WO2014076837A1 - Mobile body - Google Patents
Mobile body Download PDFInfo
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- WO2014076837A1 WO2014076837A1 PCT/JP2012/079940 JP2012079940W WO2014076837A1 WO 2014076837 A1 WO2014076837 A1 WO 2014076837A1 JP 2012079940 W JP2012079940 W JP 2012079940W WO 2014076837 A1 WO2014076837 A1 WO 2014076837A1
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- link
- leg
- actuator
- attached
- rotatable
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- 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
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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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
Definitions
- the present invention relates to a moving body with two inverted wheels provided with a pair of left and right moving means at the lower part of the main body and a function of jumping.
- Patent Document 1 Conventionally, for example, a technique described in Patent Document 1 below is known as a moving body that jumps to travel through a step during traveling.
- an object of the present invention is to provide a moving body that can easily get over a step without breaking the left and right balance while being a simple mechanism.
- the present invention provides a left and right leg attached to a lower portion of a body part, a first link connected to the body part and rotatable in a pitch direction, and a length of the first link.
- a second link rotatably connected in the pitch direction to the opposite end of the direction, a mechanical limit for determining a relative motion range of the first link and the second link, and the second link Moving means provided at the opposite end of the connection with the first link, attached to the first link, and provided with a rotation axis in the pitch direction, and driven by the first actuator.
- the third link is connected to the end of the third link connected to the first actuator so as to be rotatable in the pitch direction, and the end of the third link is connected to the second link in the pitch direction.
- Can be rotated A fourth link kicked, in which a spring means for storing elastic energy by relative movement between them between the first link and the second link.
- a moving body hereinafter referred to as a robot
- a robot that can easily get over a level difference without breaking the left and right balance while being a simple mechanism.
- FIG. 1 is a perspective view of a robot according to a first embodiment of the present invention.
- the robot body 1 of the present invention includes a left leg 6 and a right leg 7 which are two leg portions on the lower left and right sides of the body 3.
- the left and right sides of the body 3 are provided with a left arm 4 and a right arm 5 which are two arms.
- a head 2 is provided on the upper portion of the body 3.
- the left leg 6 and the right leg 7 as two legs are used for the movement of the robot 1 and move on the horizontal plane.
- the left arm 4 and the right arm 5 are used for operations such as gripping an object and communicating with a human.
- the body 3 includes a control device that controls the operation of each unit and a sensor that detects an inclination angle and an angular velocity of the body 3 with respect to the direction of gravity.
- the body 3 or the head 2 includes a sensor that recognizes the surrounding environment such as a distance sensor.
- the traveling direction of the robot 1 is the X axis, the roll around the X axis, the Y axis perpendicular to the X axis and parallel to the horizontal plane in the traveling direction, the pitch around the Y axis, and the X axis.
- An axis perpendicular to the Y axis is referred to as the Z axis, and the axis around the Z axis is referred to as the yaw direction.
- FIG. 2 is a diagram illustrating the left leg 6 of the robot 1 described in the first embodiment. Since the left leg 6 and the right leg 7 included in the robot 1 have the same constituent elements and the structure is symmetrical with respect to the XZ plane, the left leg 6 will be described here.
- FIG. 2A is a perspective view of the left leg as viewed from the upper left front in the traveling direction.
- FIG. 2B is a perspective view of the left leg as viewed from the upper right rear in the traveling direction.
- the base frame 10L includes a leg upper link 11L that can rotate around the pitch axis.
- the leg upper link 11L has a longitudinal direction in the Z direction
- the base frame 10L is connected to the upper end with the lower pulley 20L as a boundary
- the leg lower link 12L is attached to the opposite end to be rotatable in the pitch direction.
- the lower leg link 12L has a longitudinal direction in the Z direction and is connected to the upper leg link 11L at the upper end, and the opposite end has a wheel actuator 22L so that the output direction is about the pitch axis. Drive.
- the drive link actuator 15L is attached to the leg upper link 11L with the drive direction around the pitch axis, and drives the drive link 13L.
- the drive link 13L has one end in the longitudinal direction connected to the drive unit of the drive link actuator 15L, and the opposite end is attached to the connection link 14L so as to be rotatable in the pitch direction.
- the connection link 14L is attached to the lower leg link 12L at the opposite end in the longitudinal direction of the connection with the drive link 13L.
- the upper spring shaft 16L is attached to be rotatable in the pitch direction in the vicinity of the connection portion between the leg upper link 11L and the base frame 10L.
- the lower spring shaft 17L is attached to the vicinity of the connecting portion between the lower leg link 12L and the wheel actuator 22L so as to be rotatable in the pitch direction.
- the jump spring 18L is attached at both ends in the longitudinal direction so as to generate a force in a direction to separate the upper spring shaft 16L and the lower spring shaft 17L.
- the upper pulley 19L is connected to the base frame coaxially with the connection between the base frame 10L and the leg upper link 11L.
- the lower pulley 20L is attached to the lower leg link 12L coaxially with the connection between the upper leg link 11L and the lower leg link 12L, and the upper pulley 19L and the lower pulley 20L transmit the mutual rotational movement by the timing belt 21L. It is configured as follows.
- the drive link actuator 15L and the wheel actuator 22L incorporate, for example, a power source such as a motor, a reduction gear, and an angle detector (rotary encoder or potentiometer), and drive the connected components according to the command value.
- a power source such as a motor, a reduction gear, and an angle detector (rotary encoder or potentiometer)
- the jump spring 18L is constituted by a leaf spring.
- any spring may be used as long as it can generate a force in a direction in which the upper spring shaft 16L and the lower spring shaft 17L are separated from each other.
- a coil spring or a gas spring may be used.
- the jump spring 18L is attached to the bent surface side (knee surface side) of the upper leg link 11L and the lower leg link 12L.
- the present invention is not necessarily limited to this. It may be attached.
- FIG. 3 is a control block diagram of the robot according to the first embodiment of the present invention.
- an angle sensor 201 is mounted on the body 3 and detects an inclination angle and an angular velocity of the body 3 with respect to the direction of gravity. Based on the information detected by the angle sensor 201, the control device 202 appropriately controls the driving means 203 such as the wheel actuators 22L and 22R so that the inclination and the angular velocity of the body 3 coincide with the target values.
- FIG. 4 is a side view showing the operation of the leg portion of the robot according to the first embodiment of the present invention.
- the jump spring 18L is stored in the jump spring 18L.
- the upper spring shaft 16L is attached to the leg upper link 11L so as to be able to rotate with a pitch
- the lower spring shaft 17L is attached to the lower leg link 12L so as to be able to rotate with a pitch. Therefore, the elastic energy stored in the jump spring 18L is proportional only to the distance between the upper spring shaft 16L and the lower spring shaft 17L.
- the jump spring 18L when the upper leg link 11L and the lower leg link 12L perform a bending motion, the elastic energy stored in the jump spring 18L increases, and conversely, when the stretching motion is performed, the elastic energy decreases.
- the jump spring 18L In the normal running state, the jump spring 18L generates a force in a direction to separate the upper spring shaft 16L and the lower spring shaft 17L.
- the load applied to the drive link actuator 15L can be brought close to 0 and energy can be saved.
- FIG. 5A is a side view showing the operation of the leg portion of the robot according to the first embodiment of the present invention.
- FIG. 5B is a side view showing the operation of the leg portion of the robot according to the first embodiment of the present invention.
- FIG. 5A shows a state of normal movement, where the rotational center of the wheel 23L is 3P, the grounding point between the wheel 23L and the ground is 2P, and the rotational center of the upper leg link 11L and the base frame 10L is 4P.
- a straight line passing through is defined as 1P.
- the center of gravity 1G is usually located on the vertical line of the grounding point 2P. At this time, it is desirable to design the center of gravity of the body 3 so that the center of gravity 1G is on a straight line 1P passing through three points.
- this figure is in a bent state, but in this state as well, it is desirable that the position of the center of gravity 1G be as close as possible to the straight line 1P passing through the three points.
- the ratio should be set to around 1.9 to 2: 1.
- the position transmission means for the relative movement between the base frame 10L and the lower leg link 12L with reference to the upper leg link 11L is realized by the timing belt 21L.
- the timing belt is not limited to 21L.
- FIG. 6 is a view showing the operation of the leg portion of the robot according to the first embodiment of the present invention, and (a) to (f) illustrate a series of operations of the left leg 6.
- (A) is the normal driving state.
- the connection point between the drive link 13L and the connection link 14L is 1S
- the rotation center of the drive link 13L with the upper leg link 11L is the point 2S
- the connection point between the connection link 14L and the lower leg link 12L is 3S
- the connection point with the side link 12L is 4S.
- (B) shows a state in which the leg upper link 11L and the leg lower link 12L are bent in preparation for jumping and elastic energy for jumping is accumulated in the jumping spring 18L.
- (C) is a state where the upper leg link 11l and the lower leg link 12L are bent most, and in this state, the elastic energy stored in the jump spring 18L is maximized.
- the jumping spring 18L generates a restoring force in the direction in which the upper leg link 11L and the lower leg link 12L extend, but the points 1S, 2S, and 3S are arranged substantially in a straight line, so that the drive link 13L is The extension of the leg by the jump spring 18L can be countered with a very small force.
- This state is a jump preparation posture after the accumulation of elastic energy for jumping.
- (D) is in the middle of entering the jumping action.
- the drive link 13L is rotated in the direction of the arrow in the figure.
- (E) is a figure during the jumping operation. Due to the elastic energy stored in the jump spring 13L, the upper leg link 11L and the lower leg link 12L advance rapidly, and the base frame 10L and the body 3 provided on the upper part thereof are accelerated in the Z direction to perform a jumping operation.
- (F) is the state where the leg is most extended.
- a mechanical limit is provided in either the leg upper link 11L or the leg lower link 12L.
- the jumping mechanism of the present invention enables accumulation of elastic energy used for jumping, retention and release of elastic energy only by rotating the drive link in a certain direction.
- FIG. 7 is a graph illustrating the drive link angle and the reduction ratio in the leg portion of the robot according to the first embodiment of the present invention.
- the rotation angle ⁇ d of the drive link 13L, the leg upper link 11L, and the leg lower link 12 are The relationship with the reduction ratio obtained by dividing the formed angle by the rotation angle ⁇ d of the drive link 13L will be described.
- the horizontal axis shows a state in which the rotation angle of the drive link 13L is set to the angle 0 in FIG. 6A and the drive link 13L is driven counterclockwise.
- the vertical axis shows the reduction ratio with respect to the angle.
- (A) to (f) in FIG. 7 show the states of (a) to (f) in FIG. 6, respectively.
- the speed of the drive link actuator 15L that drives the drive link 13L does not catch up with the extension of the legs due to the release of the elastic energy of the springs, and the resistance due to the torque caused by the counter electromotive force generated when the motor is driven from the outside There is concern about becoming.
- the reduction ratio rapidly decreases when the leg starts to extend, the leg can be extended even if the operating angle of the drive link actuator 15L is slight. Thereafter, the reduction ratio takes the minimum value in (f) of FIG. 7, and when the drive link 13L is further driven, the state returns to the state of (a) in FIG.
- FIG. 8 is a side view for explaining the condition of the link length of the leg portion of the robot according to the first embodiment of the present invention.
- the length of the drive link 13L is a
- the length of the connection link 14L is b
- the spring has a large reduction ratio when bending to store the elastic energy of the spring, and can store energy efficiently, and when extending to release the elastic energy of the spring, the reduction ratio is small, reducing the load caused by the back electromotive force of the drive actuator. It is possible to provide a mechanism capable of.
- FIG. 9 is a perspective view showing the operation of the robot according to the first embodiment of the present invention, and illustrates stepping through the step of the robot body 1 by jumping.
- jumping force is generated by the left leg 6 and the right leg 7 to jump. At this time, it moves at 1V in the horizontal direction, has a speed corresponding to the jumping force generated by the left and right legs in the vertical direction, and performs a parabolic motion as a whole.
- (C) is in a landed state.
- the vehicle continues to move at 1V in the horizontal direction after landing.
- the robot 1 can step through the steps on the traveling road surface.
- FIG. 10 is a perspective view showing the operation of the robot according to the second embodiment of the present invention.
- the robot 1 includes roll actuators 20L and 20R at the lower left and right ends of the body 3, and a left leg 6 and a right leg 7 on output shafts of the roll actuators 20L and 20R, respectively.
- the roll actuators 20L and 20R are the same as the drive link actuator 15L and the wheel actuator 22L described in FIG. 2, and the angle of the roll direction of the left leg 6 and the right foot 7 with respect to the body 3 can be set appropriately.
- FIGS. 1 to (c)) are diagrams illustrating a procedure for approaching and stepping over the step on the road surface from the lateral direction.
- the robot body 1 in a jump ready state faces the right side with respect to the step 1D for the purpose of stepping through the step at a right angle to normal wheel movement.
- the roll actuators 20L and 20R are rotated to the left when viewed from the robot body 1 at the same angle, and the direction of the force generated by releasing the spring is changed from the vertically upward direction (5A) to the step direction (6A). ing. Thereby, the horizontal force and the vertical force are generated by the jumping force.
- (B) is a state in which a jumping force is generated by the left leg 6 and the right leg 7 and a jump is performed.
- the present invention can provide a robot that can easily get over a step without breaking the left and right balance by a simple configuration and control.
- this invention is not limited to the above-mentioned Example, Various modifications are included.
- the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described.
- a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment.
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Abstract
The purpose of the present invention is to provide a mobile body that while having a simple mechanism can easily overcome a grade difference without losing balance in the left-right direction. The present invention has the following: left-right leg parts attached to the lower portion of a body part; a first link connected to the body part and rotatable in the pitch direction; a second link rotatably connected in the pitch direction to the length-direction reverse end of the first link; a mechanical limit that determines the relative motion range of the first link and the second link; and a movement means provided to the reverse end of the connection of the second link to the first link. Also provided are the following: a first actuator attached to the first link and having a rotation axis in the pitch direction; a third link which is driven by the first actuator; a fourth link attached, so as to be rotatable in the pitch direction, to the length direction reverse end of the connection of the third link to the first actuator, and in which the reverse end is attached to the second link so as to be rotatable in the pitch direction; and a spring means that accumulates elastic energy from the relative motion of the first link and the second link in a space therebetween.
Description
本発明は、本体下部に左右一対の移動手段を備え、さらに跳躍する機能を備えた倒立2輪による移動体に関する。
The present invention relates to a moving body with two inverted wheels provided with a pair of left and right moving means at the lower part of the main body and a function of jumping.
従来、走行中に段差を踏破するために跳躍を行う移動体は、例えば下記の特許文献1に記載の技術が知られている。
Conventionally, for example, a technique described in Patent Document 1 below is known as a moving body that jumps to travel through a step during traveling.
特許文献1に開示されているロボットの跳躍方法は、車輪を支持するアームで車体の下部に取り付けられたバネを圧縮し、圧縮されたバネのクラッチを切断し駆動力をフリーとすることでバネを開放し跳躍を行うものである。
In the robot jumping method disclosed in Patent Document 1, the spring attached to the lower part of the vehicle body is compressed by the arm that supports the wheel, the clutch of the compressed spring is disconnected, and the driving force is made free. To open and jump.
しかしながら、特許文献1の従来技術では、跳躍を行うためのバネの解放をクラッチにより行うため、クラッチの摩耗により左右の機構に対する動力伝達にずれが発生し、跳躍の際の左右のバランスを崩す可能性があるという課題があった。
However, in the prior art of Patent Document 1, since the spring for releasing the jump is released by the clutch, the power transmission to the left and right mechanisms is shifted due to wear of the clutch, and the right and left balance at the time of jumping can be lost. There was a problem that there was sex.
そこで本発明の目的は、簡便な機構でありながら左右のバランスを崩すことなく段差を簡単に乗越えることが可能な移動体を提供することにある。
Therefore, an object of the present invention is to provide a moving body that can easily get over a step without breaking the left and right balance while being a simple mechanism.
上記課題を解決するために本発明は、胴体部の下部に取り付けられた左右の脚部と、前記胴体部に接続されピッチ方向に回転可能な第1のリンクと、この第1のリンクの長手方向逆端にピッチ方向に回転可能に接続された第2のリンクと、前記第1のリンクと前記第2のリンクの相対運動範囲を決定するためのメカリミットと、前記第2のリンクの前記第1のリンクとの接続の逆端に備えた移動手段とを有し、前記第1のリンクに取り付けられ、ピッチ方向に回転軸を備える第1のアクチュエータと、前記第1のアクチュエータにより駆動される第3のリンクと、この第3のリンクの前記第1のアクチュエータとの接続との長手方向逆端にピッチ方向に回転可能に取り付けられ、その逆端は前記第2のリンクにピッチ方向に回転可能に取り付けられる第4のリンクと、前記第1のリンクと前記第2のリンク間に両者の相対運動により弾性エネルギーを蓄積するバネ手段とを備えたものである。
In order to solve the above-described problems, the present invention provides a left and right leg attached to a lower portion of a body part, a first link connected to the body part and rotatable in a pitch direction, and a length of the first link. A second link rotatably connected in the pitch direction to the opposite end of the direction, a mechanical limit for determining a relative motion range of the first link and the second link, and the second link Moving means provided at the opposite end of the connection with the first link, attached to the first link, and provided with a rotation axis in the pitch direction, and driven by the first actuator. The third link is connected to the end of the third link connected to the first actuator so as to be rotatable in the pitch direction, and the end of the third link is connected to the second link in the pitch direction. Can be rotated A fourth link kicked, in which a spring means for storing elastic energy by relative movement between them between the first link and the second link.
本発明によれば、簡便な機構でありながら左右のバランスを崩すことなく段差を簡単に乗越えることが可能な移動体(以下、ロボットという)を提供できる。
According to the present invention, it is possible to provide a moving body (hereinafter referred to as a robot) that can easily get over a level difference without breaking the left and right balance while being a simple mechanism.
上記した以外の課題、構成及び効果は、以下の実施形態の説明により明らかにされる。
Issues, configurations, and effects other than those described above will be clarified by the following description of the embodiments.
以下、本発明の一実施例を図にしたがって説明する。
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
図1は本発明の実施例1に係るロボットの斜視図である。
FIG. 1 is a perspective view of a robot according to a first embodiment of the present invention.
図1において、本発明のロボット本体1は、2本の脚部となる左脚6と右脚7を胴体3の下部左右に備えている。胴体3の左右両側には、2本の腕部となる左腕4と右腕5を備えている。また、胴体3の上部には頭部2を備えられている。
1, the robot body 1 of the present invention includes a left leg 6 and a right leg 7 which are two leg portions on the lower left and right sides of the body 3. The left and right sides of the body 3 are provided with a left arm 4 and a right arm 5 which are two arms. A head 2 is provided on the upper portion of the body 3.
2本の脚部となる左脚6及び右脚7はロボット1の移動に用いられ、水平面を移動する。左腕4と右腕5は物体の把持、人間とのコミュニケーション等の作業に用いられる。胴体3は各部の動作を制御する制御装置と胴体3の重力方向に対する傾斜角度、角速度を検出するセンサを備える。胴体3または頭部2は距離センサ等の周囲環境を認識するセンサを備える。
The left leg 6 and the right leg 7 as two legs are used for the movement of the robot 1 and move on the horizontal plane. The left arm 4 and the right arm 5 are used for operations such as gripping an object and communicating with a human. The body 3 includes a control device that controls the operation of each unit and a sensor that detects an inclination angle and an angular velocity of the body 3 with respect to the direction of gravity. The body 3 or the head 2 includes a sensor that recognizes the surrounding environment such as a distance sensor.
ここで、ロボット1の進行方向をX軸とし、X軸の軸回りをロール方向、X軸と直角で進行方向の水平面と平行な軸をY軸、Y軸の軸回りをピッチ方向、X軸とY軸と直交する軸をZ軸、Z軸の軸回りをヨー方向と称し、以降特別な表記のない場合はこれを用いるものとする。
Here, the traveling direction of the robot 1 is the X axis, the roll around the X axis, the Y axis perpendicular to the X axis and parallel to the horizontal plane in the traveling direction, the pitch around the Y axis, and the X axis. An axis perpendicular to the Y axis is referred to as the Z axis, and the axis around the Z axis is referred to as the yaw direction.
図2は実施例1に記載のロボット1の左脚6を説明する図である。ロボット1が備える左脚6と右脚7は構成要素が等しく、構造がX-Z平面に対して対称であるため、ここでは左脚6について説明する。
FIG. 2 is a diagram illustrating the left leg 6 of the robot 1 described in the first embodiment. Since the left leg 6 and the right leg 7 included in the robot 1 have the same constituent elements and the structure is symmetrical with respect to the XZ plane, the left leg 6 will be described here.
図2Aは左脚を進行方向前方左上から見た斜視図である。
FIG. 2A is a perspective view of the left leg as viewed from the upper left front in the traveling direction.
図2Bは左脚を進行方向後方右上から見た斜視図である。
FIG. 2B is a perspective view of the left leg as viewed from the upper right rear in the traveling direction.
図2A、Bにおいて、ベースフレーム10Lは、ピッチ軸回りに回転可能に脚上側リンク11Lを備えている。この脚上側リンク11Lは、Z方向に長手方向を備え、下側プーリ20Lを境として上端にベースフレーム10Lを接続し、逆端には脚下側リンク12Lをピッチ方向に回転可能に取り付けられている。脚下側リンク12LはZ方向に長手方向を備え、上端に脚上側リンク11Lと接続され、逆端は車輪アクチュエータ22Lを出力方向がピッチ軸回りとなるように備えており、車輪アクチュエータ22Lは車輪23Lを駆動する。
2A and 2B, the base frame 10L includes a leg upper link 11L that can rotate around the pitch axis. The leg upper link 11L has a longitudinal direction in the Z direction, the base frame 10L is connected to the upper end with the lower pulley 20L as a boundary, and the leg lower link 12L is attached to the opposite end to be rotatable in the pitch direction. . The lower leg link 12L has a longitudinal direction in the Z direction and is connected to the upper leg link 11L at the upper end, and the opposite end has a wheel actuator 22L so that the output direction is about the pitch axis. Drive.
駆動リンクアクチュエータ15Lは、脚上側リンク11Lに駆動方向をピッチ軸回りとして取り付けられており、駆動リンク13Lを駆動する。駆動リンク13Lは長手方向の一端を駆動リンクアクチュエータ15Lの駆動部に接続され、逆端は接続リンク14Lにピッチ方向に回転可能に取り付けられている。接続リンク14Lは、駆動リンク13Lとの接続の長手方向逆端を脚下側リンク12Lに取り付けられている。
The drive link actuator 15L is attached to the leg upper link 11L with the drive direction around the pitch axis, and drives the drive link 13L. The drive link 13L has one end in the longitudinal direction connected to the drive unit of the drive link actuator 15L, and the opposite end is attached to the connection link 14L so as to be rotatable in the pitch direction. The connection link 14L is attached to the lower leg link 12L at the opposite end in the longitudinal direction of the connection with the drive link 13L.
図2Bにおいて、上側バネシャフト16Lは、脚上側リンク11Lのベースフレーム10Lとの接続部近傍にピッチ方向に回転可能に取り付けられる。下側バネシャフト17Lは、脚下側リンク12Lの車輪アクチュエータ22Lとの接続部近傍にピッチ方向に回転可能に取り付けられる。跳躍用バネ18Lは長手方向両端を上側バネシャフト16Lと下側バネシャフト17Lを引き離す方向に力を発生するように取り付けられる。
In FIG. 2B, the upper spring shaft 16L is attached to be rotatable in the pitch direction in the vicinity of the connection portion between the leg upper link 11L and the base frame 10L. The lower spring shaft 17L is attached to the vicinity of the connecting portion between the lower leg link 12L and the wheel actuator 22L so as to be rotatable in the pitch direction. The jump spring 18L is attached at both ends in the longitudinal direction so as to generate a force in a direction to separate the upper spring shaft 16L and the lower spring shaft 17L.
上側プーリ19Lはベースフレーム10Lと脚上側リンク11Lとの接続と同軸にベースフレームに接続される。下側プーリ20Lは脚上側リンク11Lと脚下側リンク12Lとの接続と同軸に脚下側リンク12Lに取り付けられており、上側プーリ19Lと下側プーリ20Lはタイミングベルト21Lによって互いの回転運動を伝達するように構成されている。
The upper pulley 19L is connected to the base frame coaxially with the connection between the base frame 10L and the leg upper link 11L. The lower pulley 20L is attached to the lower leg link 12L coaxially with the connection between the upper leg link 11L and the lower leg link 12L, and the upper pulley 19L and the lower pulley 20L transmit the mutual rotational movement by the timing belt 21L. It is configured as follows.
駆動リンクアクチュエータ15Lおよび車輪アクチュエータ22Lは例えばモータの様な動力源と減速機と角度検出器(ロータリエンコーダまたはポテンショメータ)を内蔵し、接続された部品を指令値に従って駆動する。
The drive link actuator 15L and the wheel actuator 22L incorporate, for example, a power source such as a motor, a reduction gear, and an angle detector (rotary encoder or potentiometer), and drive the connected components according to the command value.
跳躍用バネ18Lはここでは板ばねで構成したが、上側バネシャフト16Lと下側バネシャフト17Lを引き離す方向に力を発生可能なものであれば何でもよく、例えば、コイルスプリングやガススプリング等でも良い。また本実施例では跳躍用バネ18Lを脚上側リンク11Lと脚下側リンク12Lの屈曲表面側(膝表面側)に取り付けたが、必ずしもこれに限定されるものではなく、屈曲内側(膝内側)に取り付けても良い。
Here, the jump spring 18L is constituted by a leaf spring. However, any spring may be used as long as it can generate a force in a direction in which the upper spring shaft 16L and the lower spring shaft 17L are separated from each other. For example, a coil spring or a gas spring may be used. . In this embodiment, the jump spring 18L is attached to the bent surface side (knee surface side) of the upper leg link 11L and the lower leg link 12L. However, the present invention is not necessarily limited to this. It may be attached.
図3は本発明の実施例1に係るロボットの制御ブロック図である。
FIG. 3 is a control block diagram of the robot according to the first embodiment of the present invention.
図3において、角度センサ201は、胴体3に搭載されており、胴体3の重力方向に対する傾斜角度、角速度を検出するものである。制御装置202は、角度センサ201が検出した情報を元に、胴体3の傾きと角速度を目標値に一致させるように、車輪アクチュエータ22L、22Rのような駆動手段203を適切に制御する。
In FIG. 3, an angle sensor 201 is mounted on the body 3 and detects an inclination angle and an angular velocity of the body 3 with respect to the direction of gravity. Based on the information detected by the angle sensor 201, the control device 202 appropriately controls the driving means 203 such as the wheel actuators 22L and 22R so that the inclination and the angular velocity of the body 3 coincide with the target values.
図4は本発明の実施例1に係るロボットの脚部の動作を示す側面図である。
FIG. 4 is a side view showing the operation of the leg portion of the robot according to the first embodiment of the present invention.
図4において、本図に示す状態から、駆動リンクアクチュエータ15Lにより駆動リンク13Lを図中の矢印1Aの方向に回転させると、その回転力が接続リンク14Lを介して脚下側リンク12Lに伝達される。回転力が伝達された脚下側リンク12Lは脚上側リンク11Lに対して矢印2A方向に回転する。これにより、脚上側リンク11Lと脚下側リンク12Lの屈曲運動が行われるようになっている。
In FIG. 4, when the drive link 13L is rotated in the direction of the arrow 1A in the figure by the drive link actuator 15L from the state shown in this figure, the rotational force is transmitted to the lower leg link 12L via the connection link 14L. . The leg lower link 12L to which the rotational force is transmitted rotates in the direction of the arrow 2A with respect to the leg upper link 11L. Thereby, the bending motion of the leg upper link 11L and the leg lower link 12L is performed.
また、図4に示す状態から、駆動リンク13Lを矢印1Aと逆方向に回転させると、その回転力が接続リンク14Lを介して脚下側リンク12Lに伝達され、脚下側リンク12Lは脚上側リンク11Lに対して矢印2Aと逆方向に回転する。これにより、脚上側リンク11Lと脚下側リンク12Lの伸展運動が行われるようになっている。このように、駆動リンク13Lの回転動作により脚上側リンク11Lと脚下側リンク12Lの屈伸運動が可能となっている。
Further, when the drive link 13L is rotated in the direction opposite to the arrow 1A from the state shown in FIG. 4, the rotational force is transmitted to the lower leg link 12L via the connection link 14L, and the lower leg link 12L is transmitted to the upper leg link 11L. Rotates in the direction opposite to the arrow 2A. Thereby, the extension movement of the leg upper link 11L and the leg lower link 12L is performed. Thus, the bending motion of the upper leg link 11L and the lower leg link 12L is possible by the rotation of the drive link 13L.
また、脚上側リンク11Lと脚下側リンク12Lの屈伸運動に伴い、跳躍用バネ18Lには弾性エネルギーが蓄えられる。具体的には、上側バネシャフト16Lは脚上側リンク11Lにピッチ回転可能に取り付けられており、下側バネシャフト17Lは脚下側リンク12Lにピッチ回転可能に取り付けられている。そのため、跳躍バネ18Lに蓄えられる弾性エネルギーは上側バネシャフト16Lと下側バネシャフト17Lとの間の距離にのみ比例する。
Also, along with the bending and stretching movement of the upper leg link 11L and the lower leg link 12L, elastic energy is stored in the jump spring 18L. Specifically, the upper spring shaft 16L is attached to the leg upper link 11L so as to be able to rotate with a pitch, and the lower spring shaft 17L is attached to the lower leg link 12L so as to be able to rotate with a pitch. Therefore, the elastic energy stored in the jump spring 18L is proportional only to the distance between the upper spring shaft 16L and the lower spring shaft 17L.
すなわち、脚上側リンク11Lと脚下側リンク12Lが屈曲運動を行うと跳躍バネ18Lに蓄えられる弾性エネルギーは増加し、逆に伸展運動を行うと弾性エネルギーは減少する。通常走行時の状態では跳躍バネ18Lは上側バネシャフト16Lと下側バネシャフト17Lを引き離す方向に力を発生する。例えば、ベースフレーム10L上に取り付けられる胴体3等の重量とバランスするように跳躍バネ18Lのバネ定数を設定することで、駆動リンクアクチュエータ15Lにかかる負荷を0に近づけ、省エネルギー化が可能になる。
That is, when the upper leg link 11L and the lower leg link 12L perform a bending motion, the elastic energy stored in the jump spring 18L increases, and conversely, when the stretching motion is performed, the elastic energy decreases. In the normal running state, the jump spring 18L generates a force in a direction to separate the upper spring shaft 16L and the lower spring shaft 17L. For example, by setting the spring constant of the jump spring 18L so as to balance the weight of the body 3 or the like attached on the base frame 10L, the load applied to the drive link actuator 15L can be brought close to 0 and energy can be saved.
図5Aは本発明の実施例1に係るロボットの脚部の動作を示す側面図である。
FIG. 5A is a side view showing the operation of the leg portion of the robot according to the first embodiment of the present invention.
図5Bは本発明の実施例1に係るロボットの脚部の動作を示す側面図である。
FIG. 5B is a side view showing the operation of the leg portion of the robot according to the first embodiment of the present invention.
図5Aにおいて、脚上側リンク11Lと脚下側リンク12Lを屈曲させると、脚下側リンク12Lに取り付けられている下側プーリ20Lが屈曲に伴い図中の矢印3Aの方向に回転する。その回転によるトルクはタイミングベルト21Lを伝わって上側プーリ19Lを回転させる。この上側プーリ19Lはベースフレーム10Lに接続されているため、ベースフレーム10Lとその上方に取り付けられている胴体3とともに図中の矢印4Aの方向に回転する。
5A, when the upper leg link 11L and the lower leg link 12L are bent, the lower pulley 20L attached to the lower leg link 12L rotates in the direction of the arrow 3A in the drawing. Torque due to the rotation is transmitted through the timing belt 21L to rotate the upper pulley 19L. Since this upper pulley 19L is connected to the base frame 10L, it rotates in the direction of the arrow 4A in the figure together with the base frame 10L and the body 3 attached above the base frame 10L.
ここで、図5Aは通常移動の状態であり、車輪23Lの回転中心を3P、車輪23Lと地面との接地点を2P、脚上側リンク11Lとベースフレーム10Lとの回転中心を4Pとして、3点を通る直線を1Pとする。
Here, FIG. 5A shows a state of normal movement, where the rotational center of the wheel 23L is 3P, the grounding point between the wheel 23L and the ground is 2P, and the rotational center of the upper leg link 11L and the base frame 10L is 4P. A straight line passing through is defined as 1P.
ロボット1は倒立振子移動を行うため、通常は重心1Gは接地点2Pの鉛直線上に位置している。このときに重心1Gが3点を通る直線1P上にあるように胴体3の重心等を設計することが望ましい。
Since the robot 1 performs the inverted pendulum movement, the center of gravity 1G is usually located on the vertical line of the grounding point 2P. At this time, it is desirable to design the center of gravity of the body 3 so that the center of gravity 1G is on a straight line 1P passing through three points.
図5Bにおいて、本図は屈曲した状態であるが、この状態でも重心1Gの位置を3点を通る直線1P上になるべく近づけることが望ましく、そのためには上側プーリ19Lと下側プーリ20Lの歯数の比を1.9~2:1付近に設定すると良い。なお、ここでは脚上側リンク11Lを基準としたベースフレーム10Lと脚下側リンク12Lとの相対運動のための位置伝達手段をタイミングベルト21Lにより実現したが、ギヤトレインによる伝達や、シャフトドライブによる伝達等、タイミングベルト21Lに限るものではない。
In FIG. 5B, this figure is in a bent state, but in this state as well, it is desirable that the position of the center of gravity 1G be as close as possible to the straight line 1P passing through the three points. The ratio should be set to around 1.9 to 2: 1. Here, the position transmission means for the relative movement between the base frame 10L and the lower leg link 12L with reference to the upper leg link 11L is realized by the timing belt 21L. However, transmission by a gear train, transmission by a shaft drive, etc. The timing belt is not limited to 21L.
図6は本発明の実施例1に係るロボットの脚部の動作を示す図であり、(a)~(f)は左脚6の一連の動作を説明するものである。
FIG. 6 is a view showing the operation of the leg portion of the robot according to the first embodiment of the present invention, and (a) to (f) illustrate a series of operations of the left leg 6.
(a)は通常走行時の状態である。駆動リンク13Lと接続リンク14Lの接続点を1S、駆動リンク13Lの脚上側リンク11Lとの回転中心を点2S、接続リンク14Lと脚下側リンク12Lとの接続点を3S、脚上側リンク11Lと脚下側リンク12Lとの接続点を4Sとする。
(A) is the normal driving state. The connection point between the drive link 13L and the connection link 14L is 1S, the rotation center of the drive link 13L with the upper leg link 11L is the point 2S, the connection point between the connection link 14L and the lower leg link 12L is 3S, and the upper leg link 11L and the lower leg The connection point with the side link 12L is 4S.
(b)は跳躍準備のために脚上側リンク11Lと脚下側リンク12Lを屈曲させ、跳躍のための弾性エネルギーを跳躍用バネ18Lに蓄積する途中の状態である。
(B) shows a state in which the leg upper link 11L and the leg lower link 12L are bent in preparation for jumping and elastic energy for jumping is accumulated in the jumping spring 18L.
(c)は脚上側リンク11lと脚下側リンク12Lを最も屈曲させた状態であり、この状態では跳躍用バネ18Lに蓄えられる弾性エネルギーは最大となる。このとき跳躍用バネ18Lは脚上側リンク11Lと脚下側リンク12Lを伸展させる方向に復元力を発生しているが、点1S、点2S、点3Sがほぼ一直線上に並ぶため、駆動リンク13Lは非常に小さい力で跳躍用バネ18Lによる脚部の伸展に対抗することができる。この状態は、跳躍するための弾性エネルギーの蓄積を終えた跳躍準備姿勢である。
(C) is a state where the upper leg link 11l and the lower leg link 12L are bent most, and in this state, the elastic energy stored in the jump spring 18L is maximized. At this time, the jumping spring 18L generates a restoring force in the direction in which the upper leg link 11L and the lower leg link 12L extend, but the points 1S, 2S, and 3S are arranged substantially in a straight line, so that the drive link 13L is The extension of the leg by the jump spring 18L can be countered with a very small force. This state is a jump preparation posture after the accumulation of elastic energy for jumping.
(d)は跳躍動作に入る途中の状態である。跳躍用バネ18Lに蓄えられる弾性エネルギーを解放するために駆動リンク13Lを図中の矢印方向に回転させる。
(D) is in the middle of entering the jumping action. In order to release the elastic energy stored in the jump spring 18L, the drive link 13L is rotated in the direction of the arrow in the figure.
(e)は跳躍動作中の図である。跳躍用バネ13Lに蓄えられた弾性エネルギーにより、脚上側リンク11Lと脚下側リンク12Lは急速に進展し、ベースフレーム10Lとその上部に備えられる胴体3をZ方向に加速し跳躍動作を行う。
(E) is a figure during the jumping operation. Due to the elastic energy stored in the jump spring 13L, the upper leg link 11L and the lower leg link 12L advance rapidly, and the base frame 10L and the body 3 provided on the upper part thereof are accelerated in the Z direction to perform a jumping operation.
(f)は脚部がもっとも伸展した状態である。脚上側リンク11Lと脚下側リンク12Lの逆折れを防ぐためにメカリミットを脚上側リンク11Lまたは脚下側リンク12Lのいずれかに備えている。この状態から図中の矢印方向に駆動リンク13Lを回転させると図6(a)の状態に戻る。
(F) is the state where the leg is most extended. In order to prevent reverse bending of the leg upper link 11L and the leg lower link 12L, a mechanical limit is provided in either the leg upper link 11L or the leg lower link 12L. When the drive link 13L is rotated from this state in the direction of the arrow in the figure, the state returns to the state of FIG.
以上のように、本発明の跳躍機構は駆動リンクの一定方向への回転動作のみで跳躍にもちいる弾性エネルギーの蓄積、弾性エネルギーの保持、解放を可能としている。
As described above, the jumping mechanism of the present invention enables accumulation of elastic energy used for jumping, retention and release of elastic energy only by rotating the drive link in a certain direction.
図7は本発明の実施例1に係るロボットの脚部における駆動リンク角と減速比を説明するグラフ図であり、駆動リンク13Lの回転角度θdと、脚上側リンク11Lと脚下側リンク12とのなす角度を駆動リンク13Lの回転角度θdで割った減速比との関係を説明するものである。
FIG. 7 is a graph illustrating the drive link angle and the reduction ratio in the leg portion of the robot according to the first embodiment of the present invention. The rotation angle θd of the drive link 13L, the leg upper link 11L, and the leg lower link 12 are The relationship with the reduction ratio obtained by dividing the formed angle by the rotation angle θd of the drive link 13L will be described.
図7において、横軸には駆動リンク13Lの回転角度を図6(a)の状態を角度0とし、左回りに駆動する状態を示している。縦軸には角度に対する減速比を示している。図7中の(a)~(f)はそれぞれ図6の(a)~(f)の状態を示している。
7, the horizontal axis shows a state in which the rotation angle of the drive link 13L is set to the angle 0 in FIG. 6A and the drive link 13L is driven counterclockwise. The vertical axis shows the reduction ratio with respect to the angle. (A) to (f) in FIG. 7 show the states of (a) to (f) in FIG. 6, respectively.
脚の屈曲が進むとともに、減速比が大きくなっていることがわかる。減速比は図7の(c)で最大値をとるため、僅かな力で駆動リンク13Lの位置を保持することができる。その後、駆動リンク13Lを左回りに回転させると、脚は伸展動作を始める。
It can be seen that as the leg flexion progresses, the reduction ratio increases. Since the reduction ratio takes the maximum value in FIG. 7C, the position of the drive link 13L can be held with a slight force. Thereafter, when the drive link 13L is rotated counterclockwise, the leg starts to extend.
ここでは、駆動リンク13Lを駆動する駆動リンクアクチュエータ15Lはバネの弾性エネルギーの解放による脚の伸展に対して速度が追い付かず、モータが外部から駆動される時に発生する逆起電力によるトルクにより抵抗となることが懸念される。しかし、脚を伸展させ始めると減速比は急速に減少するため、駆動リンクアクチュエータ15Lの動作角が僅かでも脚の伸展が可能となる。その後、図7の(f)で減速比は最小値をとり、さらに駆動リンク13Lの駆動を続けると図7の(a)の状態に戻る。
Here, the speed of the drive link actuator 15L that drives the drive link 13L does not catch up with the extension of the legs due to the release of the elastic energy of the springs, and the resistance due to the torque caused by the counter electromotive force generated when the motor is driven from the outside There is concern about becoming. However, since the reduction ratio rapidly decreases when the leg starts to extend, the leg can be extended even if the operating angle of the drive link actuator 15L is slight. Thereafter, the reduction ratio takes the minimum value in (f) of FIG. 7, and when the drive link 13L is further driven, the state returns to the state of (a) in FIG.
以上の運動を成立させるための動作について図8を使って説明する。
The operation for establishing the above motion will be described with reference to FIG.
図8は本発明の実施例1に係るロボットの脚部のリンク長さの条件を説明する側面図である。
FIG. 8 is a side view for explaining the condition of the link length of the leg portion of the robot according to the first embodiment of the present invention.
図8において、駆動リンク13Lの長さをa、接続リンク14Lの長さをb、脚上側リンク11Lと脚下側リンク12Lの接続点と、脚上側リンク11Lと駆動リンク13Lの接続点との距離をc、脚上側リンク11Lと脚下側リンク12Lの接続点と、脚下側リンク12Lと接続リンク14Lの接続点との距離をd、とすると、以下の条件を満たすことが必要である。
c>a …(式1)
b>a …(式2)
a+b≧c+d …(式3)
以上により、バネの弾性エネルギーを蓄える屈曲時には減速比が大きく効率よくエネルギーを蓄えることができ、バネの弾性エネルギーを解放する伸展時には減速比が小さく、駆動アクチュエータの逆起電力による負荷を軽減することが可能な機構を提供できる。 8, the length of thedrive link 13L is a, the length of the connection link 14L is b, the distance between the connection point of the leg upper link 11L and the lower leg link 12L, and the connection point of the leg upper link 11L and the drive link 13L. If c is the distance between the connection point of the leg upper link 11L and the leg lower link 12L and the connection point of the leg lower link 12L and the connection link 14L is d, the following condition must be satisfied.
c> a (Formula 1)
b> a (Formula 2)
a + b ≧ c + d (Formula 3)
As described above, the spring has a large reduction ratio when bending to store the elastic energy of the spring, and can store energy efficiently, and when extending to release the elastic energy of the spring, the reduction ratio is small, reducing the load caused by the back electromotive force of the drive actuator. It is possible to provide a mechanism capable of.
c>a …(式1)
b>a …(式2)
a+b≧c+d …(式3)
以上により、バネの弾性エネルギーを蓄える屈曲時には減速比が大きく効率よくエネルギーを蓄えることができ、バネの弾性エネルギーを解放する伸展時には減速比が小さく、駆動アクチュエータの逆起電力による負荷を軽減することが可能な機構を提供できる。 8, the length of the
c> a (Formula 1)
b> a (Formula 2)
a + b ≧ c + d (Formula 3)
As described above, the spring has a large reduction ratio when bending to store the elastic energy of the spring, and can store energy efficiently, and when extending to release the elastic energy of the spring, the reduction ratio is small, reducing the load caused by the back electromotive force of the drive actuator. It is possible to provide a mechanism capable of.
図9は本発明の実施例1に係るロボットの動作を示す斜視図であり、ロボット本体1の跳躍による段差踏破を説明するものである。
FIG. 9 is a perspective view showing the operation of the robot according to the first embodiment of the present invention, and illustrates stepping through the step of the robot body 1 by jumping.
(a)は左右の脚を屈曲させ跳躍準備状態となっている。左右の脚はZ軸方向にのみ跳躍力を発生するため、水平方向の運動を行うには並進速度が必要である。そのため、ロボット1が正面から段差を踏破するためには跳躍距離を考慮した所定の並進速度1Vを持っておく必要がある。
(A) Bends left and right legs and is ready to jump. Since the left and right legs generate a jumping force only in the Z-axis direction, a translational speed is required for horizontal movement. Therefore, in order for the robot 1 to step through the steps from the front, it is necessary to have a predetermined translation speed 1V in consideration of the jump distance.
(b)では、左脚6と右脚7により跳躍力を発生させ、跳躍を行っている。このとき、水平方向には1Vで移動し、垂直方向には左右の脚により発生した跳躍力に対応した速度を持ち、全体的には放物線運動を行っている。
In (b), jumping force is generated by the left leg 6 and the right leg 7 to jump. At this time, it moves at 1V in the horizontal direction, has a speed corresponding to the jumping force generated by the left and right legs in the vertical direction, and performs a parabolic motion as a whole.
(C)は着地した状態である。安定を保つために、着地後も水平方向には1Vで移動を継続する。以上の様に、ロボット1は走行路面中の段差を踏破することが可能である。
(C) is in a landed state. In order to maintain stability, the vehicle continues to move at 1V in the horizontal direction after landing. As described above, the robot 1 can step through the steps on the traveling road surface.
図10は本発明の実施例2に係るロボットの動作を示す斜視図である。
FIG. 10 is a perspective view showing the operation of the robot according to the second embodiment of the present invention.
図10において、実施例2のロボット1は、胴体3の下部左右両端にロールアクチュエータ20L、20Rを備え、ロールアクチュエータ20L、20Rの出力軸にそれぞれ左脚6と右脚7を備えている。ロールアクチュエータ20L、20Rは図2で説明した駆動リンクアクチュエータ15Lや車輪アクチュエータ22Lと同様のもので、胴体3に対する左脚6および右足7のロール方向の角度を適切に設定できる。
10, the robot 1 according to the second embodiment includes roll actuators 20L and 20R at the lower left and right ends of the body 3, and a left leg 6 and a right leg 7 on output shafts of the roll actuators 20L and 20R, respectively. The roll actuators 20L and 20R are the same as the drive link actuator 15L and the wheel actuator 22L described in FIG. 2, and the angle of the roll direction of the left leg 6 and the right foot 7 with respect to the body 3 can be set appropriately.
(a)~(c))は走行路面の段差に対して横方向からアプローチし、踏破を行う手順を説明する図である。
(A) to (c)) are diagrams illustrating a procedure for approaching and stepping over the step on the road surface from the lateral direction.
(a)では、通常の車輪移動とは直角に段差を踏破することを目的として、跳躍準備状態となったロボット本体1が段差1Dに対して右側面を正対している。このとき、ロールアクチュエータ20L、20Rを同様の角度でロボット本体1から見て左側に回転させ、バネの解放により発生する力の向きを鉛直上向き(5A)から段差の方向(6A)へと変化させている。これにより、水平方向の力と垂直方向の力を跳躍力により発生させている。
In (a), the robot body 1 in a jump ready state faces the right side with respect to the step 1D for the purpose of stepping through the step at a right angle to normal wheel movement. At this time, the roll actuators 20L and 20R are rotated to the left when viewed from the robot body 1 at the same angle, and the direction of the force generated by releasing the spring is changed from the vertically upward direction (5A) to the step direction (6A). ing. Thereby, the horizontal force and the vertical force are generated by the jumping force.
(b)では、左脚6と右足7により跳躍力を発生させ、跳躍を行っている状態である。
(B) is a state in which a jumping force is generated by the left leg 6 and the right leg 7 and a jump is performed.
(c)は着地した状態である。この動作の繰り返しにより、安定的に段差を登ることが可能である。
(C) Landing state. By repeating this operation, it is possible to climb the step stably.
このように本実施例によれば、いわゆる横飛びによる跳躍によってロボットが段差を乗り越えることが可能となる。
As described above, according to the present embodiment, it is possible for the robot to get over the step by jumping by so-called side jump.
以上のごとく本発明は、簡単な構成と制御によって左右のバランスを崩すことなく容易に段差を乗り越えることが可能なロボットを提供できるものである。
As described above, the present invention can provide a robot that can easily get over a step without breaking the left and right balance by a simple configuration and control.
なお、本発明は上記した実施例に限定されるものではなく、様々な変形例が含まれる。例えば、上記した実施例は本発明を分かりやすく説明するために詳細に説明したものであり、必ずしも説明した全ての構成を備えるものに限定されたものではない。またある実施例の構成の一部を他の実施例の構成に置き換えることも可能であり、またある実施例の構成に他の実施例の構成を加えることも可能である。また、各実施例の構成の一部について、他の構成の追加・削除・置換をすることが可能である。
In addition, this invention is not limited to the above-mentioned Example, Various modifications are included. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. A part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Further, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.
1…ロボット本体、2…頭部、3…胴体、4…左腕、5…右腕、6…左脚、7…右脚、10L…ベースフレーム、11L…脚上側リンク、12L…脚下側リンク、13L…駆動リンク、14L…接続リンク、15L…駆動リンクアクチュエータ、16L…上側バネシャフト、17L…下側バネシャフト、18L…跳躍用バネ、19L…上側プーリ、20L…下側プーリ、20L、20R…ロールアクチュエータ、21L…タイミングベルト、22L…車輪アクチュエータ、22R…車輪アクチュエータ、23L…車輪、201…角度センサ、202…制御装置、203…駆動手段。
DESCRIPTION OF SYMBOLS 1 ... Robot body, 2 ... Head, 3 ... Torso, 4 ... Left arm, 5 ... Right arm, 6 ... Left leg, 7 ... Right leg, 10L ... Base frame, 11L ... Leg upper link, 12L ... Lower leg link, 13L ... drive link, 14L ... connection link, 15L ... drive link actuator, 16L ... upper spring shaft, 17L ... lower spring shaft, 18L ... jump spring, 19L ... upper pulley, 20L ... lower pulley, 20L, 20R ... roll Actuator, 21L ... Timing belt, 22L ... Wheel actuator, 22R ... Wheel actuator, 23L ... Wheel, 201 ... Angle sensor, 202 ... Control device, 203 ... Drive means.
Claims (4)
- 胴体部の下部に取り付けられた左右の脚部と、前記胴体部に接続されピッチ方向に回転可能な第1のリンクと、この第1のリンクの長手方向逆端にピッチ方向に回転可能に接続された第2のリンクと、前記第1のリンクと前記第2のリンクの相対運動範囲を決定するためのメカリミットと、前記第2のリンクの前記第1のリンクとの接続の逆端に備えた移動手段とを有し、
前記第1のリンクに取り付けられ、ピッチ方向に回転軸を備える第1のアクチュエータと、前記第1のアクチュエータにより駆動される第3のリンクと、この第3のリンクの前記第1のアクチュエータとの接続との長手方向逆端にピッチ方向に回転可能に取り付けられ、その逆端は前記第2のリンクにピッチ方向に回転可能に取り付けられる第4のリンクと、前記第1のリンクと前記第2のリンク間に両者の相対運動により弾性エネルギーを蓄積するバネ手段とを備えたことを特徴とする移動体。 Left and right legs attached to the lower part of the body part, a first link connected to the body part and rotatable in the pitch direction, and connected to the longitudinally opposite end of the first link so as to be rotatable in the pitch direction A second link, a mechanical limit for determining a relative motion range of the first link and the second link, and a connection end of the second link to the first link. A moving means provided,
A first actuator attached to the first link and having a rotation axis in the pitch direction; a third link driven by the first actuator; and the first actuator of the third link. A fourth link attached to the second link to be rotatable in the pitch direction, the first link and the second link being attached to the second link so as to be rotatable in the pitch direction. And a spring means for accumulating elastic energy by relative movement between the two links. - 請求項1記載の移動体において、
前記第1のリンクを基準として、前記胴体と、前記第2のリンクの連動を可能とする位置伝達手段を備えることを特徴とした移動体。 The mobile body according to claim 1,
A moving body comprising position transmission means that enables the body and the second link to be linked with respect to the first link. - 請求項1乃至請求項2のいずれかに記載の移動体において、
以下の関係を満足することを特徴とした移動体。
c>a
b>a
a+b≧c+d
ただし、前記第1のアクチュエータの回転中心と、前記第3のリンクと前記第4のリンクとの接続点との距離をa、前記第3のリンクと前記第4のリンクとの接続点と、前記第4のリンクと前記第2のリンクとの接続点との距離をb、前記第1のアクチュエータの回転中心と、前記第1のリンクと前記第2のリンクとの接続点との距離をc、前記第1のリンクと前記第2のリンクとの接続点と前記第2のリンクと前記第4のリンクとの接続点との距離をdとする。 The moving body according to any one of claims 1 to 2,
A moving object characterized by satisfying the following relationship.
c> a
b> a
a + b ≧ c + d
However, the distance between the rotation center of the first actuator and the connection point between the third link and the fourth link is a, the connection point between the third link and the fourth link, The distance between the connection point between the fourth link and the second link is b, and the distance between the rotation center of the first actuator and the connection point between the first link and the second link is c, d is the distance between the connection point between the first link and the second link and the connection point between the second link and the fourth link. - 請求項1乃至請求項3のいずれかに記載の移動体において、
前記胴体と前記脚部との接続にロール方向に回転可能な第2のアクチュエータを備え、前記胴体に対して前記脚部の角度を可変としたことを特徴とする移動体。 The mobile body according to any one of claims 1 to 3,
A moving body comprising a second actuator that is rotatable in a roll direction at a connection between the body and the leg, and wherein the angle of the leg is variable with respect to the body.
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