object, an obstacle avoidance leading robot according to an aspect of the present invention includes a main leg, a self-propelled front wheel connected to the lower part of the main leg, and a rear wheel connected to the lower part. An auxiliary leg that assists the rise of the main leg, and the user grips a grip portion provided on the upper part of the main leg and applies an external force such as a pushing force and a pulling force to An obstacle avoidance leading robot that moves while assisting walking, the main leg is provided with a handle that is used when lifting the entire robot, and the front wheel part is connected via a roll rotation shaft that extends in the front-rear direction. It is connected to the lower part of the main leg, and the front wheel portion has a plurality of barrel-shaped small-diameter wheels and a wheel body that rotatably holds the plurality of small-diameter wheels on the outer periphery, 4 with respect to the center line which is the axial direction of the said wheel main body. Composed of two omnidirectional wheels set up at an angle each time, these two said omnidirectional wheels is arranged at a position close in a state of being matched to the axis of each other, through the main leg The front wheel is moved by transmitting the external force or moment from the user, and the entire robot is carried using the handle in an unusable place such as a staircase or a step. It is an obstacle avoidance leading robot characterized by that.

また、本発明の一態様に係る障害物回避先導ロボットは、前記前輪部を構成する２台の全方向移動車輪は、２台の駆動部によりそれぞれ回転力が伝達され、前記把持部に、前記使用者から前後左右の力が加わると前記２台の駆動部に力信号を出力する力センサーを設け、前記使用者が前記力センサーに左右方向の力を加えると前記駆動部が２台の前記全方向移動車輪を互いに逆方向に回転させて前記前輪部が左右方向に移動し、前記使用者が前記力センサーに前後方向の力を加えると前記駆動部が２台の前記全方向移動車輪を互いに同一方向に回転させて前記前輪部を前後方向に移動するようにした。
さらに、本発明の一態様に係る障害物回避先導ロボットは、前記主脚側に沿う位置まで移動可能に連結されている。 Further, in the obstacle avoidance leading robot according to one aspect of the present invention , the two omnidirectional moving wheels constituting the front wheel portion are each transmitted with a rotational force by two driving portions, and the gripping portion When a front / rear / right / left force is applied from a user, a force sensor is provided for outputting a force signal to the two drive units, and when the user applies a left / right force to the force sensor, the drive unit includes the two drive units. When the omnidirectional wheel is rotated in the opposite direction to move the front wheel part in the left-right direction, and the user applies a force in the front-rear direction to the force sensor, the drive unit moves the two omnidirectionally-moving wheels. The front wheels are moved in the front-rear direction by rotating in the same direction.
Furthermore, the obstacle avoidance leading robot according to one aspect of the present invention is connected so as to be movable to a position along the main leg side.

本発明に係る障害物回避先導ロボットによれば、前輪部を構成する２台の全方向移動車輪が、互いが近接する位置に配置されているので、互いの地面に接地する地点が左右対称でなくても、前輪部の移動方向性に与える影響を少なくすることができる。
また、本発明は、２台の全方向移動車輪及びこれらを駆動する駆動部を備えた簡便な装置構成であり、軽量化及び簡便な駆動制御で前輪部を全方向に移動することができるので、コストの低減化を図ることができる。
さらに、２台の全方向移動車輪及びこれらを駆動する駆動部しか搭載しておらず軽量化を図っているので、障害物回避先導ロボット１の持ち運びを容易に行うことができる。 According to the obstacle avoidance leading robot according to the present invention, since the two omnidirectional moving wheels constituting the front wheel portion are arranged at positions close to each other, the points of contact with the ground of each other are symmetrical. Even if it is not, the influence on the moving directionality of the front wheel portion can be reduced.
In addition, the present invention is a simple device configuration including two omnidirectionally moving wheels and a drive unit for driving them, and the front wheel part can be moved in all directions with light weight and simple drive control. Cost reduction can be achieved.
Furthermore, since only two omnidirectional wheels and a driving unit for driving these wheels are mounted to reduce the weight, the obstacle avoidance leading robot 1 can be easily carried.

本発明に係る１実施形態の障害物回避先導ロボットを示す正面図である。It is a front view showing an obstacle avoidance leading robot of one embodiment according to the present invention. １実施形態の障害物回避先導ロボットを示す側面図である。It is a side view showing the obstacle avoidance leading robot of one embodiment. １実施形態の障害物回避先導ロボットを示す平面図である。It is a top view showing the obstacle avoidance leading robot of one embodiment. １実施形態の障害物回避先導ロボットを構成する全方向移動車輪を示す図である。It is a figure which shows the omnidirectional movement wheel which comprises the obstacle avoidance leading robot of 1 embodiment. １実施形態の障害物回避先導ロボットが備えるロボット制御部の回路図である。It is a circuit diagram of the robot control part with which the obstacle avoidance leading robot of one embodiment is provided. １実施形態の障害物回避先導ロボットの前輪部が備える受動的なロール機構を示す図である。It is a figure which shows the passive roll mechanism with which the front-wheel part of the obstacle avoidance leading robot of 1 embodiment is provided. １実施形態の障害物回避先導ロボットを畳んだ際の正面図である。It is a front view at the time of folding up the obstacle avoidance leading robot of one embodiment. １実施形態の障害物回避先導ロボットを畳んだ際の側面図である。It is a side view at the time of folding up the obstacle avoidance leading robot of one embodiment. １実施形態の障害物回避先導ロボットの前輪部の作用を説明する図である。It is a figure explaining the effect | action of the front-wheel part of the obstacle avoidance leading robot of 1 embodiment.

以下、本発明を実施するための形態（以下、実施形態という。）を、図面を参照しながら詳細に説明する。
図１から図３は、本発明に係る障害物回避先導ロボットの１実施形態を示すものであり、図１は障害物回避先導ロボットを示す正面図、図２は障害物回避先導ロボットを示す側面図、図３は障害物回避先導ロボットを示す平面図、図４は障害物回避先導ロボットを構成する前輪部の具体的な構成を示す斜視図、図５は障害物回避先導ロボットの制御回路図を示す図である。 DESCRIPTION OF EMBODIMENTS Hereinafter, modes for carrying out the present invention (hereinafter referred to as embodiments) will be described in detail with reference to the drawings.
1 to 3 show an embodiment of an obstacle avoidance leading robot according to the present invention, FIG. 1 is a front view showing the obstacle avoidance leading robot, and FIG. 2 is a side view showing the obstacle avoidance leading robot. FIG. 3, FIG. 3 is a plan view showing the obstacle avoidance leading robot, FIG. 4 is a perspective view showing a specific configuration of a front wheel portion constituting the obstacle avoidance leading robot, and FIG. 5 is a control circuit diagram of the obstacle avoidance leading robot. FIG.

本実施形態の障害物回避先導ロボット１は、図１から図３で示すように、上下方向に延在する主脚２と、主脚２の下部に連結している前輪部（全方向移動車輪）３と、主脚２の上端に設けた前輪操作部４と、主脚２の上下方向の略中間位置に関節部５を介して連結し、下方に延在している２本の補助脚６と、各補助脚６の下端に設けたキャスター７と、前輪操作部４の操作により前輪部３を所定方向に転動させるロボット制御部８と、を備えている。   As shown in FIGS. 1 to 3, the obstacle avoidance leading robot 1 of the present embodiment includes a main leg 2 extending in the vertical direction and a front wheel portion (an omnidirectional moving wheel) connected to the lower portion of the main leg 2. 3), the front wheel operation part 4 provided at the upper end of the main leg 2, and two auxiliary legs which are connected to a substantially intermediate position in the vertical direction of the main leg 2 via the joint part 5 and extend downward. 6, a caster 7 provided at the lower end of each auxiliary leg 6, and a robot control unit 8 that rolls the front wheel unit 3 in a predetermined direction by operation of the front wheel operation unit 4.

前輪部３は、図１に示すように、２台の全方向移動車輪１１Ａ，１１Ｂと、これら２台の全方向移動車輪１１Ａ，１１Ｂを独自に正逆方向に回転させる駆動モーター（図５の符号１２Ａ，１２Ｂ）を備えている。
全方向移動車輪１１Ａは、図４に示すように、複数の樽形状の小径輪１３と、複数の小径輪１３を外周に回転自在に保持する車輪本体１４とを有し、車輪本体１４は、小径輪１３を車輪本体１４の軸方向である中心線１４ａに対して４５度傾けて設置した、メカナムホイール（登録商標）である。また、全方向移動車輪１１Ｂも、全方向移動車輪１１Ａと同様の構造を有しており、小径輪１３を中心線１４ａに対して１３５度傾けて設置したものである。 As shown in FIG. 1, the front wheel unit 3 includes two omnidirectionally moving wheels 11A, 11B and a drive motor (in FIG. 5) that independently rotates the two omnidirectionally moving wheels 11A, 11B in the forward and reverse directions. 12A, 12B).
As shown in FIG. 4, the omnidirectional moving wheel 11A has a plurality of barrel-shaped small-diameter wheels 13 and a wheel body 14 that rotatably holds the plurality of small-diameter wheels 13 on the outer periphery. This is a Mecanum wheel (registered trademark) in which the small-diameter wheel 13 is installed with an inclination of 45 degrees with respect to the center line 14a that is the axial direction of the wheel body 14. Further, the omnidirectional moving wheel 11B has the same structure as the omnidirectional moving wheel 11A, and the small-diameter wheel 13 is installed with an inclination of 135 degrees with respect to the center line 14a.

２台の全方向移動車輪１１Ａ，１１Ｂは、互いに近接した位置に配置され、互いの軸一致させた状態（中心線１４ａを一致させた状態）で配置されている。
そして、前輪部３は、図６に示すように、軸心が障害物回避先導ロボット１の前後方向に延在するロール回転軸２０を介して主脚２の下部に連結されている。
関節部５は、図１及び図２で示すように固定レバー５ａを備えており、この固定レバー５ａの固定操作を行うことで、主脚２に対して所定の角度で傾斜した状態で補助脚６を固定する。そして、固定レバー５ａの回動操作を行うと、図７及び図８に示すように、主脚２に沿う位置まで２本の補助脚６を揺動させることができる。 The two omnidirectional moving wheels 11A and 11B are arranged at positions close to each other, and are arranged in a state where the axes coincide with each other (a state where the center lines 14a coincide).
As shown in FIG. 6, the front wheel portion 3 is coupled to the lower portion of the main leg 2 via a roll rotation shaft 20 whose axis extends in the front-rear direction of the obstacle avoidance leading robot 1.
The joint portion 5 includes a fixing lever 5a as shown in FIGS. 1 and 2, and the auxiliary leg is tilted with respect to the main leg 2 at a predetermined angle by performing a fixing operation of the fixing lever 5a. 6 is fixed. When the rotation operation of the fixing lever 5a is performed, the two auxiliary legs 6 can be swung to the position along the main leg 2 as shown in FIGS.

そして、図２に示すように、関節部５近くの主脚２に、障害物回避先導ロボット１全体を持ち上げる際に使用する把手２２が設けられている。
前輪操作部４は、図２に示すように、グリップ部２１に装着された力センサー４ａである。力センサー４ａは、ｘ，ｙ，ｚ方向の力、及び、ｘ，ｙ，ｚ軸回りのモーメントを測定でき、使用者がグリップ部２１に握り力を加えると力センサ４ａに力がかかり、ロボット制御部８に力（３軸）、モーメント（３軸）に応じた力信号を出力する。 As shown in FIG. 2, the main leg 2 near the joint 5 is provided with a handle 22 used when lifting the obstacle avoidance leading robot 1 as a whole.
As shown in FIG. 2, the front wheel operation unit 4 is a force sensor 4 a attached to the grip unit 21. The force sensor 4a can measure forces in the x, y, and z directions and moments around the x, y, and z axes. When the user applies a gripping force to the grip portion 21, the force sensor 4a is applied, and the robot A force signal corresponding to the force (3 axes) and the moment (3 axes) is output to the control unit 8.

ロボット制御部８は、図５に示すように、入力ポート１５、主制御部（ＣＰＵ）１６及び出力ポート１７を備えており、入力ポート１５には、力センサー４ａから力信号が入力する。
主制御部１６は、力センサー４ａから入力した力信号に基づき、駆動モーター１２Ａ，１２Ｂに対する正転方向、或いは逆転方向の回転方向及び回転数を演算し、その演算信号を出力ポート１７に出力する。そして、出力ポート１７から駆動モーター１２Ａ，１２Ｂに駆動制御信号が出力される。 As shown in FIG. 5, the robot control unit 8 includes an input port 15, a main control unit (CPU) 16, and an output port 17. A force signal is input to the input port 15 from the force sensor 4a.
Based on the force signal input from the force sensor 4 a, the main control unit 16 calculates the forward direction or the rotational direction and the rotational speed of the drive motors 12 </ b> A and 12 </ b> B, and outputs the calculated signal to the output port 17. . Then, a drive control signal is output from the output port 17 to the drive motors 12A and 12B.

前輪操作部４の力センサー４ａから力信号が入力した際のロボット制御部８の具体的な制御動作を説明する。
グリップ部２１を握り、右側に力を加えることにより力センサー４ａに右側向きの力がかかると、力センサー４ａからロボット制御部８に力信号が入力され、ロボット制御部８は、駆動モーター１２Ｂが正転方向に所定の回転数で回転し、駆動モーター１２Ａが逆転方向に所定の回転数で回転する演算信号を演算し、駆動モーター１２Ｂが正転回転し、駆動モーター１２Ａが逆転回転することで、前輪部３が右方向に移動するようになっている。 A specific control operation of the robot control unit 8 when a force signal is input from the force sensor 4a of the front wheel operation unit 4 will be described.
When a force in the right direction is applied to the force sensor 4a by gripping the grip portion 21 and applying a force to the right side, a force signal is input from the force sensor 4a to the robot control unit 8, and the robot control unit 8 includes the drive motor 12B. By rotating the forward rotation direction at a predetermined rotational speed, the drive motor 12A calculates a calculation signal for rotating at the predetermined rotational speed in the reverse rotation direction, the drive motor 12B rotates forward, and the drive motor 12A rotates backward. The front wheel part 3 moves in the right direction.

また、グリップ部２１を握り、前方に力を加えることにより力センサー４ａに前向きの力がかかると、力センサー４ａからロボット制御部８に力信号が入力され、ロボット制御部８は、駆動モーター１２Ａが正転方向に所定の回転数で回転し、駆動モーター１２Ｂが正転方向に所定の回転数で回転する演算信号を演算し、駆動モーター１２Ａ及び１２Ｂが同一回転数で正転回転することで、前輪部３が前方に移動するようになっている。   Further, when a forward force is applied to the force sensor 4a by gripping the grip portion 21 and applying a forward force, a force signal is input from the force sensor 4a to the robot controller 8, and the robot controller 8 receives the drive motor 12A. Is rotated at a predetermined rotational speed in the forward rotation direction, the drive motor 12B calculates a calculation signal for rotating at the predetermined rotational speed in the forward rotation direction, and the drive motors 12A and 12B are rotated forward at the same rotational speed. The front wheel part 3 moves forward.

また、グリップ部２１を握り、後方に力を加えることにより力センサー４ａに後向きの力がかかると、力センサー４ａからロボット制御部８に力信号が入力され、ロボット制御部８は、駆動モーター１２Ａが逆転方向に所定の回転数で回転し、駆動モーター１２Ｂも逆転方向に所定の回転数で回転する演算信号を演算し、駆動モーター１２Ａ及び１２Ｂが同一回転数で逆転回転することで、前輪部３が後方に移動するようになっている。   Further, when a rearward force is applied to the force sensor 4a by gripping the grip portion 21 and applying a force to the rear, a force signal is input from the force sensor 4a to the robot controller 8, and the robot controller 8 receives the drive motor 12A. Is rotated at a predetermined rotational speed in the reverse direction, the drive motor 12B also calculates a calculation signal for rotating at the predetermined rotational speed in the reverse direction, and the drive motors 12A and 12B are rotated in the reverse direction at the same rotational speed. 3 moves backward.

さらに、グリップ部２１を握り、左側に力を加えることにより力センサー４ａに左側向きの力がかかると、力センサー４ａからロボット制御部８に力信号が入力され、ロボット制御部８は、駆動モーター１２Ｂが逆転方向に所定の回転数で回転し、駆動モーター１２Ａが正転方向に所定の回転数で回転する演算信号を演算し、駆動モーター１２Ｂが逆転回転し、駆動モーター１２Ａが正転回転することで、前輪部３が左方向に移動するようになっている。   Further, when a leftward force is applied to the force sensor 4a by gripping the grip portion 21 and applying a force to the left side, a force signal is input from the force sensor 4a to the robot control unit 8, and the robot control unit 8 receives the drive motor. 12B rotates in the reverse direction at a predetermined rotational speed, the drive motor 12A calculates a calculation signal for rotating in the forward direction at a predetermined rotational speed, the drive motor 12B rotates in the reverse direction, and the drive motor 12A rotates in the forward direction. Thus, the front wheel part 3 moves to the left.

次に、本実施形態の前輪部３の作用について図９（ａ），（ｂ）を参照して説明する。
図９（ａ）に示すように、前輪部Ｚを２台の全方向移動車輪Ｈ１，Ｈ２で構成し、この前輪部Ｚに外力を加えずに２台の全方向移動車輪Ｈ１，Ｈ２を転動させると、前輪部Ｚは点Ａ回りに回転してしまう。しかし、本実施形態は、２台の全方向移動車輪１１Ａ，１１Ｂで構成した前輪部３に主脚３を介して使用者の力（押し力、引き力）、又はモーメントが加わるので前輪部３の全方向移動が可能となる。 Next, the operation of the front wheel portion 3 of the present embodiment will be described with reference to FIGS. 9 (a) and 9 (b).
As shown in FIG. 9 (a), the front wheel portion Z is composed of two omnidirectional moving wheels H1 and H2, and the two omnidirectional moving wheels H1 and H2 are rotated without applying external force to the front wheel portion Z. When moved, the front wheel portion Z rotates around the point A. However, in the present embodiment, since the user's force (pushing force, pulling force) or moment is applied to the front wheel portion 3 constituted by the two omnidirectional moving wheels 11A and 11B via the main leg 3, the front wheel portion 3 Can be moved in all directions.

また、前輪部３を構成する２台の全方向移動車輪１１Ａ，１１Ｂは、図９（ａ）で示したように左右対称で接地する場合が少ない。図９（ｂ）に示すように、全方向移動車輪１１Ａ，１１Ｂの接地点が左右対称でない場合には、回転中心（図９（ｂ）に示す点Ａ´）が全方向移動車輪１１Ａ，１１Ｂの一方に偏り、移動方向性が不確実になるおそれがある。
これに対して、本実施形態の前輪部３は、互いに近接した位置に２台の全方向移動車輪１１Ａ，１１Ｂを配置しているため、図９（ｂ）に示すように偏り量Ｑ（点Ａと点Ａ´の差分）が小さくなり、全方向移動車輪１１Ａ，１１Ｂが左右対称で接地していなくても、前輪部３の移動方向性に与える影響が少ない。 Further, the two omnidirectional moving wheels 11A and 11B constituting the front wheel portion 3 are rarely grounded symmetrically as shown in FIG. 9A. As shown in FIG. 9B, when the contact points of the omnidirectional moving wheels 11A and 11B are not symmetrical, the center of rotation (point A ′ shown in FIG. 9B) is the omnidirectional moving wheels 11A and 11B. There is a risk that the direction of movement will be uncertain.
On the other hand, the front wheel portion 3 of the present embodiment has two omnidirectionally moving wheels 11A and 11B arranged at positions close to each other. Therefore, as shown in FIG. Even if the omnidirectional moving wheels 11A and 11B are not symmetrically grounded, the influence on the moving directionality of the front wheel portion 3 is small.

次に、本実施形態の障害物回避先導ロボット１の効果について説明する。
本実施形態の障害物回避先導ロボット１は、主脚２の下部に、２台の自走式の全方向移動車輪１１Ａ，１１Ｂを備えた前輪部３を連結し、主脚２を介して使用者の力（押し力、引き力）、或いはモーメントを作用することで、前輪部３が全方向に移動する。
そして、本実施形態の全方向移動車輪１１Ａ，１１Ｂは、互いが近接する位置に配置されているので、互いの地面に接地する地点が左右対称でなくても、前輪部３の移動方向性に与える影響を少なくすることができる。 Next, the effect of the obstacle avoidance leading robot 1 of this embodiment will be described.
The obstacle avoidance leading robot 1 of the present embodiment is used via the main leg 2 by connecting the front wheel part 3 including two self-propelled omnidirectionally moving wheels 11A and 11B to the lower part of the main leg 2. By applying a person's force (pushing force, pulling force) or moment, the front wheel portion 3 moves in all directions.
And since the omnidirectional moving wheels 11A and 11B of the present embodiment are arranged at positions where they are close to each other, even if the point of contact with the ground is not symmetrical, This can reduce the impact.

そして、前輪部３は、軸心が障害物回避先導ロボット１の前後方向に延在するロール回転軸２０を介して主脚２の下部に連結されており、常に全方向移動車輪１１Ａ，１１Ｂが地面に接地しながら移動するので、全方向移動の確実性を向上させることができる。
また、本実施形態の障害物回避先導ロボット１は、２台の駆動モーター１２Ａ，１２を備えた簡便な装置構成であり、全方向移動車輪１１Ａ，１１Ｂを正転回転、或いは逆転回転させるという簡単な駆動制御で前輪部３を全方向に移動するようにしているので、装置コストの低減化を図ることができる。 And the front wheel part 3 is connected to the lower part of the main leg 2 via the roll rotating shaft 20 whose axis extends in the front-rear direction of the obstacle avoidance leading robot 1, and the omnidirectional moving wheels 11A, 11B are always connected. Since it moves while touching the ground, the reliability of omnidirectional movement can be improved.
Further, the obstacle avoidance leading robot 1 of the present embodiment has a simple device configuration including two drive motors 12A and 12, and simply rotates the omnidirectionally moving wheels 11A and 11B in the normal direction or the reverse direction. Since the front wheel portion 3 is moved in all directions by simple drive control, the device cost can be reduced.

また、重量物である全方向移動車輪１１Ａ，１１Ｂ及び駆動モーター１２Ａ，１２は２台しか搭載していないので、障害物回避先導ロボット１の軽量化を図って持ち運びを容易に行うことができる。
さらに、２本の補助脚６を主脚２に沿う位置まで移動すると、障害物回避先導ロボット１をコンパクトに畳むことができる。そして、把手２２を使用して、軽量な障害物回避先導ロボット１を階段や段差などの使用不可能な場所から容易に持ち運ぶことができる。 In addition, since only two omnidirectional moving wheels 11A and 11B and drive motors 12A and 12 which are heavy objects are mounted, the obstacle avoidance leading robot 1 can be reduced in weight and easily carried.
Furthermore, when the two auxiliary legs 6 are moved to a position along the main leg 2, the obstacle avoidance leading robot 1 can be folded compactly. The lightweight obstacle avoidance leading robot 1 can be easily carried from an unusable place such as a staircase or a step using the handle 22.

なお、本実施形態の全方向移動車輪１１Ａ，１１Ｂとして、メカナムホイール（登録商標）を使用したが、オムニホイール（登録商標）など、ホイール本体の外周に、回転軸が可撓性を有する回転体を、その両端がそれぞれ隣接する回転体支持部材に回転可能に支持されるよう配設してなる形式の車輪を用いてもよいことは言うまでもない。
また、全方向移動車輪１１Ａ，１１Ｂは車幅方向（左右方向）に配置したが、本発明の要旨がこれに限定されるものではなく、前後方向に配置しても、斜め方向に配置してもよい。 In addition, although Mecanum wheel (registered trademark) was used as the omnidirectional moving wheels 11A and 11B of the present embodiment, rotation with a flexible rotation shaft on the outer periphery of the wheel body such as an omni wheel (registered trademark). It goes without saying that a wheel of a type in which the body is disposed so that both ends of the body are rotatably supported by adjacent rotating body support members may be used.
Moreover, although the omnidirectional moving wheels 11A and 11B are arranged in the vehicle width direction (left-right direction), the gist of the present invention is not limited to this, and even if arranged in the front-rear direction, they are arranged in an oblique direction. Also good.

また、全方向移動車輪１１Ａ，１１Ｂは同軸に配置したが、偏心していても、直交等角度を付けて配置してもよい。
さらに、本実施形態では、前輪部３がロール回転軸２０を介して主脚２の下部に連結されていることで受動的に前輪部３の姿勢を制御する構造を示したが、前輪部３を回転させる駆動モーターや姿勢センサーなどを備えて能動的に前輪部３の姿勢を制御するようにしてもよい。 In addition, although the omnidirectional moving wheels 11A and 11B are arranged coaxially, they may be arranged eccentrically or at an equiangular angle.
Furthermore, in this embodiment, although the structure which passively controls the attitude | position of the front-wheel part 3 by having connected the front-wheel part 3 to the lower part of the main leg 2 via the roll rotating shaft 20, the front-wheel part 3 was shown. A drive motor, an attitude sensor, and the like may be provided to actively control the attitude of the front wheel unit 3.

１…障害物回避先導ロボット、２…主脚、３…前輪部、４…前輪操作部、４ａ…力センサー、５…関節部、６…補助脚、７…キャスター、８…ロボット制御部、１１Ａ，１１Ｂ…全方向移動車輪、１２Ａ，１２Ｂ…駆動モーター（駆動部）、１３…小径輪、１４…車輪本体、１４ａ…中心線、１５…入力ポート、１６…主制御部、１７…出力ポート、２０…ロール回転軸、２１…グリップ部（把持部）、２２…把手 DESCRIPTION OF SYMBOLS 1 ... Obstacle avoidance leading robot, 2 ... Main leg, 3 ... Front wheel part, 4 ... Front wheel operation part, 4a ... Force sensor, 5 ... Joint part, 6 ... Auxiliary leg, 7 ... Caster, 8 ... Robot control part, 11A , 11B ... omnidirectional moving wheel, 12A, 12B ... drive motor (drive unit), 13 ... small diameter wheel, 14 ... wheel body, 14a ... center line, 15 ... input port, 16 ... main control unit, 17 ... output port, 20 ... roll rotation shaft, 21 ... grip part (gripping part), 22 ... grip

Claims (3)

主脚と、この主脚の下部に連結した自走式の前輪部と、下部に後輪が連結されて前記主脚の立ち上がりを補助する補助脚と、を備え、使用者が前記主脚の上部に設けた把持部を把持して押し力、引き力などの外力を作用することで、前記使用者の歩行補助を行いながら移動する障害物回避先導ロボットであって、
前記主脚に、ロボット全体を持ち上げる際に使用する把手を設け、
前記前輪部は、前後方向に延在するロール回転軸を介して前記主脚の下部に連結されており、
前記前輪部は、複数の樽形状の小径輪と、これら複数の小径輪を外周に回転自在に保持する車輪本体とを有し、前記車輪本体は、前記小径輪を当該車輪本体の軸方向である中心線に対して４５度傾けて設置した２台の全方向移動車輪で構成し、これら２台の前記全方向移動車輪は、互いの軸を一致させた状態で近接した位置に配置されており、
前記主脚を介して前記使用者から前記外力、或いはモーメントが伝達されることで前記前輪部が移動するようにし、
階段や段差などの使用不可能な場所では、前記把手を使用してロボット全体を持ち運ぶようにしたことを特徴とする障害物回避先導ロボット。 A main leg, a self-propelled front wheel connected to the lower part of the main leg, and an auxiliary leg to which a rear wheel is connected to the lower part to assist the rising of the main leg. An obstacle avoidance leading robot that moves while performing walking assistance of the user by gripping a grip portion provided at the top and applying external force such as pushing force and pulling force,
The main leg is provided with a handle used when lifting the entire robot,
The front wheel portion is connected to the lower portion of the main leg via a roll rotation shaft extending in the front-rear direction,
The front wheel portion includes a plurality of barrel-shaped small-diameter wheels and a wheel body that rotatably holds the plurality of small-diameter wheels on the outer periphery, and the wheel body includes the small-diameter wheel in an axial direction of the wheel body. It is composed of two omnidirectional wheels installed at an angle of 45 degrees with respect to a certain center line, and these two omnidirectional wheels are arranged close to each other with their axes aligned. And
The front wheel is moved by transmitting the external force or moment from the user via the main leg ,
The obstacle avoidance leading robot characterized in that the entire handle is carried by using the handle in places where stairs and steps cannot be used . 前記前輪部を構成する２台の全方向移動車輪は、２台の駆動部によりそれぞれ回転力が伝達され、
前記把持部に、前記使用者から前後左右の力が加わると前記２台の駆動部に力信号を出力する力センサーを設け、
前記使用者が前記力センサーに左右方向の力を加えると前記駆動部が２台の前記全方向移動車輪を互いに逆方向に回転させて前記前輪部が左右方向に移動し、前記使用者が前記力センサーに前後方向の力を加えると前記駆動部が２台の前記全方向移動車輪を互いに同一方向に回転させて前記前輪部を前後方向に移動するようにしたことを特徴とする請求項１記載の障害物回避先導ロボット。 The two omnidirectional moving wheels constituting the front wheel part are each transmitted with rotational force by the two driving parts,
A force sensor that outputs a force signal to the two drive units when a front / rear / right / left force is applied to the grip unit from the user,
When the user applies a lateral force to the force sensor, the drive unit rotates the two omnidirectional wheels in opposite directions to move the front wheel portion in the left-right direction, and the user 2. The front drive part is configured to move the front wheel part in the front-rear direction by rotating the two omnidirectionally moving wheels in the same direction when a force in the front-rear direction is applied to the force sensor. The obstacle avoidance leading robot described. 前記補助脚は、前記主脚側に沿う位置まで移動可能に連結されていることを特徴とする請求項１又は２記載の障害物回避先導ロボット。   The obstacle avoidance leading robot according to claim 1, wherein the auxiliary leg is movably connected to a position along the main leg side.
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WO2014141602A1 (en) 2014-09-18

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