TWI549795B - Legged robot - Google Patents
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- TWI549795B TWI549795B TW101145808A TW101145808A TWI549795B TW I549795 B TWI549795 B TW I549795B TW 101145808 A TW101145808 A TW 101145808A TW 101145808 A TW101145808 A TW 101145808A TW I549795 B TWI549795 B TW I549795B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
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Description
本發明係關於一種足式機器人，其包括軀體部、及可擺動地連結於軀體部之腿部，且藉由馬達等使腿部產生擺動而步行。 The present invention relates to a foot type robot comprising a body portion and a leg portion that is swingably coupled to the body portion, and the leg portion is swung by a motor or the like to walk.
具有複數條腿部之足式機器人係一方面使各條腿部產生擺動一方面步行。如人類般以兩隻腳一方面保持平衡一方面走動之足式機器人被稱為雙足步行機器人。如動物般以四隻腳步行之足式機器人被稱為四足步行機器人。腿部之數量較典型為兩條或四條，但只要為複數條則無論為多少條均可。 On the one hand, a foot-type robot having a plurality of legs causes the legs to swing and walk on the one hand. As with humans, the two feet are balanced on the one hand. On the one hand, the walking robot is called a bipedal walking robot. A foot-footed robot that walks with four feet like an animal is called a four-legged walking robot. The number of legs is typically two or four, but as long as it is plural, no matter how many.
各腿部係自軀體部(亦稱為軀幹連桿)經由複數個關節依序連續設置複數個連桿而構成。具體而言，各腿部係自機器人之軀體部經由髖關節、膝關節、腳踝關節依序連續設置相當於大腿部、小腿部、腳板部之連桿而構成。連桿係可繞著向足式機器人之側方延伸之俯仰軸(pitch axis)旋轉地連結於關節。於關節處具備有作為使連桿產生旋轉之驅動源之馬達。馬達輸出適當之驅動力，來控制連桿之旋轉角度，藉此使足式機器人之腿部相對於軀體部前後產生擺動。此處，髖關節係指連結軀體部與腿部之關節，四足步行機器人之連結軀體部與前腿之關節亦包含於髖關節。又，馬達係為將電、汽油等能源轉換成機械動作之裝置，較典型為電動馬達或引 擎。 Each of the leg portions is formed by sequentially providing a plurality of links from the body portion (also referred to as a trunk link) via a plurality of joints. Specifically, each of the leg portions is configured by continuously connecting a link corresponding to the thigh portion, the lower leg portion, and the foot plate portion from the body portion of the robot through the hip joint, the knee joint, and the ankle joint. The link system is rotatably coupled to the joint about a pitch axis extending to the side of the foot robot. A motor is provided at the joint as a drive source for rotating the link. The motor outputs an appropriate driving force to control the rotation angle of the link, thereby causing the leg of the foot robot to swing forward and backward with respect to the body portion. Here, the hip joint refers to a joint that connects the body portion and the leg portion, and the joint between the body portion and the front leg of the four-legged walking robot is also included in the hip joint. Moreover, the motor is a device that converts energy such as electricity and gasoline into mechanical action, and is typically an electric motor or a lead. Engine.
為了降低消耗能源，而期望於足式機器人中使用小型且低輸出之馬達。因此，提出有利用彈簧等彈性體之彈力來產生輔助馬達之驅動力之足式機器人。 In order to reduce energy consumption, it is desirable to use a small and low output motor in a foot robot. Therefore, a foot type robot that generates a driving force of an auxiliary motor by utilizing the elastic force of an elastic body such as a spring has been proposed.
例如，於專利文獻1中，提出有如下足式機器人：於經由髖關節而連結之軀體部與大腿部之間插裝彈簧，使該彈簧以將藉由彈簧之伸縮所產生之彈力用於步行時之腿部向前方之邁出而輔助步行時之髖關節之馬達之驅動力之方式來發揮作用。 For example, Patent Document 1 proposes a foot robot in which a spring is inserted between a body portion and a thigh portion connected via a hip joint, and the spring is used for elastic force generated by expansion and contraction of a spring. The leg of the hip is moved forward while walking, and the driving force of the motor of the hip joint during walking is assisted.
於專利文獻2中，提出有如下足式機器人：於經由膝關節而連結之大腿部與小腿部之間插裝空氣彈簧，使該空氣彈簧以將空氣彈簧之彈力用於步行時之腿部之屈伸而輔助步行時之膝關節之馬達之驅動力之方式來發揮作用。 Patent Document 2 proposes a foot robot in which an air spring is inserted between a thigh portion and a lower leg portion that are connected via a knee joint, and the air spring is used to apply an elastic force of an air spring to a leg when walking. The part is flexed and stretched to assist the driving force of the motor of the knee joint while walking.
專利文獻1：日本專利特開2008-44066號公報 Patent Document 1: Japanese Patent Laid-Open Publication No. 2008-44066
專利文獻2：日本專利特開2003-103480號公報 Patent Document 2: Japanese Patent Laid-Open Publication No. 2003-103480
然而，上述文獻之任一者均著眼於降低步行時之馬達之驅動力者。足式機器人係不僅於步行，而且有時亦會使彎曲之腿部伸長(換言之，伸直膝蓋)而直立。由於直立之時間亦較 長，因此於機器人直立之狀態下如何能夠降低馬達之驅動力亦為重要之課題。若將具有制動功能或自鎖功能之減速機組裝於關節中，則即便不對馬達供給電力亦可使機器人保持直立之狀態。然而，由於關節大型化、或控制複雜化，因而產生運用上之新問題。 However, any of the above documents focuses on reducing the driving force of the motor during walking. The foot robot is not only walking, but sometimes it also causes the bent leg to stretch (in other words, straighten the knee) and stand upright. Since the time of erecting is also higher It is long, so how to reduce the driving force of the motor in the state where the robot is upright is also an important issue. When a reduction gear having a brake function or a self-locking function is assembled in a joint, the robot can be kept upright even without supplying power to the motor. However, due to the large size of the joints or the complicated control, there are new problems in application.
因此，本發明之目的在於提供一種於直立時可降低馬達等驅動源之驅動力的足式機器人。 Accordingly, it is an object of the present invention to provide a foot type robot that can reduce the driving force of a driving source such as a motor when standing upright.
為了解決上述課題，本發明之一態樣係一種足式機器人，其包括軀體部、及可擺動地連結於上述軀體部之腿部，上述腿部包含大腿部、及經由膝關節連結於上述大腿部之小腿部，該足式機器人係藉由驅動源使上述腿部產生擺動而步行；且該足式機器人包括彈性構件，該彈性構件係以使彎曲之上述腿部伸長之方式來產生彈力，而產生輔助上述驅動源之使上述腿部伸長時之驅動力；於上述足式機器人直立時，上述大腿部及上述小腿部抵接於可旋轉地連結於上述大腿部及上述小腿部之上述膝關節之碟構件，或上述大腿部及上述小腿部相互抵接；並且上述彈性構件以保持上述大腿部及上述小腿部抵接於上述膝關節之碟構件之狀態、或上述大腿部及上述小腿部相互抵接之狀態之方式來產生彈力。 In order to solve the above problems, an aspect of the present invention provides a foot type robot including a body portion and a leg portion that is swingably coupled to the body portion, wherein the leg portion includes a thigh portion and is coupled to the body via a knee joint a calf portion of the thigh, the foot robot walking by swinging the leg portion by a driving source; and the foot robot includes an elastic member that is configured to elongate the bent leg portion Producing an elastic force to generate a driving force for assisting the driving source to extend the leg portion; and when the foot robot is standing upright, the thigh portion and the lower leg portion are rotatably coupled to the thigh portion and The disc member of the knee joint of the calf portion, or the thigh portion and the calf portion abut each other; and the elastic member holds the thigh portion and the calf portion abutting against the disc member of the knee joint The state of the state or the state in which the thigh portion and the lower leg portion abut each other generates an elastic force.
又，本發明之另一態樣係一種足式機器人，其包括軀體部、及可擺動地連結於上述軀體部之腿部，上述腿部包含經 由髖關節連結於上述軀體部之大腿部、及經由膝關節連結於上述大腿部之小腿部，該足式機器人係藉由驅動源使腿部產生擺動而步行；且於上述足式機器人直立時，上述大腿部及上述小腿部抵接於可旋轉地連結於上述大腿部及上述小腿部之上述膝關節之碟構件，或上述大腿部及上述小腿部相互抵接；並且上述驅動源係以保持上述大腿部及上述小腿部抵接於上述膝關節之碟構件之狀態、或上述大腿部及上述小腿部相互抵接之狀態之方式來產生力矩。 Moreover, another aspect of the present invention is a foot robot including a body portion and a leg portion swingably coupled to the body portion, the leg portion including the a leg joint connected to the thigh portion of the body portion and a leg portion connected to the thigh portion via a knee joint, wherein the foot robot is configured to swing the leg portion by a driving source; and When the robot is standing upright, the thigh portion and the lower leg portion abut against a disc member rotatably coupled to the knee joint of the thigh portion and the lower leg portion, or the thigh portion and the lower leg portion abut each other And the driving source generates a torque in a state in which the thigh portion and the lower leg portion are in contact with the disc member of the knee joint or the thigh portion and the lower leg portion are in contact with each other. .
根據本發明之一態樣，於足式機器人直立時，大腿部及小腿部抵接於膝關節之碟構件，或大腿部及小腿部相互抵接，因此發揮止動作用以使大腿部及小腿部變成伸長之狀態。而且，彈性構件以保持發揮止動作用之狀態之方式來產生彈力，因此可使足式機器人之直立狀態呈現穩定。因此，可降低用以保持直立狀態之驅動源之驅動力，視情形，即便驅動源不產生驅動力(例如，即便不對電動馬達供給電力)，亦可保持直立之狀態。又，彈性構件兼用作為於步行時輔助驅動源之驅動力之彈性構件，故而可防止膝關節大型化。 According to an aspect of the present invention, when the foot robot is erected, the thigh portion and the lower leg portion abut against the disc member of the knee joint, or the thigh portion and the lower leg portion abut each other, thereby exerting a stop action for making The thighs and calves become stretched. Further, since the elastic member generates the elastic force in such a manner as to maintain the state of the stop action, the erect state of the foot robot can be stabilized. Therefore, the driving force of the driving source for maintaining the upright state can be reduced, and the driving source can be kept in an upright state even if the driving source does not generate a driving force (for example, even if electric power is not supplied to the electric motor). Further, since the elastic member also serves as an elastic member that serves as a driving force for assisting the driving source during walking, it is possible to prevent an increase in the size of the knee joint.
根據本發明之另一態樣，只要以保持功能發揮作用之狀態之方式來產生力矩即可，故而可降低驅動源之驅動力。 According to another aspect of the present invention, the moment can be generated in such a manner that the holding function functions, so that the driving force of the driving source can be reduced.
以下，根據隨附圖式對本發明之一實施形態中之足式機器 人進行說明。圖1係表示本實施形態之足式機器人之整體構成之前視圖，圖2係為側視圖。於圖2中，表示自足式機器人之軀體部、左腿、及左臂上卸下外殼後之狀態。於本實施形態中，左右係自圖中所示之足式機器人側所觀看之左右。又，於將足式機器人之行進方向設為x軸正方向、將自足式機器人所觀看之左手方向設為y軸正方向、將足式機器人之上方設為z軸正方向時，設定x軸為滾轉軸(roll axis)、y軸為俯仰軸、z軸為搖動軸(yaw axis)。 Hereinafter, a foot machine according to an embodiment of the present invention will be described with reference to the accompanying drawings. People explain. Fig. 1 is a front view showing the overall configuration of the foot robot of the embodiment, and Fig. 2 is a side view. In Fig. 2, the state in which the outer casing is removed from the body portion, the left leg, and the left arm of the self-propelled robot is shown. In the present embodiment, the left and right sides are viewed from the side of the foot robot shown in the figure. Further, when the traveling direction of the foot robot is set to the positive x-axis direction, the left-hand direction viewed by the self-propelled robot is the positive direction of the y-axis, and the upper side of the foot robot is set to the positive z-axis direction, the x-axis is set. The roll axis, the y axis is the pitch axis, and the z axis is the yaw axis.
足式機器人10包括：兩條腿部12，其等設置於軀體部11之下方；兩條臂部13，其等設置於軀體部11之上方左右兩側面；及一個頭部14，其設置於軀體部11之上方；由此該足式機器人可做出近似於人類之動作。 The foot robot 10 includes: two leg portions 12 disposed under the body portion 11; two arm portions 13 disposed on the left and right sides of the body portion 11; and a head portion 14 disposed on Above the body portion 11; thus the foot robot can make an action similar to humans.
兩條臂部13係經由肩關節16連結於軀體部11，而可於軀體部11之周圍自由地旋轉。各臂部13係以肘關節17為界，包括靠近肩膀側之上臂部13b、及靠近手部13a側之下臂部13c。於下臂部13c之前端經由手腕關節而設置有手部13a。藉由利用手部13a而可握持或抓取物品。 The two arm portions 13 are coupled to the body portion 11 via the shoulder joint 16, and are freely rotatable around the body portion 11. Each arm portion 13 is bounded by the elbow joint 17, and includes an arm portion 13b near the shoulder side and an arm portion 13c near the lower side of the hand portion 13a. A hand 13a is provided at the front end of the lower arm portion 13c via the wrist joint. The article can be gripped or grasped by using the hand 13a.
各腿部12經由髖關節18至少可繞著俯仰軸擺動地連結於軀體部11之骨盆。於該實施形態中，各腿部12係可繞著俯仰軸、滾轉軸、搖動軸擺動地連結於軀體部11之骨盆。足式機器人10係使兩條腿部12至少繞著俯仰軸交替地擺動，從而如人類般以兩隻腳一方面保持平衡一方面走動。 Each leg portion 12 is coupled to the pelvis of the body portion 11 via the hip joint 18 at least about the pitch axis. In this embodiment, each leg portion 12 is swingably coupled to the pelvis of the body portion 11 about the pitch axis, the roll axis, and the rocking axis. The foot robot 10 is configured such that the two leg portions 12 are alternately oscillated at least about the pitch axis, so that, as with humans, the two feet are balanced on the one hand and on the other hand.
各腿部12係包括大腿部12a及小腿部12b。於大腿部12a之下設置有膝關節19。於膝關節19之下連結有可繞著俯仰軸旋轉地之小腿部12b。於小腿部12b之下設置有可繞著俯仰軸旋轉地之腳踝關節29。於腳踝關節29之下設置有可繞著滾轉軸旋轉地著地於步行路面上之腳板部21。 Each of the leg portions 12 includes a thigh portion 12a and a lower leg portion 12b. A knee joint 19 is provided below the thigh portion 12a. A lower leg portion 12b rotatable about the pitch axis is coupled below the knee joint 19. Below the lower leg portion 12b, an ankle joint 29 rotatable about a pitch axis is provided. Below the ankle joint 29, a leg portion 21 is provided which is rotatably mounted on the walking surface about the rolling axis.
於頭部14及軀體部11分別設置有電荷耦合元件(CCD，Charge Coupled Device)照相機15。藉由該CCD照相機15，可將足式機器人10周圍之狀況當作為圖像資料加以收集。 A charge coupled device (CCD) camera 15 is provided on each of the head portion 14 and the body portion 11. With the CCD camera 15, the situation around the foot robot 10 can be collected as image data.
該足式機器人10係構成為可遠距離操作之機器人，藉由操作者操作位於遠離位置上之未圖示之操作器，可使足式機器人10執行與操作器之動作相對應之動作。因此，操作者可經由網際網路線路等無線通訊設備或設置於足式機器人10上之CCD照相機15等，雖然身在遠處亦能夠掌握足式機器人10周圍之狀況，從而可操作足式機器人10。再者，足式機器人10不僅可藉由位於遠離位置上之操作器來進行操作，亦可藉由有線連接之操作桿來進行操作。 The foot robot 10 is configured as a robot that can be operated at a long distance, and the operator can operate the operation corresponding to the operation of the operator by operating an operator (not shown) located at a remote position. Therefore, the operator can control the situation around the foot robot 10 via a wireless communication device such as an internet communication line or a CCD camera 15 provided on the foot robot 10, and thus can operate the foot robot. 10. Furthermore, the foot robot 10 can be operated not only by an operator located at a remote position but also by a wired connection lever.
以上，對本實施形態之足式機器人10之整體構成之概要進行了說明。其次，使用圖3至圖5，對本實施形態之足式機器人10之腿部12之詳細情況加以進行說明。圖3表示卸下外殼後之左腿部12之側視圖。圖4及圖5表示足式機器人10進行屈伸運動時之情況。於圖4中表示自兩條腿部12之內側進行觀察之圖，於圖5中表示自兩條腿部12之外側 進行觀察之圖。於圖4及圖5中，(a)表示使膝關節19伸直且使腿部12伸長之狀態，(b)表示使膝關節19彎曲且使腿部12輕度彎曲之狀態，(c)表示使腿部12深度彎曲之狀態。 The outline of the overall configuration of the foot robot 10 of the present embodiment has been described above. Next, the details of the leg portion 12 of the foot type robot 10 of the present embodiment will be described with reference to Figs. 3 to 5 . Figure 3 shows a side view of the left leg portion 12 after the housing has been removed. 4 and 5 show the situation when the foot robot 10 performs the flexion and extension movement. The view from the inside of the two leg portions 12 is shown in Fig. 4, and is shown in Fig. 5 from the outside of the two leg portions 12. Take a picture of the observation. In Figs. 4 and 5, (a) shows a state in which the knee joint 19 is straightened and the leg portion 12 is extended, and (b) shows a state in which the knee joint 19 is bent and the leg portion 12 is slightly bent. (c) Indicates a state in which the leg portion 12 is deeply bent.
如圖3所示，左腿部12包含大腿部12a、小腿部12b、及腳板部21。又，左腿部12包含髖關節18、膝關節19、及腳踝關節29。髖關節18包含可繞著搖動軸及滾轉軸旋轉地連結於軀體部11之關節本體18a。於髖關節18之關節本體18a上，可繞著俯仰軸18b旋轉地連結有大腿部12a。於大腿部12a之下端，可繞著俯仰軸22a旋轉地連結有膝關節19之碟構件22。於碟構件22上，可繞著俯仰軸22b旋轉地連結有小腿部12b。於小腿部12b之下端，可繞著俯仰軸29b旋轉地連結有腳踝關節29之關節本體29a。於腳踝關節29之關節本體29a上，可繞著滾轉軸23旋轉地連結有腳板部21。再者，右腿部12亦係與左腿部12相同之構成，故而標註相同之符號而省略其說明。 As shown in FIG. 3, the left leg portion 12 includes a thigh portion 12a, a lower leg portion 12b, and a leg portion 21. Further, the left leg portion 12 includes a hip joint 18, a knee joint 19, and an ankle joint 29. The hip joint 18 includes an joint body 18a that is rotatably coupled to the body portion 11 about a rocking axis and a roll axis. The thigh portion 12a is rotatably coupled to the pitch shaft 18b on the joint body 18a of the hip joint 18. At the lower end of the thigh portion 12a, the disc member 22 of the knee joint 19 is rotatably coupled around the pitch axis 22a. The lower leg portion 12b is rotatably coupled to the tilting shaft 22b on the disk member 22. At the lower end of the lower leg portion 12b, the joint body 29a of the ankle joint 29 is rotatably coupled around the pitch axis 29b. The leg portion 21 is rotatably coupled to the roll shaft 23 on the joint main body 29a of the ankle joint 29. The right leg portion 12 is also the same as the left leg portion 12, and the same reference numerals will be given thereto, and the description thereof will be omitted.
如圖4(a)所示，大腿部12a係包含一對平行之連桿(即，本體骨架24a及輔助連桿24b)，其等之上端可繞著俯仰軸18b旋轉地連結於髖關節18之關節本體18a，下端則可繞著俯仰軸22a旋轉地連結於膝關節19之碟構件22。本體骨架24a及輔助連桿24b之長度相等，由髖關節18之關節本體18a、本體骨架24a、輔助連桿24b、及膝關節19之碟構件22構成平行四邊形之平行曲柄機構。如圖4(b)及圖4(c)所 示，若使大腿部12a之本體骨架24a及輔助連桿24b相對於髖關節18之關節本體18a產生擺動，膝關節19之碟構件22相對於髖關節18之關節本體18a則產生平行地移動。 As shown in Fig. 4(a), the thigh portion 12a includes a pair of parallel links (i.e., the body frame 24a and the auxiliary link 24b), and the upper end thereof is rotatably coupled to the hip joint about the pitch axis 18b. The joint body 18a of the 18, the lower end is rotatably coupled to the disc member 22 of the knee joint 19 about the pitch axis 22a. The body skeleton 24a and the auxiliary link 24b have the same length, and the joint body 18a of the hip joint 18, the body frame 24a, the auxiliary link 24b, and the disk member 22 of the knee joint 19 constitute a parallelogram parallel crank mechanism. As shown in Figure 4(b) and Figure 4(c) It is shown that if the main body frame 24a and the auxiliary link 24b of the thigh portion 12a are swung relative to the joint body 18a of the hip joint 18, the disc member 22 of the knee joint 19 moves parallel with respect to the joint body 18a of the hip joint 18. .
於本體骨架24a之上下端配置有當作為使大腿部12a產生擺動之驅動源之兩個伺服馬達26a、26b。上側之伺服馬達26a係使本體骨架24a相對於髖關節18之關節本體18a產生旋轉，而下側之伺服馬達26b則使本體骨架24a相對於膝關節19之碟構件22產生旋轉。進而，於本體骨架24a之長度方向之途中配置有作為驅動源之上下兩個伺服馬達26c、26d。於伺服馬達26c、26d之輸出軸上，結合有伺服擺臂(servo horn)27c、27d作為連結片。伺服擺臂27c、27d之前端係可旋轉地連結於輔助連桿24b。伺服擺臂27c、27d之長度係設定為與髖關節18之關節本體18a之連桿長度及膝關節19之碟構件22之連桿長度相等。藉由該等伺服擺臂27c、27d，將平行曲柄機構之平行四邊形進而劃分成三個較小之平行四邊形。於使大腿部12a相對於髖關節18繞著俯仰軸18b產生擺動之情形時，使四個伺服馬達26a~26d同步地產生驅動。即，控制四個伺服馬達26a~26d之四個驅動器中之一個當作為主驅動器(master driver)來發揮作用，剩餘三個則當作為接收自主驅動器信號之子驅動器(slave driver)來發揮作用。如此，使用四個伺服馬達26a~26d來驅動大腿部12a，藉此可將各伺服馬達26a~26d設定為小 型且低輸出者。 Two servo motors 26a and 26b as driving sources for swinging the thigh portion 12a are disposed at the lower end of the main body frame 24a. The upper servo motor 26a rotates the main body frame 24a with respect to the joint body 18a of the hip joint 18, and the lower side servo motor 26b rotates the body frame 24a with respect to the disk member 22 of the knee joint 19. Further, the upper and lower servo motors 26c and 26d as the drive source are disposed in the longitudinal direction of the main body frame 24a. Servo horns 27c and 27d are coupled to the output shafts of the servo motors 26c and 26d as connecting pieces. The front ends of the servo swing arms 27c and 27d are rotatably coupled to the auxiliary link 24b. The lengths of the servo swing arms 27c, 27d are set to be equal to the link length of the joint body 18a of the hip joint 18 and the link length of the disc member 22 of the knee joint 19. The parallelograms of the parallel crank mechanism are further divided into three smaller parallelograms by the servo swing arms 27c, 27d. When the thigh portion 12a is swung around the pitch axis 18b with respect to the hip joint 18, the four servo motors 26a to 26d are synchronously driven. That is, one of the four drivers that control the four servo motors 26a to 26d functions as a master driver, and the remaining three function as a slave driver that receives the autonomous driver signal. Thus, the four servo motors 26a to 26d are used to drive the thigh portion 12a, whereby the servo motors 26a to 26d can be set small. Type and low output.
如圖4(a)所示，小腿部12b係包含一對平行之連桿(即，本體骨架28a及輔助連桿28b)，其等之上端可繞著俯仰軸22b旋轉地連結於膝關節19之碟構件22，下端則可繞著俯仰軸29b旋轉地連結於腳踝關節29之關節本體29a。本體骨架28a及輔助連桿28b之長度相等，由膝關節19之碟構件22、本體骨架28a、輔助連桿28b、及腳踝關節29之關節本體29a構成平行四邊形之平行曲柄機構。如圖4(b)及圖4(c)所示，若使小腿部12b之本體骨架28a及輔助連桿28b相對於膝關節19之碟構件22產生擺動，腳踝關節29之關節本體29a相對於膝關節19之碟構件22則產生平行地移動。 As shown in Fig. 4(a), the lower leg portion 12b includes a pair of parallel links (i.e., the body frame 28a and the auxiliary link 28b), and the upper end thereof is rotatably coupled to the knee joint about the pitch axis 22b. The disk member 22 of 19 is rotatably coupled to the joint body 29a of the ankle joint 29 about the pitch axis 29b. The main body frame 28a and the auxiliary link 28b have the same length, and the disk member 22 of the knee joint 19, the body frame 28a, the auxiliary link 28b, and the joint body 29a of the ankle joint 29 constitute a parallelogram parallel crank mechanism. As shown in Figs. 4(b) and 4(c), when the main body frame 28a and the auxiliary link 28b of the lower leg portion 12b are swung relative to the disk member 22 of the knee joint 19, the joint body 29a of the ankle joint 29 is opposed to The disc members 22 of the knee joint 19 are moved in parallel.
小腿部12b於包含平行曲柄機構之方面為與大腿部12a相同之構成。如上所述，膝關節19之碟構件22相對於髖關節18之關節本體18a平行地產生移動。而且，腳踝關節29之關節本體29a相對於膝關節19之碟構件22平行地產生移動。因此，無論使大腿部12a及小腿部12b如何擺動，腳踝關節29之關節本體29a均相對於髖關節18之關節本體18a平行地產生移動，且腳踝關節29之關節本體29a之姿勢相對於髖關節18之關節本體18a不產生變化。 The lower leg portion 12b has the same configuration as the thigh portion 12a in that it includes the parallel crank mechanism. As described above, the disc member 22 of the knee joint 19 is moved in parallel with respect to the joint body 18a of the hip joint 18. Moreover, the joint body 29a of the ankle joint 29 moves in parallel with respect to the disc member 22 of the knee joint 19. Therefore, regardless of how the thigh portion 12a and the lower leg portion 12b are swung, the joint body 29a of the ankle joint 29 is moved in parallel with respect to the joint body 18a of the hip joint 18, and the posture of the joint body 29a of the ankle joint 29 is opposed to The joint body 18a of the hip joint 18 does not change.
於小腿部12b之本體骨架28a之上下端配置有當作為使小腿部12b產生擺動之驅動源之兩個伺服馬達31a、31b。上 側之伺服馬達31a係使本體骨架28a相對於膝關節19之碟構件22產生旋轉，而下側之伺服馬達31b則使本體骨架28a相對於腳踝關節29之關節本體29a產生旋轉。進而，於本體骨架28a之長度方向之途中配置有作為驅動源之上下兩個伺服馬達31c、31d。於伺服馬達31c、31d之輸出軸上結合有伺服擺臂32c、32d作為連結片，且伺服擺臂32c、32d之前端係可旋轉地連結於輔助連桿28b。伺服擺臂32c、32d之長度係設定為與髖關節18之關節本體18a之連桿長度及膝關節19之碟構件22之連桿長度相等。藉由該等伺服擺臂32c、32d，將平行曲柄機構之平行四邊形之內部進而劃分成三個較小之平行四邊形。於使小腿部12b相對於膝關節19之碟構件22繞著俯仰軸22b產生擺動之情形時，使四個伺服馬達31a~31d同步地產生驅動。即，控制四個伺服馬達31a~31d之四個驅動器中之一個當作為主驅動器來發揮作用，剩餘三個則當作為接收自主驅動器信號之子驅動器來發揮作用。如此，使用四個伺服馬達31a~31d來驅動小腿部12b，藉此可將各伺服馬達31a~31d設定為小型且低輸出者。 Two servo motors 31a and 31b as driving sources for swinging the lower leg portion 12b are disposed at the lower end of the main body frame 28a of the lower leg portion 12b. on The side servo motor 31a rotates the body frame 28a with respect to the disk member 22 of the knee joint 19, and the lower side servo motor 31b rotates the body frame 28a with respect to the joint body 29a of the ankle joint 29. Further, the upper and lower servo motors 31c and 31d as the drive source are disposed in the longitudinal direction of the main body frame 28a. Servo swing arms 32c and 32d are coupled to the output shafts of the servo motors 31c and 31d as connecting pieces, and the front ends of the servo swing arms 32c and 32d are rotatably coupled to the auxiliary link 28b. The lengths of the servo swing arms 32c, 32d are set to be equal to the link length of the joint body 18a of the hip joint 18 and the link length of the disc member 22 of the knee joint 19. The interiors of the parallelograms of the parallel crank mechanism are further divided into three smaller parallelograms by the servo swing arms 32c, 32d. When the lower leg portion 12b is swung around the pitch axis 22b with respect to the disk member 22 of the knee joint 19, the four servo motors 31a to 31d are synchronously driven. That is, one of the four drivers that control the four servo motors 31a to 31d functions as a master driver, and the remaining three functions as a sub-driver that receives the autonomous driver signal. In this manner, the servomotors 31a to 31d can be driven to be small and low-output by driving the lower leg portions 12b using the four servo motors 31a to 31d.
如圖5(a)所示，於膝關節19之碟構件22與大腿部12a之間配置有作為大腿部側彈性構件之大腿部側螺旋彈簧34。大腿部側螺旋彈簧34之上端係經由銷可旋轉地連結於大腿部12a之本體骨架24a，大腿部側螺旋彈簧34之下端係經 由銷可旋轉地連結於碟構件22(參照圖6)。無論是處於如圖5(a)所示般使腿部12伸長之狀態下，抑或是處於如圖5(b)及(c)所示般使腿部12彎曲之狀態下，大腿部側螺旋彈簧34均處於較自然長度而產生延伸之狀態，從而產生拉緊之彈力。膝關節19之碟構件22與大腿部12a係可繞著俯仰軸22a旋轉地相連結。因此，大腿部側螺旋彈簧34所產生之彈力係將繞著俯仰軸之力矩施加至大腿部12a。即，大腿部側螺旋彈簧34係以使圖5(b)及圖5(c)所示之彎曲之腿部12變成圖5(a)所示之伸長之狀態之方式來產生彈力。如圖5(a)→(b)→(c)所示，若大腿部12a及小腿部12b之彎曲程度變深，則大腿部側螺旋彈簧34之長度亦變長，故而與長度成正比地產生較大之彈力。由於大腿部側螺旋彈簧34係以使腿部12伸長之方式來產生彈力，故而具有消除作用於軀體部11之重力之效果。大腿部側螺旋彈簧34係產生輔助伺服馬達26a~26d使彎曲之腿部12伸長時之驅動力。 As shown in Fig. 5 (a), a thigh-side coil spring 34 as a thigh-side elastic member is disposed between the disk member 22 of the knee joint 19 and the thigh portion 12a. The upper end of the thigh-side coil spring 34 is rotatably coupled to the body frame 24a of the thigh portion 12a via a pin, and the lower end of the thigh-side coil spring 34 is circulated. The disk member 22 is rotatably coupled to the pin (see Fig. 6). Whether in the state in which the leg portion 12 is stretched as shown in Fig. 5(a), or in the state in which the leg portion 12 is bent as shown in Figs. 5(b) and (c), the thigh side is The coil springs 34 are all in a relatively natural length to create an extended state, thereby producing a tensioning elastic force. The disc member 22 of the knee joint 19 and the thigh portion 12a are rotatably coupled around the pitch shaft 22a. Therefore, the elastic force generated by the thigh side coil spring 34 applies a moment about the pitch axis to the thigh portion 12a. In other words, the thigh-side coil springs 34 generate the elastic force so that the curved leg portions 12 shown in FIGS. 5(b) and 5(c) are in an extended state as shown in FIG. 5(a). As shown in Fig. 5 (a) → (b) → (c), when the degree of bending of the thigh portion 12a and the lower leg portion 12b is deepened, the length of the thigh portion side coil spring 34 is also lengthened, so that the length is long. Produces a large amount of elasticity in proportion to it. Since the thigh-side coil spring 34 generates an elastic force so that the leg portion 12 is elongated, it has an effect of eliminating the gravity acting on the body portion 11. The thigh-side coil spring 34 generates a driving force when the auxiliary servomotors 26a to 26d extend the bent leg portion 12.
於膝關節19之碟構件22與小腿部12b之間配置有當作為小腿部側彈性構件之小腿部側螺旋彈簧36。小腿部側螺旋彈簧36之上端係經由銷可旋轉地連結於膝關節19之碟構件22，小腿部側螺旋彈簧36之下端係經由銷可旋轉地連結於小腿部12b之本體骨架28a(參照圖6)。無論是處於如圖5(a)所示般使腿部12伸長之狀態下，抑或是處於如圖5(b)及(c)所示般使腿部12彎曲之狀態下，小腿部側螺旋彈簧36均處 於較自然長度而產生延伸之狀態，從而產生拉緊之彈力。膝關節19之碟構件22與小腿部12b係可繞著俯仰軸22b旋轉地相連結。因此，小腿部側螺旋彈簧36所產生之彈力係將繞著俯仰軸22b之力矩施加至小腿部12b。即，小腿部側螺旋彈簧36以使圖5(b)及5圖(c)所示之彎曲之腿部12變成圖5(a)所示之伸長之狀態之方式來產生彈力。如圖5(a)→(b)→(c)所示，若大腿部12a及小腿部12b之彎曲程度變深，則小腿部側螺旋彈簧36之長度亦變長，故而與長度成正比地產生較大之彈力。由於小腿部側螺旋彈簧36係以使腿部12伸長之方式來產生彈力，故而具有消除作用於軀體部11之重力之效果。小腿部側螺旋彈簧36係產生輔助伺服馬達31a~31c使彎曲之腿部12伸長時之驅動力。 A calf-side coil spring 36 as a calf-side elastic member is disposed between the disc member 22 of the knee joint 19 and the lower leg portion 12b. The upper end of the calf side coil spring 36 is rotatably coupled to the disc member 22 of the knee joint 19 via a pin, and the lower end of the calf side coil spring 36 is rotatably coupled to the body bobbin 28a of the lower leg portion 12b via a pin. (Refer to Figure 6). Whether in the state in which the leg portion 12 is stretched as shown in Fig. 5 (a), or in the state in which the leg portion 12 is bent as shown in Figs. 5 (b) and (c), the calf side is Coil spring 36 is everywhere The state of extension occurs at a relatively natural length, thereby producing a tensioning force. The disc member 22 and the lower leg portion 12b of the knee joint 19 are rotatably coupled around the pitch shaft 22b. Therefore, the elastic force generated by the calf side coil spring 36 applies a moment about the pitch axis 22b to the lower leg portion 12b. In other words, the calf side coil spring 36 generates the elastic force in such a manner that the curved leg portion 12 shown in Figs. 5(b) and 5(c) is in an extended state as shown in Fig. 5(a). As shown in Fig. 5 (a) → (b) → (c), when the degree of bending of the thigh portion 12a and the lower leg portion 12b is deepened, the length of the calf-side coil spring 36 is also lengthened, so that the length is long. Produces a large amount of elasticity in proportion to it. Since the calf side coil spring 36 generates an elastic force in such a manner that the leg portion 12 is elongated, it has an effect of eliminating the gravity acting on the body portion 11. The calf side coil spring 36 generates a driving force when the auxiliary servo motors 31a to 31c extend the bent leg portion 12.
再者，於本實施形態中，雖然用以使腿部12伸長之彈性構件包含大腿部側螺旋彈簧34與小腿部側螺旋彈簧36之兩個彈簧，但亦可設定為架設於大腿部12a與小腿部12b之間之一個彈性構件。 Further, in the present embodiment, the elastic member for extending the leg portion 12 includes two springs of the thigh side coil spring 34 and the calf side coil spring 36, but it may be set to be erected on the thigh. An elastic member between the portion 12a and the lower leg portion 12b.
於髖關節18之關節本體18a與大腿部12a之間配置有髖關節側螺旋彈簧37。髖關節側螺旋彈簧37之上端係可旋轉地連結於髖關節18之關節本體18a，髖關節側螺旋彈簧37之下端係可旋轉地連結於大腿部12a之本體骨架24a。該髖關節側螺旋彈簧37亦係無論是處於使腿部12伸長之狀態下抑或是處於使腿部12彎曲之狀態下，均處於較自然長度而 產生延伸之狀態，從而產生拉緊之彈力。髖關節側螺旋彈簧37亦係以使彎曲之腿部12變成伸長之狀態之方式來產生彈力，而產生輔助伺服馬達26a~26d使彎曲之腿部12伸長時之驅動力。 A hip joint side coil spring 37 is disposed between the joint body 18a of the hip joint 18 and the thigh portion 12a. The upper end of the hip side coil spring 37 is rotatably coupled to the joint body 18a of the hip joint 18, and the lower end of the hip joint side coil spring 37 is rotatably coupled to the body skeleton 24a of the thigh portion 12a. The hip joint side coil spring 37 is also in a relatively natural length regardless of whether the leg portion 12 is stretched or the leg portion 12 is bent. Produces an extended state, resulting in a tensioning tension. The hip-side coil spring 37 also generates an elastic force in such a manner that the curved leg portion 12 is in an extended state, and generates a driving force when the auxiliary servomotors 26a to 26d extend the bent leg portion 12.
圖6係表示膝關節19之立體圖。圖6(a)係表示使大腿部12a及小腿部12b伸長之狀態，圖6(b)係表示為易於理解地表示止動部38、39，而使大腿部12a相對於膝關節19產生彎曲、而使小腿部12b相對於膝關節19不產生彎曲之狀態。如圖6(b)所示，於大腿部12a之本體骨架24a之下端結合有板狀之止動部38。而於小腿部12b之本體骨架之上端亦結合有板狀之止動部39。如圖6(a)所示，於彎曲之腿部12伸長時，大腿部12a及小腿部12b之止動部38、39抵接於碟構件22。藉此，相對於碟構件22大腿部12a及小腿部12b之繞著俯仰軸22a、22b之旋轉受到限制，從而大腿部12a及小腿部12b變成伸長之狀態。 Fig. 6 is a perspective view showing the knee joint 19. Fig. 6(a) shows a state in which the thigh portion 12a and the lower leg portion 12b are extended, and Fig. 6(b) shows the stopper portions 38 and 39 in an easily understandable manner, and the thigh portion 12a is opposed to the knee joint. 19 is bent so that the calf portion 12b does not bend with respect to the knee joint 19. As shown in Fig. 6(b), a plate-shaped stopper portion 38 is coupled to the lower end of the body frame 24a of the thigh portion 12a. A plate-shaped stopper 39 is also coupled to the upper end of the body frame of the lower leg portion 12b. As shown in FIG. 6(a), when the bent leg portion 12 is extended, the stopper portions 38, 39 of the thigh portion 12a and the lower leg portion 12b abut against the disk member 22. Thereby, the rotation of the thigh portion 12a and the lower leg portion 12b around the pitch axes 22a and 22b with respect to the disk member 22 is restricted, and the thigh portion 12a and the lower leg portion 12b are in an extended state.
再者，於本實施形態中，止動部係設置於大腿部12a及小腿部12b上，但止動部38、39亦可設置於碟構件22上。又，亦可藉由使大腿部12a與小腿部12b直接抵接而產生止動作用。 Further, in the present embodiment, the stopper portion is provided on the thigh portion 12a and the lower leg portion 12b, but the stopper portions 38, 39 may be provided on the disc member 22. Further, the thigh portion 12a and the lower leg portion 12b can be directly brought into contact with each other to cause a stop action.
如圖3所示，於使足式機器人10產生直立時，大腿部12a及小腿部12b之膝關節19側之旋轉軸(即大腿部12a及小腿部12b相對於碟構件22之俯仰軸22a、22b)之中心位於線L 上，或位於較該線L稍靠足式機器人10之行進方向之相反側之位置，其中線L係連結大腿部12a之髖關節18側之旋轉軸(即髖關節18之關節本體18a之俯仰軸18b)之中心與小腿部12b之腳踝關節29側之旋轉軸之中心(即腳踝關節29之關節本體29a之俯仰軸29b)者。即，大腿部12a及小腿部12b係呈一直線狀，或變成與步行時之ㄑ字之彎曲狀態相反之倒ㄑ字之彎曲狀態。所謂倒ㄑ字之彎曲狀態係指由大腿部12a及小腿部12b形成之凸的彎曲狀態朝向行進方向之相反方向。藉此，於足式機器人10直立時，藉由作用於足式機器人10之重力，而保持大腿部12a及小腿部12b之止動部抵接於膝關節19之碟構件22之狀態，故而變得易於使足式機器人10產生直立。進而，大腿部側螺旋彈簧34及小腿部側螺旋彈簧36係以保持大腿部12a及小腿部12b之止動部38、39抵接於碟構件22之狀態之方式來產生彈力。藉由併用止動作用與大腿部側螺旋彈簧34及小腿部側螺旋彈簧36之彈力，而可使足式機器人10直立之狀態呈現穩定。 As shown in FIG. 3, when the foot robot 10 is erected, the rotation axes of the knee joint 19 side of the thigh portion 12a and the lower leg portion 12b (i.e., the thigh portion 12a and the lower leg portion 12b with respect to the disc member 22) The center of the pitch axes 22a, 22b) is located on the line L Upper or lower than the line L slightly on the opposite side of the traveling direction of the foot robot 10, wherein the line L is coupled to the rotation axis of the hip joint 18 side of the thigh portion 12a (i.e., the joint body 18a of the hip joint 18) The center of the pitch axis 18b) and the center of the rotation axis of the ankle joint 29 side of the lower leg portion 12b (i.e., the pitch axis 29b of the joint body 29a of the ankle joint 29). In other words, the thigh portion 12a and the lower leg portion 12b are in a straight line shape or a curved state in which the inverted state is opposite to the curved state of the ㄑ word during walking. The curved state of the inverted squat refers to a convex curved state formed by the thigh portion 12a and the lower leg portion 12b in the opposite direction to the traveling direction. Thereby, when the foot robot 10 is erected, the state in which the stopper portions of the thigh portion 12a and the lower leg portion 12b abut against the disc member 22 of the knee joint 19 is maintained by the gravity acting on the foot robot 10. Therefore, it becomes easy to cause the foot robot 10 to be erected. Further, the thigh-side coil springs 34 and the calf-side coil springs 36 generate an elastic force so as to keep the stopper portions 38 and 39 of the thigh portion 12a and the lower leg portion 12b in contact with the disk member 22. By the combined use of the spring force of the stop action and the thigh side coil spring 34 and the calf side coil spring 36, the state in which the foot robot 10 is erected can be stabilized.
參照圖7，對步行時之足式機器人10之動作進行說明。(a)至(d)係以時間序列表示步行時之特定時間點時的足式機器人10之腿部12之姿勢。時間點(a)係正欲向前方邁出處於抬腿狀態之左腿部12之瞬間。時間點(b)係已向前方邁出之左腿部12於軀體部11之前方落地之瞬間。時間點(c)係使左腿部12立地、使右腿部12離地之瞬間。時間點(d)係 已向前方邁出之右腿部12於軀體部11之前方落地之瞬間。自時間點(a)起至時間點(d)為止表示一個步行週期。 The operation of the foot robot 10 during walking will be described with reference to Fig. 7 . (a) to (d) show the posture of the leg portion 12 of the foot robot 10 at a specific time point when walking at a time series. The time point (a) is the moment when the left leg portion 12 in the leg-lifting state is being pushed forward. The time point (b) is the moment when the left leg portion 12 that has been drawn forward is landing in front of the body portion 11. The time point (c) is an instant at which the left leg portion 12 stands and the right leg portion 12 is separated from the ground. Time point (d) The right leg 12 that has been drawn forward is at the moment of landing in front of the body portion 11. A walking period is indicated from time point (a) to time point (d).
於時間點(a)時離地之左腿部12係一方面呈ㄑ字狀彎曲一方面向前方邁出。左腿部12之此種動作係可藉由控制伺服馬達26a~26d、31a~31d而加以實現。向前方邁出之左腿部12係於時間點(b)時落地。時間點(b)時之左腿部12位於相對於軀體部11擺動至最前方之位置。準備於時間點(b)時落地而使左腿部12之膝關節19產生延伸。如此使彎曲之抬腿狀態之左腿部12一方面伸長一方面著落於地面上，故而較大之負載作用於伺服馬達26a~26d、31a~31d。儘管如此，由於大腿部側螺旋彈簧34及小腿部側螺旋彈簧36以使腿部12伸長之方式來產生彈力，故而可降低作用於伺服馬達26a~26d、31a~31d之負載。於左腿部12在時間點(b)落地時，右腿部12相對於軀體部11擺動至最後方。於接下來之時間點(c)時，使右腿部12離地，且一方面使右腿部12產生彎曲，一方面向前方邁出。時間點(c)係為將時間點(a)之左右腳交換之狀態。於時間點(c)之後，一方面使右腿部12伸長，一方面向最前方邁出右腿部12，於時間點(d)時使右腿部12落地。於時間點(d)之後，再次重複自時間點(a)開始之動作。 At the time point (a), the left leg portion 12 that is off the ground is bent in a U-shape on the one hand and forward on the other hand. This operation of the left leg portion 12 can be realized by controlling the servo motors 26a to 26d, 31a to 31d. The left leg 12 that is drawn forward is landing at time (b). At the time point (b), the left leg portion 12 is located at a position that is swung to the forefront with respect to the body portion 11. It is prepared to land at the time point (b) to cause the knee joint 19 of the left leg portion 12 to extend. Thus, the left leg portion 12 of the bent leg-lifting state is elongated on the one hand and landed on the ground, so that a large load acts on the servo motors 26a to 26d, 31a to 31d. In spite of this, the thigh-side coil springs 34 and the calf-side coil springs 36 generate the elastic force so that the leg portions 12 are elongated, so that the loads acting on the servo motors 26a to 26d and 31a to 31d can be reduced. When the left leg portion 12 is landed at the time point (b), the right leg portion 12 is swung to the rearmost portion with respect to the body portion 11. At the next point in time (c), the right leg portion 12 is moved off the ground, and on the one hand, the right leg portion 12 is bent, and on the other hand, it is taken forward. The time point (c) is a state in which the left and right feet of the time point (a) are exchanged. After the time point (c), on the one hand, the right leg portion 12 is extended, on the one hand, the right leg portion 12 is taken to the forefront, and at the time point (d), the right leg portion 12 is allowed to land. After the time point (d), the action from the time point (a) is repeated again.
以上，對本實施形態之足式機器人10之構造、動作進行了說明。本實施形態之足式機器人10之效果如下所述。 The structure and operation of the foot type robot 10 of the present embodiment have been described above. The effects of the foot robot 10 of the present embodiment are as follows.
根據本實施形態之足式機器人10，於足式機器人10直立時，大腿部12a及上述小腿部12b抵接於膝關節19之碟構件22，因此發揮止動作用以使大腿部12a及小腿部12b變成伸長之狀態。而且，大腿部側螺旋彈簧34及小腿部側螺旋彈簧36以保持發揮止動作用之狀態之方式來產生彈力，因此可使足式機器人10之直立狀態呈現穩定。因此，可降低作為用以保持直立狀態之驅動源之伺服馬達26a~26d、31a~31d之驅動力，視情形，即便伺服馬達26a~26d、31a~31d不產生驅動力(例如，即便於切斷伺服馬達26a~26d、31a~31d之電源之狀態下)，亦可保持直立之狀態。又，大腿部側螺旋彈簧34及小腿部側螺旋彈簧36兼用作於步行時來輔助伺服馬達26a~26d、31a~31d之驅動力之彈性構件，故而可防止膝關節19之大型化。 According to the foot type robot 10 of the present embodiment, when the foot type robot 10 is erected, the thigh portion 12a and the lower leg portion 12b abut against the disc member 22 of the knee joint 19, so that the stop action is performed to make the thigh portion 12a And the calf portion 12b is in an extended state. Further, the thigh-side coil springs 34 and the calf-side coil springs 36 generate an elastic force so as to maintain the state of the stopper, so that the upright state of the foot-type robot 10 can be stabilized. Therefore, it is possible to reduce the driving force of the servo motors 26a to 26d and 31a to 31d which are driving sources for maintaining the upright state, and the driving motors 26a to 26d and 31a to 31d do not generate the driving force as appropriate (for example, even if cutting When the servo motors 26a to 26d and 31a to 31d are turned off, the state can be maintained in an upright state. Further, the thigh-side coil springs 34 and the calf-side coil springs 36 serve as elastic members for assisting the driving forces of the servo motors 26a to 26d and 31a to 31d during walking, so that the knee joint 19 can be prevented from being enlarged.
驅動足式機器人10之伺服馬達26a~26d、31a~31d係於步行時使腿部12伸長之情形較使其彎曲之情形時需要更大之驅動力。如圖5所示，於進行屈伸運動時，伺服馬達26a~26d、31a~31d之驅動力必需克服作用於軀體部11之重力，且如圖7(b)所示，於使彎曲之抬腿一方面伸長一方面著落於地面時較大之負載作用於伺服馬達26a~26d、31a~31d。使大腿部側螺旋彈簧34及小腿部側螺旋彈簧36於使腿部12伸長時產生彈力，藉此可有效地降低所需之伺服馬達26a~26d、31a~31d之驅動力，從而即便為小型且低輸 出之伺服馬達26a~26d、31a~31d亦可進行動作。 The servo motors 26a to 26d and 31a to 31d that drive the foot robot 10 require a larger driving force when the leg portion 12 is stretched during walking than when it is bent. As shown in Fig. 5, when the flexion and extension motion is performed, the driving forces of the servo motors 26a to 26d, 31a to 31d must overcome the gravity acting on the body portion 11, and as shown in Fig. 7(b), the bending legs are raised. On the one hand, when the extension is on the ground, a large load acts on the servo motors 26a to 26d, 31a to 31d. The thigh-side coil spring 34 and the calf-side coil spring 36 generate an elastic force when the leg portion 12 is extended, whereby the driving forces of the servo motors 26a to 26d and 31a to 31d required can be effectively reduced, thereby Small and low loss The servo motors 26a to 26d and 31a to 31d can also be operated.
使輔助伺服馬達26a~26d、31a~31d之驅動力之彈性構件包含大腿部側螺旋彈簧34與小腿部側螺旋彈簧36之兩個彈簧，藉此無論腿部12之彎曲狀態如何始終以使腿部12伸長之方式來產生彈力則變得容易。若假設於大腿部12a與小腿部12b之間配置有一個彈性構件，則於使腿部12彎曲時及使腿部12伸長時之兩種情況下以使腿部12伸長之方式來產生彈力則變得困難。 The elastic member that drives the driving forces of the auxiliary servo motors 26a to 26d, 31a to 31d includes two springs of the thigh side coil spring 34 and the calf side coil spring 36, whereby the bending state of the leg portion 12 is always It is easy to generate the elastic force by elongating the leg portion 12. If an elastic member is disposed between the thigh portion 12a and the lower leg portion 12b, the leg portion 12 is elongated in the two cases when the leg portion 12 is bent and the leg portion 12 is extended. Elasticity becomes difficult.
於使足式機器人10產生直立時，自足式機器人10之側方來觀察，大腿部12a及小腿部12b形成一條直線、或變為與腿部12步行時之ㄑ字之彎曲狀態相反之倒ㄑ字之彎曲狀態，藉此可藉由軀體部11之重力之作用使足式機器人10直立之狀態呈現穩定。 When the foot robot 10 is erected, the side of the self-contained robot 10 is observed, and the thigh portion 12a and the lower leg portion 12b form a straight line or become opposite to the curved state of the squat when the leg portion 12 is walking. The curved state of the inverted character can thereby stabilize the state in which the foot robot 10 is erected by the action of the gravity of the body portion 11.
藉由與大腿部12a平行之一對連桿來連結髖關節18與膝關節19之間，且藉由與小腿部12b平行之一對連桿來連結膝關節19與腳踝關節29，藉此可使腳踝關節29始終相對於髖關節18產生平行，從而變得容易使足式機器人10產生自立。 The knee joint 18 and the knee joint 19 are connected by a pair of links parallel to the thigh portion 12a, and the knee joint 19 and the ankle joint 29 are joined by a pair of links parallel to the lower leg portion 12b. This allows the ankle joint 29 to always be parallel with respect to the hip joint 18, thereby making it easy for the foot robot 10 to be self-supporting.
再者，本發明並不限定於上述實施形態，可於不變更本發明之主旨之範圍內變更為各種實施形態。 The present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit and scope of the invention.
例如，於本發明之另一態樣中，於足式機器人直立時，只要大腿部及上述小腿部抵接於膝關節之碟構件而可發揮止 動作用，則亦可採用不設置產生輔助伺服馬達之驅動力、或保持直立狀態之彈性構件之構成。只要伺服馬達以保持發揮止動作用之狀態之方式來產生力矩，則可維持足式機器人直立之狀態。 For example, in another aspect of the present invention, when the foot robot is erected, the thigh portion and the lower leg portion can abut against the disc member of the knee joint. For the action, it is also possible to adopt a configuration in which an elastic member that generates an auxiliary servo motor or that maintains an upright state is not provided. As long as the servo motor generates a torque in such a manner as to maintain the state of the stop action, the state of the foot robot can be maintained upright.
亦可使大腿部及小腿部不包含平行之一對連桿。藉由在髖關節及腳踝關節處設置產生止動作用、及維持止動作用之彈力之彈性構件，而可使足式機器人產生直立。 It is also possible to prevent the thigh and the lower leg from including a parallel pair of links. The foot robot can be erected by providing an elastic member for generating a stop motion and maintaining an elastic force for stopping the motion at the hip joint and the ankle joint.
足式機器人之腿之數量亦可為四條或六條。雖然使用螺旋彈簧作為彈性構件，但亦可使用蝸旋彈簧。 The number of legs of the foot robot can also be four or six. Although a coil spring is used as the elastic member, a spiral spring can also be used.
又，於上述實施例中，使用馬達當作為使腿部擺動之驅動源，但當作為驅動源，除此以外亦可利用空壓缸或油壓缸、線性馬達、人工肌肉致動器等各種器件。 Further, in the above-described embodiment, the motor is used as the driving source for swinging the leg portion. However, as the driving source, various types of air cylinders, hydraulic cylinders, linear motors, artificial muscle actuators, and the like may be used. Device.
本說明書係根據於2011年12月7日申請之日本專利特願2011-267889。其內容全部包含於本文中。 The present specification is based on Japanese Patent Application No. 2011-267889 filed on Dec. 7, 2011. Its contents are all included in this article.
10‧‧‧足式機器人 10‧‧‧foot robot
11‧‧‧軀體部 11‧‧‧ Body Department
12‧‧‧腿部 12‧‧‧ legs
12a‧‧‧大腿部 12a‧‧‧Thigh
12b‧‧‧小腿部 12b‧‧‧小腿部
13‧‧‧臂部 13‧‧‧ Arms
13a‧‧‧手部 13a‧‧‧Hands
13b‧‧‧上臂部 13b‧‧‧ upper arm
13c‧‧‧下臂部 13c‧‧‧ Lower arm
14‧‧‧頭部 14‧‧‧ head
15‧‧‧CCD照相機 15‧‧‧CCD camera
16‧‧‧肩關節 16‧‧‧ Shoulder joint
17‧‧‧肘關節 17‧‧‧ elbow joint
18‧‧‧髖關節 18‧‧‧Hip joint
18a‧‧‧髖關節之關節本體 18a‧‧‧ joint body of hip joint
19‧‧‧膝關節 19‧‧‧ knee joint
21‧‧‧腳板部 21‧‧‧foot board
22‧‧‧碟構件 22‧‧‧disc components
24a‧‧‧本體骨架(大腿部之平行之一對連桿之一) 24a‧‧‧ Body skeleton (one of the parallel pairs of the thighs)
24b‧‧‧輔助連桿(大腿部之平行之一對連桿之一) 24b‧‧‧Auxiliary link (one of the parallel pairs of the thighs)
26a~26d、31a~31d‧‧‧伺服馬達(馬達，驅動源) 26a~26d, 31a~31d‧‧‧Servo motor (motor, drive source)
27c、27d、32c、32d‧‧‧伺服擺臂 27c, 27d, 32c, 32d‧‧‧ servo swing arm
28a‧‧‧本體骨架(小腿部之平行之一對連桿之一) 28a‧‧‧ Body skeleton (one of the parallel links of the calf)
28b‧‧‧輔助連桿(小腿部之平行之一對連桿之一) 28b‧‧‧Auxiliary link (one of the parallel pairs of the lower leg)
29‧‧‧腳踝關節 29‧‧‧ Ankle joint
29a‧‧‧腳踝關節之關節本體 29a‧‧‧ joint body of the ankle joint
34、36、37‧‧‧螺旋彈簧(彈性構件) 34, 36, 37‧‧‧Helical springs (elastic members)
38、39‧‧‧止動部 38, 39‧‧‧Department
L‧‧‧線 L‧‧‧ line
x、23‧‧‧滾轉軸 x, 23‧‧‧Rolling shaft
y、18b、22a‧‧‧俯仰軸 Y, 18b, 22a‧‧‧ pitch axis
z、22b、29b‧‧‧搖動軸 Z, 22b, 29b‧‧‧ shaking shaft
圖1係表示本發明之一實施形態之足式機器人之整體構成之前視圖。 Fig. 1 is a front view showing the overall configuration of a foot robot according to an embodiment of the present invention.
圖2係上述足式機器人之左側視圖。 Figure 2 is a left side view of the above-described foot robot.
圖3係將外殼卸下後之上述足式機器人之左腿部之側視圖。 Fig. 3 is a side view of the left leg of the above-described foot robot after the outer casing is removed.
圖4係表示自腿部之內側觀察上述足式機器人進行屈伸運動時之情況所得之圖((a)表示使膝關節伸直之狀態，(b)表 示輕度彎曲膝關節之狀態，(c)表示深度彎曲膝關節之狀態)。 Fig. 4 is a view showing a state in which the foot robot is flexed and stretched as viewed from the inner side of the leg ((a) shows a state in which the knee joint is straightened, and (b) a table. Shows the state of the slightly curved knee joint, and (c) shows the state of the deep curved knee joint).
圖5係自腿部之外側觀察上述足式機器人進行屈伸運動時之情況所得之圖((a)表示使膝關節伸直之狀態，(b)表示輕度彎曲膝關節之狀態，(c)表示深度彎曲膝關節之狀態)。 Fig. 5 is a view showing a state in which the foot robot is flexed and stretched from the outer side of the leg ((a) shows a state in which the knee joint is straightened, (b) shows a state in which the knee joint is slightly curved, (c) Indicates the state of the deep bending knee joint).
圖6係上述足式機器人之膝關節之立體圖((a)表示使大腿部及小腿部伸長之狀態，(b)表示使大腿部產生彎曲之狀態)。 Fig. 6 is a perspective view of the knee joint of the above-described foot robot ((a) shows a state in which the thigh portion and the lower leg portion are extended, and (b) shows a state in which the thigh portion is bent.
圖7係說明上述足式機器人之步行時之動作之圖((a)至(d)係以時間序列表示步行時之特定時間點時之足式機器人之腿部之姿勢)。 Fig. 7 is a view for explaining the action of the above-described foot robot during walking ((a) to (d) show the posture of the leg of the foot robot at a specific time point when walking in time series).
10‧‧‧足式機器人 10‧‧‧foot robot
11‧‧‧軀體部 11‧‧‧ Body Department
12‧‧‧腿部 12‧‧‧ legs
12a‧‧‧大腿部 12a‧‧‧Thigh
12b‧‧‧小腿部 12b‧‧‧小腿部
18‧‧‧髖關節 18‧‧‧Hip joint
18a‧‧‧髖關節之關節本體 18a‧‧‧ joint body of hip joint
19‧‧‧膝關節 19‧‧‧ knee joint
21‧‧‧腳板部 21‧‧‧foot board
22‧‧‧碟構件 22‧‧‧disc components
24a‧‧‧本體骨架(大腿部之平行之一對連桿之一) 24a‧‧‧ Body skeleton (one of the parallel pairs of the thighs)
24b‧‧‧輔助連桿(大腿部之平行之一對連桿之一) 24b‧‧‧Auxiliary link (one of the parallel pairs of the thighs)
26a~26d、31a~31d‧‧‧伺服馬達(馬達，驅動源) 26a~26d, 31a~31d‧‧‧Servo motor (motor, drive source)
28a‧‧‧本體骨架(小腿部之平行之一對連桿之一) 28a‧‧‧ Body skeleton (one of the parallel links of the calf)
28b‧‧‧輔助連桿(小腿部之平行之一對連桿之一) 28b‧‧‧Auxiliary link (one of the parallel pairs of the lower leg)
29‧‧‧腳踝關節 29‧‧‧ Ankle joint
29a‧‧‧腳踝關節之關節本體 29a‧‧‧ joint body of the ankle joint
34、36、37‧‧‧螺旋彈簧(彈性構件) 34, 36, 37‧‧‧Helical springs (elastic members)
38、39‧‧‧止動部 38, 39‧‧‧Department
L‧‧‧線 L‧‧‧ line
x、23‧‧‧滾轉軸 x, 23‧‧‧Rolling shaft
y、18b、22a‧‧‧俯仰軸 Y, 18b, 22a‧‧‧ pitch axis
z、22b、29b‧‧‧搖動軸 Z, 22b, 29b‧‧‧ shaking shaft
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| JP2011267889A JP5373880B2 (en) | 2011-12-07 | 2011-12-07 | Legged robot |
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| TWI549795B true TWI549795B (en) | 2016-09-21 |
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| TWI555524B (en) * | 2014-04-30 | 2016-11-01 | 國立交通大學 | Walking assist system of robot |
| JP6105024B2 (en) | 2014-10-28 | 2017-03-29 | Thk株式会社 | Rotation drive mechanism in robot |
| CN104401419B (en) * | 2014-11-25 | 2017-03-01 | 北京工业大学 | A kind of new biped humanoid robot system based on Pneumatic artificial muscle |
| CN104724201B (en) * | 2015-03-20 | 2017-01-04 | 哈尔滨工业大学 | The accurate passive bipod walking robot system of a kind of band hip oscillator |
| CN105438311B (en) * | 2015-12-17 | 2017-08-01 | 常州大学 | Anthropomorphic robot two-freedom series-parallel connection Low-Frequency Mechanical foot |
| JP6941037B2 (en) * | 2017-11-24 | 2021-09-29 | 川崎重工業株式会社 | Robot knee structure |
| JP7261082B2 (en) * | 2019-05-09 | 2023-04-19 | Thk株式会社 | walking robot |
| CN116729520B (en) * | 2023-08-11 | 2023-10-20 | 太原理工大学 | Bionic four-foot robot based on double-layer corrugated pipe pneumatic soft driver |
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| JP5373880B2 (en) | 2013-12-18 |
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