WO2020080330A1 - Humanoid robot - Google Patents
Humanoid robot Download PDFInfo
- Publication number
- WO2020080330A1 WO2020080330A1 PCT/JP2019/040381 JP2019040381W WO2020080330A1 WO 2020080330 A1 WO2020080330 A1 WO 2020080330A1 JP 2019040381 W JP2019040381 W JP 2019040381W WO 2020080330 A1 WO2020080330 A1 WO 2020080330A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- humanoid robot
- exhaust
- heat
- clothing
- receiving member
- Prior art date
Links
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Images
Classifications
-
- A—HUMAN NECESSITIES
- A41—WEARING APPAREL
- A41D—OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
- A41D13/00—Professional, industrial or sporting protective garments, e.g. surgeons' gowns or garments protecting against blows or punches
- A41D13/002—Professional, industrial or sporting protective garments, e.g. surgeons' gowns or garments protecting against blows or punches with controlled internal environment
-
- A—HUMAN NECESSITIES
- A41—WEARING APPAREL
- A41D—OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
- A41D13/00—Professional, industrial or sporting protective garments, e.g. surgeons' gowns or garments protecting against blows or punches
- A41D13/002—Professional, industrial or sporting protective garments, e.g. surgeons' gowns or garments protecting against blows or punches with controlled internal environment
- A41D13/005—Professional, industrial or sporting protective garments, e.g. surgeons' gowns or garments protecting against blows or punches with controlled internal environment with controlled temperature
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Definitions
- the present invention relates to a humanoid robot.
- the present application claims priority based on Japanese Patent Application No. 2018-195397 filed in Japan on October 16, 2018 and Japanese Patent Application No. 2019-184137 filed in Japan on October 04, 2019, The contents are incorporated here.
- Patent Document 1 discloses a protective wear for a humanoid robot that covers the entire body of the humanoid robot and suppresses the intrusion of dust and outside water.
- This humanoid robot protective suit uses a material having a high heat dissipation property (nylon fiber, a material having a multi-layer structure of nylon fiber and polyurethane foam resin, etc.) in order to radiate the heat of the humanoid robot to the outside.
- this humanoid robot protective suit is provided with a cooling air supply / exhaust port around the control device where heat is generated to take in air and discharge heated air.
- the humanoid robot has a large number of joints, and heat generating portions are scattered throughout the body. For this reason, in order to air-cool the heat generating part of the whole body, it is necessary to blow air all over the whole body of the humanoid robot. However, depending on the posture of the humanoid robot, the air flow path may be narrowed, and a portion where the air flow is blocked may occur. Then, the heat generating part of the whole body cannot be cooled sufficiently.
- the present invention provides a humanoid robot capable of effectively cooling the whole body.
- a humanoid robot includes a heat exhaust clothing that covers the humanoid robot, and a blower that is provided in the humanoid robot or the heat exhaust clothing and blows external air into the interior.
- An air flow passage is provided between the heat exhaust suit and the outer shell of the humanoid robot.
- the whole body of the humanoid robot can be effectively cooled.
- FIG. 3 is a front view of the humanoid robot wearing the heat exhaust clothing according to the first embodiment of the present invention. It is a rear view of the humanoid robot shown in FIG. It is a front view which shows the structure inside the heat exhaust suit of the humanoid robot shown in FIG. It is a rear view which shows the structure of the diaphragm
- FIG. 7 is a sectional view taken along the line AA of the receiving member shown in FIG. 6.
- FIG. 11 is a front view of a humanoid robot which shows an example of application of a receiving member and a flow control member in a 2nd embodiment of the present invention.
- FIG. 11 is a front view of a humanoid robot wearing a heat exhaust suit according to a third embodiment of the present invention.
- FIG. 11 is a rear view of the humanoid robot shown in FIG. 10. It is sectional drawing of the wrist part of the humanoid robot in 3rd Embodiment of this invention.
- FIG. 1 is a front view of a humanoid robot 1 wearing a heat exhaust suit 5 according to the first embodiment of the present invention.
- FIG. 2 is a rear view of the humanoid robot 1 shown in FIG.
- FIG. 3 is a front view showing the internal structure of the heat exhaust clothing 5 of the humanoid robot 1 shown in FIG.
- the humanoid robot 1 of the present embodiment includes a robot body 2, a lifter 3, and a moving carriage 4.
- the robot body 2 is the part that hits the upper body of a person.
- the robot body 2 is configured so as to be able to perform an operation close to that of a human upper body.
- the robot body 2 is covered with heat exhaust clothing 5, and has a blower 6 on the back surface.
- the lifter 3 is a part that hits a leg of a lower half of a person.
- the lifter 3 is capable of bending up and down and is connected to the lower portion of the robot body 2.
- the mobile trolley 4 is a part that hits the foot of the lower body of a person.
- the moving carriage 4 is connected to the lower part of the lifter 3.
- Such a humanoid robot 1 can be suitably used as a service robot that provides a predetermined service to visitors at an event venue or the like. It goes without saying that the humanoid robot 1 can also be used as a service robot.
- a bipedal leg may be connected to the lower portion of the robot body 2 to form a bipedal walking robot.
- the robot body 2 includes a body portion 10, two arm portions 11 (limb portions) connected to the upper left and right of the body portion 10, and a single body portion connected to the upper portion of the body portion 10.
- the head 12 is provided.
- the traveling direction of the humanoid robot 1 is the X-axis positive direction
- the left-hand direction when viewed from the humanoid robot 1 is the Y-axis positive direction
- the antigravity direction in the humanoid robot 1 is the Z-axis positive direction.
- the X axis is the roll axis
- the Y axis is the pitch axis
- the Z axis is the yaw axis.
- the body portion 10 includes a neck portion 13 to which the head portion 12 is connected and a waist portion 14 to which the lifter 3 is connected.
- the head 12 is connected to the neck 13 so as to be swingable about a yaw axis (Z axis) and a pitch axis (Y axis), for example.
- the head 12 is equipped with a camera 12a for photographing the outside.
- a base plate 15 that touches the pelvis of a person is provided below the waist 14.
- the lifter 3 is connected to the lower surface of the base plate 15.
- the two arm portions 11 include an upper arm portion 21 closer to the shoulder and a lower arm portion 22 closer to the hand, which are connected to each other so that they can be bent with the elbow as a boundary.
- a hand portion 24 is connected to the tip of the lower arm portion 22 via a wrist portion 23.
- the wrist portion 23 connects the lower arm portion 22 and the hand portion 24 so as to be swingable around, for example, a roll axis (X axis).
- the robot body 2 has a body that imitates a human skeletal structure.
- the spine portion 16 extending in the Z-axis direction and various bone portions 17 formed of sheet metal, the hip bone portion 18 connected to the spine portion 16 so as to support the spine portion 16, and the like,
- a skeleton structure of the upper body of the robot body 2 (hereinafter, simply referred to as “upper body skeleton structure”) is formed.
- the neck portion 13 of the humanoid robot 1 is connected to the spine portion 16, and the head portion 12 is further arranged on the neck portion 13.
- Drive units 19 for driving the upper half of the body are arranged on both left and right sides of the spine portion 16 in between.
- the bone portion 17 includes a rib portion 17a, a sternum portion 17b, and a clavicle portion 17c.
- the rib portion 17a is connected to the spine portion 16 and supports the back side of the left and right drive units 19.
- the sternum 17b connects the left and right drive units 19 on the front side.
- the clavicle portion 17c is connected to the spine portion 16 and the neck portion 13 above the drive unit 19, and is also connected to the left and right shoulder portions.
- a predetermined space (also referred to as an internal ventilation channel 100 in the following) is formed in the upper body skeleton structure of the humanoid robot 1 by these bone parts 17 and spine parts 16, and the left and right drive units 19 are provided in the predetermined space.
- the drive units 19 are arranged so as to be accommodated, and the drive unit 19 is supported with respect to each bone portion 17. As a result, the two drive units 19 are mounted inside the body 10.
- the inner contour of the humanoid robot 1 refers to a frame (inner surface) inside the bone portion 17 and the spine portion 16 that surrounds the space in which the drive unit 19 is housed.
- the outer shell of the humanoid robot 1 refers to the outer frame (outer surface) of the bone part 17 and the spine part 16 that faces the above space.
- the body portion 10 of the present embodiment has an exposed frame, and a space on the inner shell side and a space on the outer shell side of the humanoid robot 1 communicate with each other through a gap between the frames.
- the surface of the arm 11 is covered with a skin 11a made of plastic or the like.
- the inner contour of the humanoid robot 1 refers to the inner side (inner surface) of the skin portion 11a.
- the outer shell of the humanoid robot 1 refers to the outer side (outer surface) of the skin portion 11a.
- the skin portion 11a may be omitted.
- the inside of the frame supporting a motor (not shown) may be called the inner contour of the humanoid robot 1, and the outside of the frame may be called the outer contour of the humanoid robot 1.
- the drive unit 19 connects the arm 11 to the body 10 so as to be swingable around, for example, the roll axis (X axis).
- the robot internal structure for this operation is the present invention. Since it does not form the core, detailed description thereof is omitted in this specification.
- the drive unit 19 see, for example, Japanese Patent No. 6104876, which is a known document. Further, since the link mechanism such as the shoulder joint, the neck joint, the wrist / ankle joint, etc. of the humanoid robot 1 does not form the core of the present invention, the detailed description thereof will be omitted in this specification.
- Japanese Patent No. 5763359 and Japanese Patent No. 5877686 may be adopted.
- the configuration described in Japanese Patent No. 5782846, which is a known document may be adopted.
- the wrist / ankle joint for example, the configuration described in Japanese Patent No. 5722747, which is a known document, may be adopted.
- the configuration described in the publicly known Japanese Patent Laid-Open No. 2017-82803 may be adopted.
- the heat exhaust clothing 5 covers the robot body 2 except for the head 12 and the hand 24.
- the ventilation volume of the fabric forming the heat exhaust suit 5 is, for example, preferably 10 cm3 / cm2 ⁇ s or less, and more preferably 6 cm3 / cm2 ⁇ s or less in JIS L1096A method (Frazier method). With this ventilation amount, the heat exhaust clothing 5 is excellent in waterproofness and windproofness.
- the woven fabric that constitutes the fabric of the heat exhaust clothing 5 is not particularly limited, and examples thereof include a plain plain weave, a twill weave, a satin weave, a modified plain weave, a modified twill weave, a modified satin weave, a modified weave, and a plain weave.
- the dough preferably has a mass (unit weight) per unit area of 40 to 200 g / m 2, and more preferably 60 to 180 g / m 2.
- a resin laminate made of polyurethane as a material for these fabrics or a coated fabric is also effective.
- the fibers constituting the fabric of the exhaust heat suit 5 are not particularly limited, and for example, polyester fibers such as polyethylene terephthalate, polytrimethylene terephthalate, polybutylene terephthalate, polyurethane fibers, polyamide fibers, acetate fibers, cotton fibers, Rayon fiber, ethylene vinyl alcohol fiber, nylon fiber and the like can be used.
- polyester fibers such as polyethylene terephthalate, polytrimethylene terephthalate, polybutylene terephthalate, polyurethane fibers, polyamide fibers, acetate fibers, cotton fibers, Rayon fiber, ethylene vinyl alcohol fiber, nylon fiber and the like can be used.
- the heat exhaust suit 5 has a base body composed of a front body 30 (see FIG. 1), back bodies 31a and 31b (see FIG. 2), a collar 32, and sleeves 33a and 33b.
- the back bodies 31 a and 31 b cover the back side of the humanoid robot 1 and are openably and closably closed by a line fastener 34.
- the line fastener 34 extends in the antigravity direction from the lower portion of the rear body 31 a, 31 to reach the collar 32.
- the air flow rate of the line fastener 34 in the closed state is preferably equal to or less than the air flow rate of the fabric of the heat exhaust clothing 5.
- the rear bodies 31a and 31b are formed with openings 31a1 and 31b1 in which the left and right blowers 6 are arranged.
- the blower 6 of this embodiment is provided on the humanoid robot 1 side and is fixed to the rib portion 17a described above.
- the suction port of the blower 6 is exposed to the outside of the heat exhaust clothing 5 through the openings 31a1 and 31b1.
- the blower 6 is configured to suck outside air through a suction port and blow it into the upper body skeleton structure of the humanoid robot 1 described above.
- the blower 6 may be provided on the heat exhaust clothing 5 side, and in this case, the blower 6 may be sewn to the back bodies 31a and 31b.
- Reinforcing parts 31a2 and 31b2 are formed on the peripheral edges of the openings 31a1 and 31b1 to increase strength by folding cloth.
- the reinforcing portions 31a2 and 31b2 are in close contact with the periphery of the blower 6 by utilizing the elasticity of the cloth of the heat exhausting clothing 5. Thereby, the airtightness of the gap between the exhaust heat suit 5 and the blower 6 is ensured.
- the opening peripheral portions (reinforcing portions 31a2, 31b2) of the openings 31a1, 31b1 may be sandwiched between the main body of the blower 6 and the suction port cover to secure the airtightness.
- the blower 6 is not particularly limited, and if the blower total pressure in the case of standard air is less than about 30 kPa (JIS B 0132: 2005 blower / compressor term), for example, a fan (a blower of less than 10 kPa) is also used.
- a blower (a blower having a pressure of 10 kPa or more and less than 30 kPa) may be used, and the type thereof may be a volume type or a turbo type.
- the blower 6 of this embodiment is a fan of less than 10 kPa, and more specifically, uses a fan motor in which a fan and a motor are integrated.
- the fan motor is a turbo axial fan.
- a turbo type centrifugal fan may be used.
- the exhaust heat garment 5 puts the inside of the exhaust heat garment 5 into which the outside air is sent by the blower 6 into a positive pressure state, and the air blast flow passage 101 (FIG. (See FIG. 3) is provided.
- the narrowed portion 40 is formed in each opening 35 of the heat exhaust clothing 5 through which the neck portion 13, the waist portion 14, and the arm portion 11 of the humanoid robot 1 pass.
- a receiving member 50 that comes into contact with the throttle portion 40 provided on the heat exhaust clothing 5 is provided on each of the openings 35 on the robot body 2 side.
- the receiving member 50 is a substantially cylindrical block body.
- the receiving member 50 includes an outer peripheral surface 51 that comes into contact with the narrowed portion 40, and an annular protrusion 52 that projects radially outward from the outer peripheral surface 51.
- the annular protrusions 52 are provided at both ends of the receiving member 50 in the axial direction in which the central axis of the receiving member 50 extends.
- the receiving member 50 has an axial length and an outer diameter according to each opening 35 of the heat exhaust clothing 5.
- Such a receiving member 50 may be formed of a resin material or the like which is relatively light in weight relative to a metal material.
- a narrowed portion 40b having a hook-and-loop fastener 41 is provided at a cuff portion 35b of the opening 35 of the heat exhausting clothing 5 through which the arm 11 is passed.
- a slit 35b1 extending toward the shoulder side of the humanoid robot 1 is formed in the cuff portion 35b.
- the surface fastener 41 connects the cloths on both sides of the slit 35b1 while overlapping (squeezing) the cloths on both sides of the slit 35b1.
- the outer peripheral surface 51 of the receiving member 50 is in contact with the portion narrowed by the surface fastener 41 over the entire circumference. As a result, the airtightness of the gap between the receiving member 50 (arm portion 11) and the narrowed portion 40b (heat exhaust clothing 5) is ensured.
- the narrowed portion 40a provided in the neck portion 35a through which the neck portion 13 is inserted is made of the cloth when the collar 32 is closed by the line fastener 34, as shown in FIG. It is in close contact with the receiving member 50 by utilizing its elasticity. As a result, the airtightness of the gap between the receiving member 50 (neck portion 13) and the narrowed portion 40a (heat exhaust clothing 5) is ensured.
- the surface fastener 41 may be provided in the narrowed portion 40a as in the above-described narrowed portion 40b.
- FIG. 4 is a rear view showing the configuration of the throttle portion 40c in the hem mouth portion 35c of the heat removal clothing 5 according to the first embodiment of the present invention.
- the waist 14 of the humanoid robot 1 is viewed from the back side with the back bodies 31a and 31b opened.
- the narrowed portion 40c has an inner cloth 42 that is fixed over the entire inner circumference of the back bodies 31a and 31b (and the front body 30).
- the inner cloth 42 may be formed of the same cloth as the heat exhaust clothing 5.
- the inner cloth 42 is formed in a band shape that circulates around the waist portion 14 (receiving member 50).
- the upper end sides of the inner cloth 42 other than the both ends 42a and 42b are fixed to the inner side of the heat exhausting clothing 5 by a sewing thread or the like.
- Both ends 42a and 42b of the inner cloth 42 are provided with surface fasteners 43 for connecting the both, which are connectable in an annular shape.
- a stretchable flat rubber or the like is woven or sewn on the lower end side of the inner cloth 42 to form an elastic stretchable portion 42c which can be brought into close contact with the outer peripheral surface 51 of the receiving member 50.
- the airtightness of the gap between the receiving member 50 (waist portion 14) and the narrowed portion 40c (heat exhaust clothing 5) is ensured.
- the cuff 35b is provided with an exhaust port 36 that communicates with the air flow passage 101 (see FIG. 3) inside the heat exhaust clothing 5.
- the exhaust port 36 is formed by a slit 35b1 that extends toward the shoulder side of the surface fastener 41 (receiving member 50) in the narrowed portion 40b. That is, the air taken in from the blower 6 on the back side of the humanoid robot 1 shown in FIG. 2 exhausts heat from the internal ventilation channel 100 passing through the inner contour (in the upper body skeleton structure) of the humanoid robot 1 shown in FIG.
- the air passes through the air flow passage 101 passing between the clothes 5 and the outer shape of the humanoid robot 1 and is discharged to the outside from the exhaust port 36 of the cuff portion 35b shown in FIG. 1 (note that in FIG. 1 and FIG.
- the air flow in and out of the thermal suit 5 is indicated by a thick line arrow).
- the humanoid robot 1 is put on the exhaust heat suit 5, and the outside air is sent to the inside of the exhaust heat suit 5 by the blower 6, so that the heat generating part (driving part) of the whole body of the humanoid robot 1 is driven. Heated air is exhausted from the cuff portion 35b at the end of the humanoid robot 1.
- the ventilation passage 101 is provided between the heat exhausting clothing 5 and the outer shell of the humanoid robot 1, for example, the arm portion 11 which often has a complicated posture.
- a flow path through which air passes is secured between the skin portion 11a and the sleeves 33a and 33b, and it is possible to prevent the air from being blocked.
- the exhaust heat suit 5 covering the humanoid robot 1 and the blower 6 provided in the humanoid robot 1 or the exhaust heat suit 5 for sending the outside air into the inside are provided,
- the air flow passage 101 between the heat exhaust clothing 5 and the outer shell of the humanoid robot 1 the whole body of the humanoid robot 1 can be effectively cooled.
- a lightweight and airtight cloth such as the heat exhaust clothing 5
- the skin portion 11a may be omitted in the arm portion 11 as well, whereby further weight reduction and cost reduction can be achieved.
- the exhaust heat suit 5 is provided with the throttle portion 40 that forms the blower flow path 101 by making the inside a positive pressure state.
- the amount of air passing through the neck portion 13, the waist portion 14, and the arm portion 11 of the humanoid robot 1 that escapes from the respective openings 35 of the heat exhaust clothing 5 is reduced, and the inside of the heat exhaust clothing 5 is in a positive pressure state. You can When the inside of the heat exhaust clothing 5 is in a positive pressure state, the heat exhaust clothing 5 swells, and the heat exhaust clothing 5 floats from the outer shell of the humanoid robot 1 in a portion other than the throttle portion 40.
- the humanoid robot 1 is provided with the receiving member 50 that comes into contact with the throttle portion 40 provided on the heat exhaust clothing 5.
- the narrowed portion 40 can contact the outer peripheral surface 51 of the flat receiving member 50, so that a gap is less likely to be formed between the two. For this reason, it is easier to secure the airtightness than when the narrowed portion 40 contacts the exposed frame of the humanoid robot 1 or the like.
- the receiving member 50 is described as a columnar body, but may be a polygonal columnar body, a sphere, an ellipse, or the like as long as it is a solid body having a flat (smooth) surface.
- a cuff portion 35b is formed in the heat exhaust clothing 5 as an opening portion 35 through which the arm portion 11 of the humanoid robot 1 passes, and the cuff portion 35b communicates with the air flow passage 101.
- An exhaust port 36 is provided.
- the heat exhaust clothing 5 is formed with the hem mouth portion 35c as the opening portion 35 through which the waist portion 14 of the humanoid robot 1 is passed, and the narrowed portion 40c is provided inside the hem mouth portion 35c.
- the throttle portion 40c is provided inside the hem opening portion 35c so as to be doubled, and thus air leakage can be suppressed without deteriorating the design (design) of the heat exhaust clothing 5. Thereby, the appearance of the humanoid robot 1 suitable for the service robot can be obtained.
- the internal ventilation channel 100 that communicates with the ventilation channel 101 is formed inside the humanoid robot 1. According to this configuration, the air taken in by the blower 6 once flows into the inside of the robot body 2 (inside the ribs in the case of a human being), and is blown into the above-mentioned blow passage 101 from there, The heat can be efficiently exhausted. For this reason, the air-cooling action peculiar to the humanoid robot 1 which cannot be performed by a human is obtained.
- FIG. 5 is a block diagram of the throttle part 40b and the receiving member 50 in the cuff part 35b of the heat exhaust clothing 5 in 2nd Embodiment of this invention.
- the narrowed portion 40b of the second embodiment has an inner cloth 44 that is fixed over the entire inner circumference of the sleeve 33a (similarly to the sleeve 33b) of the heat exhaust clothing 5.
- the inner fabric 44 may be formed of the same fabric as the heat exhaust clothing 5.
- the inner cloth 44 is formed in an annular shape that circulates around the wrist 23 (receiving member 50), and the radially outer side thereof is fixed to the inner side of the heat exhaust clothing 5 with a sewing thread or the like. Further, a stretchable rubber band 45 or the like is woven or sewn on the inner side in the radial direction of the inner cloth 44, and is in close contact with the outer peripheral surface 51 of the receiving member 50.
- a second annular protrusion 53 is formed between the pair of annular protrusions 52 (first annular protrusions), which is suitable for the narrowed portion 40b.
- a groove having a width is formed. This ensures the airtightness of the gap between the receiving member 50 (wrist portion 23) and the narrowed portion 40b (heat exhaust clothing 5).
- FIG. 6 is a perspective view of the receiving member 50 according to the second embodiment of the present invention.
- FIG. 7 is a perspective view of the receiving member 50 shown in FIG. 6 viewed from another direction.
- 8 is a sectional view of the receiving member 50 shown in FIG. 6 taken along the line AA.
- the receiving member 50 of the second embodiment is formed with a vent hole 54 through which air passes.
- a plurality of vent holes 54 are formed by penetrating the top wall portion 50a of the receiving member 50 formed in a cylindrical shape with a top in the axial direction in which the central axis of the receiving member 50 extends.
- the vent holes 54 are formed in a substantially fan shape, and a plurality of vent holes 54 are formed at intervals in the circumferential direction around the central axis of the disc-shaped top wall portion 50a.
- One of the plurality of vent holes 54 is formed with a recess 54a in which an operation piece 61 described later is accommodated.
- a plurality of fixing holes 55a for fixing to the wrist portion 23 are formed in the top wall portion 50a radially inward of the vent hole 54 at intervals in the circumferential direction.
- a through hole 55b for passing a wire or a link member (not shown) that connects the wrist portion 23 and the hand portion 24 is formed in the central portion on the inner side in the radial direction of the fixing hole 55a of the top wall portion 50a. Is formed.
- a plurality of engagement protrusions 57 projecting radially inward are provided inside the peripheral wall portion 50b of the receiving member 50 suspended from the peripheral edge portion of the top wall portion 50a. And a plurality of them are formed.
- the engagement protrusion 57 extends linearly from the open end of the peripheral wall portion 50b to the front side on the back side of the top wall portion 50a.
- An annular boss portion 56 is formed on the back side of the top wall portion 50a so as to project in the vertical direction of the peripheral wall portion 50b.
- the fixing hole 55a and the through hole 55b described above are formed in the annular boss portion 56. That is, the annular boss portion 56 is arranged radially inward of the above-described vent hole 54.
- a flow rate adjusting member 60 that adjusts the size of the opening area of the vent hole 54 is rotatably engaged with the inside of the receiving member 50 around the central axis of the receiving member 50.
- the flow rate adjusting member 60 is a disc member having an insertion hole 62 through which the annular boss portion 56 is inserted in the central portion thereof, and a plurality of ventilation holes 63 are arranged radially outside the insertion hole 62. Is equipped with.
- the ventilation holes 63 (second ventilation holes) of the flow rate adjusting member 60 are formed to have the same number, shape, and arrangement as the ventilation holes 54 (first ventilation hole) of the receiving member 50.
- an engagement piece 64 protruding outward in the radial direction is formed on the outer peripheral surface of the flow rate adjusting member 60.
- the engagement piece 64 is inserted in a gap (undercut portion) between the top wall portion 50 a of the receiving member 50 and the engagement protrusion 57.
- a plurality of the engaging pieces 64 are formed in such a size that they can be inserted into the respective gaps of the engaging protrusions 57 that are adjacent to each other in the circumferential direction shown in FIG. 7.
- an operation piece 61 that can be operated from the front side of the top wall portion 50 a of the receiving member 50 is attached to the flow rate adjusting member 60.
- the operation piece 61 is arranged so as to pass through the ventilation port 54 in which the groove 54a is formed.
- the rotation angle of the flow rate adjusting member 60 with respect to the receiving member 50 in the circumferential direction is limited to a certain range. In this range, at least a part of the engagement piece 64 engages with the engagement protrusion 57 of the receiving member 50 in the axial direction. This prevents the flow rate adjusting member 60 from falling onto the receiving member 50.
- the shaft portion of the operation piece 61 is provided with a screw or the like so as to be attachable to and detachable from the flow rate adjusting member 60.
- the rotation angle restriction of the flow rate adjusting member 60 can be easily released, and the flow rate adjusting member 60 can be easily disassembled from the receiving member 50.
- the area where the vent hole 54 of the receiving member 50 and the vent hole 63 of the flow rate adjusting member 60 overlap is increased or decreased, and the passing member 50 is passed.
- the flow rate of the air to be used can be adjusted. This makes it possible to control the positive pressure state inside the exhaust heat suit 5. For example, when the air intake capacity (air volume) of the blower 6 is low, the opening area of the vent hole 54 is reduced to increase the wind pressure inside the heat exhaust clothing 5 and effectively cool the entire humanoid robot 1 by air. It becomes possible. Further, when the intake capacity (air volume) of the blower 6 is high, it is possible to promote the replacement of the air inside the exhaust heat suit 5 by increasing the opening area of the ventilation port 54.
- the narrowed portion 40b is provided inside the cuff portion 35b.
- the throttle portion 40b is provided inside the cuff portion 35b and is doubled, so that air leakage can be suppressed without deteriorating the design (design) of the heat exhaust clothing 5.
- the receiving member 50 and the flow rate adjusting member 60 of the second embodiment described above may be provided in the humanoid robot 1 in a form as shown in FIG. 9.
- FIG. 9 is a front view of the humanoid robot 1 showing an application example of the receiving member 50 and the flow rate adjusting member 60 according to the second embodiment of the present invention.
- the humanoid robot 1 shown in FIG. 9 includes the receiving member 50 and the flow rate adjusting member 60 of the second embodiment described above near the elbows and shoulders of the arm 11.
- the line fastener 34 exhaust port 36
- the sleeves 33a and 33b of the heat exhausting clothing 5 includes the sleeves 33a and 33b of the heat exhausting clothing 5 and the front body 30 (rear body. 31a, 31b).
- each of the flow rate adjusting members 60 by operating each of the flow rate adjusting members 60, air can be focused on the portion inside the exhaust heat suit 5 where heat is particularly generated, and air cooling can be advanced.
- the line fastener 34 of the front body 30 is opened, the flow rate adjusting member 60 near the shoulder is operated, and the ventilation of the receiving member 50 is performed.
- the air By reducing the opening area of the mouth 54, the air can be focused on the body portion 10.
- the linear fasteners 34 of the sleeves 33a and 33b are opened, the flow rate adjusting member 60 near the elbow is operated, and the receiving member 50 is operated.
- the receiving member 50 and the flow rate adjusting member 60 of the second embodiment may be provided at a plurality of locations corresponding to the heat generating portion of the whole body of the humanoid robot 1.
- FIG. 10 is a front view of the humanoid robot 1 wearing the heat removal suit 5 according to the third embodiment of the present invention.
- FIG. 11 is a rear view of the humanoid robot 1 shown in FIG.
- FIG. 12 is a sectional view of the wrist 23 of the humanoid robot 1 according to the third embodiment of the present invention.
- an intake port 70 for taking in external air from the wrist 23 of the humanoid robot 1 to the air flow passage 101 is provided.
- an exhaust port 36 communicating with the air flow passage 101 is provided in a collar portion 35a through which the neck 13 of the humanoid robot 1 passes. That is, the collar portion 35a does not have the above-described throttle portion 40a, and the neck portion 13 does not have the above-mentioned receiving member 50.
- the narrowed portion 40 is provided inside at least one of the openings 35 (the cuff portion 35b and the hem mouth portion 35c) excluding the collar portion 35a.
- the blower 6 is not provided on the back surface of the humanoid robot 1, and the blower 6 is provided on the wrist portion 23 of the humanoid robot 1.
- the wrist 23 of the humanoid robot 1 inhales air and the neck 13 of the humanoid robot 1 exhausts air.
- the humanoid robot 1 of the third embodiment is provided with a front hanging plate 7 for displaying a logo or the like covered by the heat exhaust clothing 5 on the outside.
- the exhaust heat suit 5 of the third embodiment is a three-quarter sleeve in which the sleeves 33a and 33b extend to the lower arm portion 22, and from the lower arm portion 22 to the wrist portion 23 and the hand portion 24. Are covered by the exhaust heat gloves 80.
- An intake port 70 is formed in the heat exhaust gloves 80.
- a narrowed portion 40b is provided on the cuff portion 35b, and the narrowed portion 40b is in contact with the outer contour of the lower arm portion 22 over the entire circumference.
- the heat removal gloves 80 have a glove portion 81, a wrist cover portion 82, and an arm cover portion 83.
- the glove portion 81 covers the hand portion 24.
- a material having good elasticity for the movable portion or a non-slip silicone material for the fingertip may be used. Since the glove portion 81 does not basically form the above-mentioned air flow passage 101, it does not have to have the air permeability like the heat exhaust suit 5.
- the wrist cover part 82 covers the wrist part 23.
- the wrist cover portion 82 is made of a highly breathable mesh-like cloth, and the mesh of the wrist cover portion 82 forms the intake port 70.
- the wrist portion 23 has a wrist body 23a and a cylindrical or U-shaped wrist cover 23b surrounding the wrist body 23a.
- the wrist cover portion 82 of the heat exhaust gloves 80 covers at least the gap between the hand portion 24 and the wrist cover 23b.
- the above-mentioned internal ventilation channel 100 is formed inside the wrist cover 23b.
- the blower 6 is provided in the internal ventilation passage 100 in the wrist portion 23.
- the blower 6 it is preferable to use a blower fan having the suction port 6a on the upper and lower surfaces in the axial direction and the discharge port 6b on the side surface in the radial direction. Since the blower fan has higher wind pressure and higher directivity than the axial fan, it is possible to efficiently cool the arm portion 11 in which the flow passage is relatively narrower than the body portion 10.
- the arm cover portion 83 covers the lower arm portion 22.
- the arm cover portion 83 has a narrowed portion 40d at an arm opening through which the lower arm portion 22 passes.
- the narrowed portion 40d is formed of the above-described surface fastener or the like, and is in contact with the outer contour of the lower arm portion 22 over the entire circumference.
- the arm cover portion 83 may be formed of the same material as that of the heat exhaust suit 5 in order to prevent the air taken in from the intake port 70 from leaking.
- the outside air is taken into the inside from the wrist 23 of the humanoid robot 1 (the intake port 70 of the heat removal gloves 80). As shown in FIG. 12, the taken-in air is sucked into the blower 6 provided in the internal ventilation passage 100 of the wrist portion 23, and the lower arm portion 22 (specifically, the internal ventilation passage 100 of the lower arm portion 22). Is discharged toward.
- the air that has passed through the internal ventilation passage 100 of the lower arm portion 22 flows into the above-described air passage passage 101, cools the upper arm portion 21 of the humanoid robot 1 from the shoulder portion, and the body portion 10, and passes through the neck portion 13.
- the heat is exhausted from the collar portion 35a (exhaust port 36) of the thermal clothing 5.
- the intake port 70 that takes in external air from the wrist 23 of the humanoid robot 1 into the air flow passage 101 is provided, the arm that has many movable parts and generates a lot of heat.
- the part 11 can be cooled intensively.
- the exhaust air is directed to the body portion 10 side rather than the arm portion 11, the object gripped by the hand portion 24 or the like is not exhausted. Therefore, for example, the humanoid robot 1 can be used hygienically even when serving in a restaurant or the like.
- the blower 6 since the blower 6 is provided on the wrist 23 of the humanoid robot 1, it is possible to efficiently cool the arm 11 whose flow path is relatively narrower than that of the body 10. . Further, as the blower 6, it is preferable to use a blower fan having a higher wind pressure and a higher directivity than the axial fan.
- a collar portion 35a is formed in the heat exhaust clothing 5 as an opening portion 35 through which the neck portion 13 of the humanoid robot 1 passes, and the collar portion 35a is provided with an air flow passage 101. Since the exhaust port 36 that communicates is provided, the chimney effect is obtained, and the air cooled by the arm 11 and the body 10 to obtain heat and become lighter can be efficiently exhausted from the neck 13. Although the chimney effect cannot be obtained, the exhaust port 36 may be provided in the hem opening portion 35c to exhaust the air from the lower portion of the body portion 10.
- the throttle portion 40c is provided inside the hem mouth portion 35c of the heat exhaust clothing 5 (first embodiment), and the throttle portion 40b is provided inside the cuff portion 35b of the heat exhaust clothing 5.
- the throttle portion 40a may be similarly provided inside the collar portion 35a of the heat exhausting clothing 5.
- the lower body of the humanoid robot 1 is exemplified by the lifter 3 and the moving carriage 4, but the lower body of the humanoid robot 1 has two legs (limbs). It may be in the form.
- the heat exhaust clothing 5 may be an overall (joint) in which the upper and lower garments are integrated.
- the exhaust port 36 may be formed at the hem opening through which the legs of the two legs pass.
- the flow rate adjusting member 60 is exemplified as a slide type, but the form thereof is not particularly limited as long as the size of the opening area of the ventilation port 54 of the receiving member 50 can be adjusted.
- the inner cloth 44 of the narrowed portion 40b shown in FIG. 5 is formed of the same cloth as the heat exhaust clothing 5, but for example, the inner cloth 44 is breathable. It may be formed from a mesh-shaped material having a high air permeability so that a predetermined amount of air can pass from the periphery of the receiving member 50.
- the exhaust port 36 is provided in the collar portion 35a, but the exhaust port 36 may be provided in another place such as under the armor of the heat exhausting clothing 5.
- an auxiliary blower for assisting exhaust may be provided near the exhaust port 36 (for example, the shoulder of the humanoid robot 1 near the collar 35a).
- the sleeves 33a and 33b of the heat removal clothing 5 are three-quarter sleeves that extend to the lower arm portion 22, and the lower arm portion 22 to the wrist portion 23 and the hand portion 24 are discharged.
- the lower ends of the sleeves 33 a and 33 b of the thermal exhaust clothing 5 are fixed near the lower ends of the lower arm portions 22 by the squeezing section 40 such as a surface fastener, and
- the upper end of the arm cover part 83 may be fixed to the vicinity of the upper end of the wrist part 23 by a diaphragm part 40 such as a surface fastener.
- the joint between the lower arm portion 22 and the wrist portion 23 does not have to be covered with the heat removal gloves 80 to the heat removal clothing 5.
- the internal ventilation channel 100 of the wrist 23 is in communication with the ventilation channel 101 of the body section 10 via the internal ventilation channel 100 of the lower arm 22. According to this configuration, even when the wrist portion 23 rotates the wrist with respect to the lower arm portion 22 more than a human being, at the joint portion between the lower arm portion 22 and the wrist portion 23, the heat removal gloves 80 or The concern about the twist of the heat suit 5 and the blockage of the air flow passage 101 due to the twist is eliminated. Further, it becomes easy to wear the exhaust heat suit 5 and the exhaust heat gloves 80 on the humanoid robot 1.
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Abstract
This humanoid robot (1) is provided with: a heat discharge garment (5) that covers the humanoid robot (1); and a blower that is provided to the humanoid robot (1) or the heat discharge garment (5) and inwardly blows external air, wherein an air blowing flow passage (101) is provided between the heat discharge garment (5) and the outer shell of the humanoid robot (1).
Description
本発明は、人型ロボットに関するものである。
本願は、2018年10月16日に日本に出願された特願2018-195397号、及び、2019年10月04日に日本に出願された特願2019-184137号に基づき優先権を主張し、その内容をここに援用する。 The present invention relates to a humanoid robot.
The present application claims priority based on Japanese Patent Application No. 2018-195397 filed in Japan on October 16, 2018 and Japanese Patent Application No. 2019-184137 filed in Japan on October 04, 2019, The contents are incorporated here.
本願は、2018年10月16日に日本に出願された特願2018-195397号、及び、2019年10月04日に日本に出願された特願2019-184137号に基づき優先権を主張し、その内容をここに援用する。 The present invention relates to a humanoid robot.
The present application claims priority based on Japanese Patent Application No. 2018-195397 filed in Japan on October 16, 2018 and Japanese Patent Application No. 2019-184137 filed in Japan on October 04, 2019, The contents are incorporated here.
下記特許文献1には、人間型ロボットの全身を覆い、粉塵及び外水の侵入を抑制する人間型ロボット用保護着が開示されている。この人間型ロボット用保護着は、人間型ロボットの熱を外部に発散させるため、放熱性が高い生地(ナイロン繊維、ナイロン繊維と発泡ポリウレタン樹脂の複層構造の素材等)を使用している。また、この人間型ロボット用保護着は、発熱の生じる制御機器の周辺に、内部に空気を取り込み、熱せられた空気を排出する冷却用の給排気口を備えている。
Patent Document 1 below discloses a protective wear for a humanoid robot that covers the entire body of the humanoid robot and suppresses the intrusion of dust and outside water. This humanoid robot protective suit uses a material having a high heat dissipation property (nylon fiber, a material having a multi-layer structure of nylon fiber and polyurethane foam resin, etc.) in order to radiate the heat of the humanoid robot to the outside. In addition, this humanoid robot protective suit is provided with a cooling air supply / exhaust port around the control device where heat is generated to take in air and discharge heated air.
ところで、人型ロボットは、多数の関節を有し、全身に発熱部が点在している。このため、全身の発熱部を空冷するためには、人型ロボットの全身にくまなく空気を送り込む必要がある。しかしながら、人型ロボットの姿勢によっては、空気の流路が狭くなり、空気の流れが遮断される部分が生じ得る。そうすると、全身の発熱部を十分に冷却できなくなる。
By the way, the humanoid robot has a large number of joints, and heat generating portions are scattered throughout the body. For this reason, in order to air-cool the heat generating part of the whole body, it is necessary to blow air all over the whole body of the humanoid robot. However, depending on the posture of the humanoid robot, the air flow path may be narrowed, and a portion where the air flow is blocked may occur. Then, the heat generating part of the whole body cannot be cooled sufficiently.
本発明は、全身を効果的に冷却することができる人型ロボットを提供する。
The present invention provides a humanoid robot capable of effectively cooling the whole body.
本発明の一態様によれば、人型ロボットは、人型ロボットを覆う排熱服と、前記人型ロボットまたは前記排熱服に設けられ、外部の空気を内部に送り込む送風機と、を備え、前記排熱服と前記人型ロボットの外郭との間に、送風流路を設けている。
According to one aspect of the present invention, a humanoid robot includes a heat exhaust clothing that covers the humanoid robot, and a blower that is provided in the humanoid robot or the heat exhaust clothing and blows external air into the interior. An air flow passage is provided between the heat exhaust suit and the outer shell of the humanoid robot.
上記した人型ロボットによれば、人型ロボットの全身を効果的に冷却することができる。
According to the humanoid robot described above, the whole body of the humanoid robot can be effectively cooled.
以下、本発明の実施形態について図面を参照して説明する。
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(第1実施形態)
図1は、本発明の第1実施形態における排熱服5を着衣した人型ロボット1の正面図である。図2は、図1に示す人型ロボット1の背面図である。図3は、図1に示す人型ロボット1の排熱服5の内側の構成を示す正面図である。
これらの図に示すように、本実施形態の人型ロボット1は、ロボット本体2と、リフター3と、移動台車4と、を備えている。 (First embodiment)
FIG. 1 is a front view of ahumanoid robot 1 wearing a heat exhaust suit 5 according to the first embodiment of the present invention. FIG. 2 is a rear view of the humanoid robot 1 shown in FIG. FIG. 3 is a front view showing the internal structure of the heat exhaust clothing 5 of the humanoid robot 1 shown in FIG.
As shown in these figures, thehumanoid robot 1 of the present embodiment includes a robot body 2, a lifter 3, and a moving carriage 4.
図1は、本発明の第1実施形態における排熱服5を着衣した人型ロボット1の正面図である。図2は、図1に示す人型ロボット1の背面図である。図3は、図1に示す人型ロボット1の排熱服5の内側の構成を示す正面図である。
これらの図に示すように、本実施形態の人型ロボット1は、ロボット本体2と、リフター3と、移動台車4と、を備えている。 (First embodiment)
FIG. 1 is a front view of a
As shown in these figures, the
ロボット本体2は、人の上半身に当たる部分である。ロボット本体2は、人間の上半身に近い動作を実現できるように構成されている。ロボット本体2は、排熱服5によって覆われており、背面に送風機6を備えている。リフター3は、人の下半身の脚部に当たる部分である。リフター3は、上下に屈伸可能で、ロボット本体2の下部に接続されている。移動台車4は、人の下半身の足部に当たる部分である。移動台車4は、リフター3の下部に接続されている。
The robot body 2 is the part that hits the upper body of a person. The robot body 2 is configured so as to be able to perform an operation close to that of a human upper body. The robot body 2 is covered with heat exhaust clothing 5, and has a blower 6 on the back surface. The lifter 3 is a part that hits a leg of a lower half of a person. The lifter 3 is capable of bending up and down and is connected to the lower portion of the robot body 2. The mobile trolley 4 is a part that hits the foot of the lower body of a person. The moving carriage 4 is connected to the lower part of the lifter 3.
このような人型ロボット1は、イベント会場などで来場者に所定のサービスを行うサービスロボットとして好適に使用することができる。なお、この人型ロボット1は、サービスロボット以外にも使用可能であることは言うまでもない。なお、リフター3及び移動台車4の代わりに、ロボット本体2の下部に二足の脚部(肢体部)を接続し、二足歩行ロボットとしてもよい。
Such a humanoid robot 1 can be suitably used as a service robot that provides a predetermined service to visitors at an event venue or the like. It goes without saying that the humanoid robot 1 can also be used as a service robot. Instead of the lifter 3 and the movable carriage 4, a bipedal leg (limb) may be connected to the lower portion of the robot body 2 to form a bipedal walking robot.
ロボット本体2は、図3に示すように、胴体部10と、胴体部10の上部左右に接続された二本の腕部11(肢体部)と、胴体部10の上部に接続された一つの頭部12と、を備えている。なお、本実施形態では、人型ロボット1の進行方向をX軸正方向、人型ロボット1からみて左手方向をY軸正方向、人型ロボット1における反重力方向をZ軸正方向とする。また、X軸がロール軸、Y軸がピッチ軸、Z軸がヨー軸とする。
As shown in FIG. 3, the robot body 2 includes a body portion 10, two arm portions 11 (limb portions) connected to the upper left and right of the body portion 10, and a single body portion connected to the upper portion of the body portion 10. The head 12 is provided. In this embodiment, the traveling direction of the humanoid robot 1 is the X-axis positive direction, the left-hand direction when viewed from the humanoid robot 1 is the Y-axis positive direction, and the antigravity direction in the humanoid robot 1 is the Z-axis positive direction. The X axis is the roll axis, the Y axis is the pitch axis, and the Z axis is the yaw axis.
胴体部10は、頭部12が接続される首部13と、リフター3が接続される腰部14と、を備えている。頭部12は、首部13に対して、例えばヨー軸(Z軸)及びピッチ軸(Y軸)の回りに揺動可能に連結されている。なお、頭部12には、外部を撮影するためのカメラ12aが搭載されている。腰部14の下部には、人の骨盤に当たるベース板15が設けられている。ベース板15の下面には、リフター3が接続されている。
The body portion 10 includes a neck portion 13 to which the head portion 12 is connected and a waist portion 14 to which the lifter 3 is connected. The head 12 is connected to the neck 13 so as to be swingable about a yaw axis (Z axis) and a pitch axis (Y axis), for example. The head 12 is equipped with a camera 12a for photographing the outside. A base plate 15 that touches the pelvis of a person is provided below the waist 14. The lifter 3 is connected to the lower surface of the base plate 15.
二本の腕部11は、肘を境に屈曲可能に互いに連結された、肩に近い方の上腕部21と、手先に近い方の下腕部22と、を備える。下腕部22の先端には、手首部23を介して手部24が連結されている。手首部23は、下腕部22と手部24とを、例えばロール軸(X軸)の回りに揺動可能に連結する。
The two arm portions 11 include an upper arm portion 21 closer to the shoulder and a lower arm portion 22 closer to the hand, which are connected to each other so that they can be bent with the elbow as a boundary. A hand portion 24 is connected to the tip of the lower arm portion 22 via a wrist portion 23. The wrist portion 23 connects the lower arm portion 22 and the hand portion 24 so as to be swingable around, for example, a roll axis (X axis).
ロボット本体2は、人間の骨格構造を模したボディを有している。概略的には、Z軸方向に延在している背骨部16及び板金で形成された各種の骨部17、背骨部16を支持するように背骨部16に連結された腰骨部18等によって、ロボット本体2の上半身の骨格構造(以下、単に「上半身骨格構造」という)が形成されている。
The robot body 2 has a body that imitates a human skeletal structure. In general, the spine portion 16 extending in the Z-axis direction and various bone portions 17 formed of sheet metal, the hip bone portion 18 connected to the spine portion 16 so as to support the spine portion 16, and the like, A skeleton structure of the upper body of the robot body 2 (hereinafter, simply referred to as “upper body skeleton structure”) is formed.
背骨部16には、人型ロボット1の首部13が接続され、更にその上に頭部12が配置されている。背骨部16を挟んだ左右両側には、上半身の駆動を司る駆動ユニット19が配置されている。骨部17は、肋骨部17a、胸骨部17b、鎖骨部17cを備えている。肋骨部17aは、背骨部16と接続され、左右の駆動ユニット19の背面側を支持している。胸骨部17bは、左右の駆動ユニット19を正面側で接続している。鎖骨部17cは、駆動ユニット19の上方において背骨部16及び首部13と接続されると共に、左右の肩部と接続されている。
The neck portion 13 of the humanoid robot 1 is connected to the spine portion 16, and the head portion 12 is further arranged on the neck portion 13. Drive units 19 for driving the upper half of the body are arranged on both left and right sides of the spine portion 16 in between. The bone portion 17 includes a rib portion 17a, a sternum portion 17b, and a clavicle portion 17c. The rib portion 17a is connected to the spine portion 16 and supports the back side of the left and right drive units 19. The sternum 17b connects the left and right drive units 19 on the front side. The clavicle portion 17c is connected to the spine portion 16 and the neck portion 13 above the drive unit 19, and is also connected to the left and right shoulder portions.
これらの骨部17及び背骨部16によって、人型ロボット1の上半身骨格構造内に所定の空間(後述では内部通気流路100とも言う)が形成され、当該所定の空間に左右の駆動ユニット19がそれぞれ収まるように配置され、各骨部17に対して駆動ユニット19が支持されることになる。これにより、2つの駆動ユニット19が胴体部10内に取り付けられる。
A predetermined space (also referred to as an internal ventilation channel 100 in the following) is formed in the upper body skeleton structure of the humanoid robot 1 by these bone parts 17 and spine parts 16, and the left and right drive units 19 are provided in the predetermined space. The drive units 19 are arranged so as to be accommodated, and the drive unit 19 is supported with respect to each bone portion 17. As a result, the two drive units 19 are mounted inside the body 10.
ここで、胴体部10において、人型ロボット1の内郭とは、この駆動ユニット19が収まる空間を囲う骨部17及び背骨部16の内側のフレーム(内表面)のことを言う。また、胴体部10において、人型ロボット1の外郭とは、上記空間と反対を向く、骨部17及び背骨部16の外側のフレーム(外表面)のことを言う。本実施形態の胴体部10は、フレームがむき出しであり、フレームの隙間を介して、人型ロボット1の内郭側の空間と外郭側の空間とが連通している。
Here, in the body portion 10, the inner contour of the humanoid robot 1 refers to a frame (inner surface) inside the bone portion 17 and the spine portion 16 that surrounds the space in which the drive unit 19 is housed. Further, in the body part 10, the outer shell of the humanoid robot 1 refers to the outer frame (outer surface) of the bone part 17 and the spine part 16 that faces the above space. The body portion 10 of the present embodiment has an exposed frame, and a space on the inner shell side and a space on the outer shell side of the humanoid robot 1 communicate with each other through a gap between the frames.
一方、腕部11においては、その表面がプラスチック等の表皮部11aによって覆われている。腕部11において、人型ロボット1の内郭とは、表皮部11aの内側(内表面)のことを言う。また、腕部11において、人型ロボット1の外郭とは、表皮部11aの外側(外表面)のことを言う。なお、腕部11においても、胴体部10と同様に、表皮部11aが無くてもよい。この場合、図示しないモータ等を支持するフレームの内側を、人型ロボット1の内郭、そのフレームの外側を、人型ロボット1の外郭と言ってもよい。
On the other hand, the surface of the arm 11 is covered with a skin 11a made of plastic or the like. In the arm portion 11, the inner contour of the humanoid robot 1 refers to the inner side (inner surface) of the skin portion 11a. Further, in the arm portion 11, the outer shell of the humanoid robot 1 refers to the outer side (outer surface) of the skin portion 11a. It should be noted that in the arm portion 11 as well, like the body portion 10, the skin portion 11a may be omitted. In this case, the inside of the frame supporting a motor (not shown) may be called the inner contour of the humanoid robot 1, and the outside of the frame may be called the outer contour of the humanoid robot 1.
なお、駆動ユニット19は、胴体部10に対して腕部11を、例えばロール軸(X軸)の回りに揺動可能に連結するものであるが、この動作のためのロボット内部構造は本発明の中核をなすものではないので、本明細書ではその詳細な説明は省略する。駆動ユニット19の詳細としては、例えば、公知文献である特許第6104876号公報を参照されたい。また、人型ロボット1の肩関節、首関節、手首・足首関節等のリンク機構についても本発明の中核をなすものではないので、本明細書ではその詳細な説明は省略する。
The drive unit 19 connects the arm 11 to the body 10 so as to be swingable around, for example, the roll axis (X axis). The robot internal structure for this operation is the present invention. Since it does not form the core, detailed description thereof is omitted in this specification. For details of the drive unit 19, see, for example, Japanese Patent No. 6104876, which is a known document. Further, since the link mechanism such as the shoulder joint, the neck joint, the wrist / ankle joint, etc. of the humanoid robot 1 does not form the core of the present invention, the detailed description thereof will be omitted in this specification.
因みに、肩関節については、例えば、公知文献である特許第5763359号公報及び特許5877686号公報に記載された構成を採用してもよい。また、首関節については、例えば、公知文献である特許第5872846号公報に記載された構成を採用してもよい。また、手首・足首関節については、例えば、公知文献である特許第5722747号公報に記載された構成を採用してもよい。さらに、人型ロボット1の全身については、例えば、公知文献である特開2017-82803号公報に記載された構成を採用してもよい。
Incidentally, for the shoulder joint, for example, the configurations described in the publicly-known documents, Japanese Patent No. 5763359 and Japanese Patent No. 5877686 may be adopted. Further, for the neck joint, for example, the configuration described in Japanese Patent No. 5782846, which is a known document, may be adopted. Further, as for the wrist / ankle joint, for example, the configuration described in Japanese Patent No. 5722747, which is a known document, may be adopted. Further, for the whole body of the humanoid robot 1, for example, the configuration described in the publicly known Japanese Patent Laid-Open No. 2017-82803 may be adopted.
図1に戻り、排熱服5は、ロボット本体2の頭部12及び手部24を除く部分を覆っている。排熱服5を構成する生地の通気量は、例えば、JIS L 1096A法(フラジール法)において、例えば10cm3/cm2・s以下であるのが好ましく、6cm3/cm2・s以下がさらに好ましい。この通気量であれば、防水性及び防風性に優れた排熱服5となる。
Returning to FIG. 1, the heat exhaust clothing 5 covers the robot body 2 except for the head 12 and the hand 24. The ventilation volume of the fabric forming the heat exhaust suit 5 is, for example, preferably 10 cm3 / cm2 · s or less, and more preferably 6 cm3 / cm2 · s or less in JIS L1096A method (Frazier method). With this ventilation amount, the heat exhaust clothing 5 is excellent in waterproofness and windproofness.
また、排熱服5の生地を構成する織物としては、特に限定されず、例えば、通平織、斜文織、朱子織、変化平織、変化斜文織、変化朱子織、変わり織、紋織、片重ね織、二重組織、多重組織、経パイル織、緯パイル織、絡み織等がある。前記生地は、単位面積当たりの質量(目付け)が40~200g/m2の範囲が好ましく、さらに好ましくは60~180g/m2の範囲である。また、それらの生地にポリウレタンを材料とした樹脂ラミネートやコーティング加工された織物も効果的である。
Further, the woven fabric that constitutes the fabric of the heat exhaust clothing 5 is not particularly limited, and examples thereof include a plain plain weave, a twill weave, a satin weave, a modified plain weave, a modified twill weave, a modified satin weave, a modified weave, and a plain weave. Layered weave, double weave, multiple weave, warp pile weave, weft pile weave, entangled weave, and the like. The dough preferably has a mass (unit weight) per unit area of 40 to 200 g / m 2, and more preferably 60 to 180 g / m 2. In addition, a resin laminate made of polyurethane as a material for these fabrics or a coated fabric is also effective.
また、排熱服5の生地を構成する繊維としては、特に限定されず、例えばポリエチレンテレフタレート、ポリトリメチレンテレフタレート、ポリブチレンテレフタレートなどのポリエステル系繊維、ポリウレタン繊維、ポリアミド繊維、アセテート繊維、コットン繊維、レーヨン繊維、エチレンビニルアルコール繊維、ナイロン繊維などを用いることができる。
Further, the fibers constituting the fabric of the exhaust heat suit 5 are not particularly limited, and for example, polyester fibers such as polyethylene terephthalate, polytrimethylene terephthalate, polybutylene terephthalate, polyurethane fibers, polyamide fibers, acetate fibers, cotton fibers, Rayon fiber, ethylene vinyl alcohol fiber, nylon fiber and the like can be used.
この排熱服5は、前身頃30(図1参照)、後身頃31a,31b(図2参照)、衿32、袖33a,33bで基体が構成されている。後身頃31a,31bは、人型ロボット1の背面側を覆うものであり、線ファスナー34で開閉可能に閉じられている。線ファスナー34は、後身頃31a,31の下部から反重力方向に延び、衿32まで至っている。なお、閉状態の線ファスナー34の通気量は、排熱服5の生地の通気量以下であることが好ましい。
The heat exhaust suit 5 has a base body composed of a front body 30 (see FIG. 1), back bodies 31a and 31b (see FIG. 2), a collar 32, and sleeves 33a and 33b. The back bodies 31 a and 31 b cover the back side of the humanoid robot 1 and are openably and closably closed by a line fastener 34. The line fastener 34 extends in the antigravity direction from the lower portion of the rear body 31 a, 31 to reach the collar 32. The air flow rate of the line fastener 34 in the closed state is preferably equal to or less than the air flow rate of the fabric of the heat exhaust clothing 5.
後身頃31a,31bには、左右2つの送風機6が配置される開口部31a1,31b1が形成されている。本実施形態の送風機6は、人型ロボット1側に設けられており、上述した肋骨部17aなどに固定されている。送風機6の吸引口は、開口部31a1,31b1から排熱服5の外部に露出している。この送風機6は、吸引口を介して外部の空気を吸引し、上述した人型ロボット1の上半身骨格構造内に送り込む構成となっている。なお、送風機6は、排熱服5側に設けてもよく、この場合、送風機6は後身頃31a,31bに縫い付けるなどしてもよい。
The rear bodies 31a and 31b are formed with openings 31a1 and 31b1 in which the left and right blowers 6 are arranged. The blower 6 of this embodiment is provided on the humanoid robot 1 side and is fixed to the rib portion 17a described above. The suction port of the blower 6 is exposed to the outside of the heat exhaust clothing 5 through the openings 31a1 and 31b1. The blower 6 is configured to suck outside air through a suction port and blow it into the upper body skeleton structure of the humanoid robot 1 described above. The blower 6 may be provided on the heat exhaust clothing 5 side, and in this case, the blower 6 may be sewn to the back bodies 31a and 31b.
開口部31a1,31b1の開口周縁部には、生地を折り込むことで強度を上げた補強部31a2,31b2が形成されている。補強部31a2,31b2は、排熱服5の生地の伸縮性を利用して送風機6の周囲に密着している。これにより、排熱服5と送風機6との隙間の気密性が確保される。なお、送風機6の本体と吸引口カバーとの間に、開口部31a1,31b1の開口周縁部(補強部31a2,31b2)を挟み込んで気密性を確保しつつ固定してもよい。
Reinforcing parts 31a2 and 31b2 are formed on the peripheral edges of the openings 31a1 and 31b1 to increase strength by folding cloth. The reinforcing portions 31a2 and 31b2 are in close contact with the periphery of the blower 6 by utilizing the elasticity of the cloth of the heat exhausting clothing 5. Thereby, the airtightness of the gap between the exhaust heat suit 5 and the blower 6 is ensured. It should be noted that the opening peripheral portions (reinforcing portions 31a2, 31b2) of the openings 31a1, 31b1 may be sandwiched between the main body of the blower 6 and the suction port cover to secure the airtightness.
送風機6としては、特に限定されず、標準空気の場合の送風機全圧が約30kPa未満(JIS B 0132:2005 送風機・圧縮機用語)であれば、例えば、ファン(10kPa未満の送風機を言う)でもブロワ(10kPa以上、30kPa未満の送風機を言う)であってもよく、その形式も容積型、ターボ型を問わない。本実施形態の送風機6は、10kPa未満のファンであって、より詳しくはファンとモータが一体化されたファンモータを使用している。ファンモータは、ターボ型の軸流式ファンである。なお、送風機6としては、例えば、ターボ型の遠心式ファンを使用しても構わない。
The blower 6 is not particularly limited, and if the blower total pressure in the case of standard air is less than about 30 kPa (JIS B 0132: 2005 blower / compressor term), for example, a fan (a blower of less than 10 kPa) is also used. A blower (a blower having a pressure of 10 kPa or more and less than 30 kPa) may be used, and the type thereof may be a volume type or a turbo type. The blower 6 of this embodiment is a fan of less than 10 kPa, and more specifically, uses a fan motor in which a fan and a motor are integrated. The fan motor is a turbo axial fan. As the blower 6, for example, a turbo type centrifugal fan may be used.
排熱服5は、送風機6によって外部の空気が送り込まれた排熱服5の内部を正圧状態にし、排熱服5と人型ロボット1の外郭との間に送風流路101(図3参照)を形成する絞り部40を備えている。絞り部40は、図1に示すように、人型ロボット1の首部13、腰部14、及び腕部11を通す、排熱服5の各開口部35に形成されている。また、各開口部35には、排熱服5に設けられた絞り部40と当接する受け部材50が、ロボット本体2側に設けられている。
The exhaust heat garment 5 puts the inside of the exhaust heat garment 5 into which the outside air is sent by the blower 6 into a positive pressure state, and the air blast flow passage 101 (FIG. (See FIG. 3) is provided. As shown in FIG. 1, the narrowed portion 40 is formed in each opening 35 of the heat exhaust clothing 5 through which the neck portion 13, the waist portion 14, and the arm portion 11 of the humanoid robot 1 pass. In addition, a receiving member 50 that comes into contact with the throttle portion 40 provided on the heat exhaust clothing 5 is provided on each of the openings 35 on the robot body 2 side.
受け部材50は、略円柱状のブロック体である。受け部材50は、絞り部40と当接する外周面51と、外周面51よりも径方向外側に突出した環状突部52と、を備えている。環状突部52は、受け部材50の中心軸が延びる軸方向において、受け部材50の両端部に設けられている。受け部材50は、排熱服5の各開口部35に応じた軸方向の長さ及び外径を有している。このような受け部材50は、金属材に対して比較的軽量な樹脂材などから形成するとよい。
The receiving member 50 is a substantially cylindrical block body. The receiving member 50 includes an outer peripheral surface 51 that comes into contact with the narrowed portion 40, and an annular protrusion 52 that projects radially outward from the outer peripheral surface 51. The annular protrusions 52 are provided at both ends of the receiving member 50 in the axial direction in which the central axis of the receiving member 50 extends. The receiving member 50 has an axial length and an outer diameter according to each opening 35 of the heat exhaust clothing 5. Such a receiving member 50 may be formed of a resin material or the like which is relatively light in weight relative to a metal material.
排熱服5の開口部35のうち、腕部11を通す袖口部35bには、図1に示すように、面ファスナー41を有する絞り部40bが設けられている。袖口部35bには、人型ロボット1の肩側に向かって延びるスリット35b1が形成されている。面ファスナー41は、スリット35b1の両側の生地を重ね(絞り)つつ、これら両側の生地を接続している。受け部材50の外周面51は、面ファスナー41によって絞られた部分と全周に亘って当接している。これにより、受け部材50(腕部11)と絞り部40b(排熱服5)との隙間の気密性が確保される。
As shown in FIG. 1, a narrowed portion 40b having a hook-and-loop fastener 41 is provided at a cuff portion 35b of the opening 35 of the heat exhausting clothing 5 through which the arm 11 is passed. A slit 35b1 extending toward the shoulder side of the humanoid robot 1 is formed in the cuff portion 35b. The surface fastener 41 connects the cloths on both sides of the slit 35b1 while overlapping (squeezing) the cloths on both sides of the slit 35b1. The outer peripheral surface 51 of the receiving member 50 is in contact with the portion narrowed by the surface fastener 41 over the entire circumference. As a result, the airtightness of the gap between the receiving member 50 (arm portion 11) and the narrowed portion 40b (heat exhaust clothing 5) is ensured.
また、排熱服5の開口部35のうち、首部13を通す衿口部35aに設けられた絞り部40aは、図2に示すように、線ファスナー34によって衿32を閉じたときの生地の伸縮性を利用して受け部材50に密着している。これにより、受け部材50(首部13)と絞り部40a(排熱服5)との隙間の気密性が確保される。なお、絞り部40aにおいても、上述した絞り部40bと同様に、面ファスナー41を設けてもよい。
次に、図4を参照して、排熱服5の開口部35のうち、腰部14を通す裾口部35cに設けられた絞り部40cの構成について説明する。 Further, in theopening 35 of the heat exhausting clothing 5, the narrowed portion 40a provided in the neck portion 35a through which the neck portion 13 is inserted is made of the cloth when the collar 32 is closed by the line fastener 34, as shown in FIG. It is in close contact with the receiving member 50 by utilizing its elasticity. As a result, the airtightness of the gap between the receiving member 50 (neck portion 13) and the narrowed portion 40a (heat exhaust clothing 5) is ensured. The surface fastener 41 may be provided in the narrowed portion 40a as in the above-described narrowed portion 40b.
Next, with reference to FIG. 4, a configuration of the narrowedportion 40c provided in the hem opening portion 35c through which the waist portion 14 is inserted in the opening portion 35 of the heat exhaust clothing 5 will be described.
次に、図4を参照して、排熱服5の開口部35のうち、腰部14を通す裾口部35cに設けられた絞り部40cの構成について説明する。 Further, in the
Next, with reference to FIG. 4, a configuration of the narrowed
図4は、本発明の第1実施形態における排熱服5の裾口部35cにおける絞り部40cの構成を示す背面図である。なお、図4は、後身頃31a,31bを開いた状態で、人型ロボット1の腰部14を背面側から視ている。
図4に示すように、絞り部40cは、後身頃31a,31b(及び前身頃30)の内側の全周に亘って固定された内側生地42を有する。内側生地42は、排熱服5と同様の生地から形成するとよい。 FIG. 4 is a rear view showing the configuration of thethrottle portion 40c in the hem mouth portion 35c of the heat removal clothing 5 according to the first embodiment of the present invention. Note that, in FIG. 4, the waist 14 of the humanoid robot 1 is viewed from the back side with the back bodies 31a and 31b opened.
As shown in FIG. 4, the narrowedportion 40c has an inner cloth 42 that is fixed over the entire inner circumference of the back bodies 31a and 31b (and the front body 30). The inner cloth 42 may be formed of the same cloth as the heat exhaust clothing 5.
図4に示すように、絞り部40cは、後身頃31a,31b(及び前身頃30)の内側の全周に亘って固定された内側生地42を有する。内側生地42は、排熱服5と同様の生地から形成するとよい。 FIG. 4 is a rear view showing the configuration of the
As shown in FIG. 4, the narrowed
内側生地42は、腰部14(受け部材50)を周回する帯状に形成されている。内側生地42の両端部42a,42b以外の上端辺が、排熱服5の内側に縫製糸などにより固定されている。内側生地42の両端部42a,42bには、両者を接続する面ファスナー43が設けられており、環状に接続可能とされている。内側生地42の下端辺には、伸縮可能な平ゴムなどが織り込まれ、または、縫い付けられており、受け部材50の外周面51に密着可能な弾性伸縮部42cを形成している。これにより、受け部材50(腰部14)と絞り部40c(排熱服5)との隙間の気密性が確保される。
The inner cloth 42 is formed in a band shape that circulates around the waist portion 14 (receiving member 50). The upper end sides of the inner cloth 42 other than the both ends 42a and 42b are fixed to the inner side of the heat exhausting clothing 5 by a sewing thread or the like. Both ends 42a and 42b of the inner cloth 42 are provided with surface fasteners 43 for connecting the both, which are connectable in an annular shape. A stretchable flat rubber or the like is woven or sewn on the lower end side of the inner cloth 42 to form an elastic stretchable portion 42c which can be brought into close contact with the outer peripheral surface 51 of the receiving member 50. As a result, the airtightness of the gap between the receiving member 50 (waist portion 14) and the narrowed portion 40c (heat exhaust clothing 5) is ensured.
また、図1に戻り、袖口部35bには、排熱服5の内側の送風流路101(図3参照)と連通する排気口36が設けられている。排気口36は、絞り部40bにおいて、面ファスナー41(受け部材50)よりも肩側に延びるスリット35b1によって形成されている。つまり、図2に示す人型ロボット1の背面側の送風機6から取り込んだ空気は、図3に示す人型ロボット1の内郭(上半身骨格構造内)を通る内部通気流路100から、排熱服5と人型ロボット1の外郭との間を通る送風流路101に抜けて、図1に示す袖口部35bの排気口36から外部に排出される(なお、図1及び図2において、排熱服5に対する空気の出入りを太線矢印で示す)。
Returning to FIG. 1, the cuff 35b is provided with an exhaust port 36 that communicates with the air flow passage 101 (see FIG. 3) inside the heat exhaust clothing 5. The exhaust port 36 is formed by a slit 35b1 that extends toward the shoulder side of the surface fastener 41 (receiving member 50) in the narrowed portion 40b. That is, the air taken in from the blower 6 on the back side of the humanoid robot 1 shown in FIG. 2 exhausts heat from the internal ventilation channel 100 passing through the inner contour (in the upper body skeleton structure) of the humanoid robot 1 shown in FIG. The air passes through the air flow passage 101 passing between the clothes 5 and the outer shape of the humanoid robot 1 and is discharged to the outside from the exhaust port 36 of the cuff portion 35b shown in FIG. 1 (note that in FIG. 1 and FIG. The air flow in and out of the thermal suit 5 is indicated by a thick line arrow).
このように、本実施形態では、人型ロボット1に排熱服5を着衣させ、送風機6によって外部の空気を排熱服5の内側に送り込み、人型ロボット1の全身の発熱部(駆動部や制御機器など)を空冷した後、人型ロボット1の末端の袖口部35bから、熱せられた空気を排出する。ここで、図3に示すように、排熱服5と人型ロボット1の外郭との間には、送風流路101を設けているため、例えば、複雑な姿勢になることが多い腕部11においても表皮部11aと袖33a,33bとの間に空気が通る流路が確保され、空気が遮断されることを抑制することができる。
As described above, in the present embodiment, the humanoid robot 1 is put on the exhaust heat suit 5, and the outside air is sent to the inside of the exhaust heat suit 5 by the blower 6, so that the heat generating part (driving part) of the whole body of the humanoid robot 1 is driven. Heated air is exhausted from the cuff portion 35b at the end of the humanoid robot 1. Here, as shown in FIG. 3, since the ventilation passage 101 is provided between the heat exhausting clothing 5 and the outer shell of the humanoid robot 1, for example, the arm portion 11 which often has a complicated posture. Also in the above, a flow path through which air passes is secured between the skin portion 11a and the sleeves 33a and 33b, and it is possible to prevent the air from being blocked.
したがって、上述の本実施形態によれば、人型ロボット1を覆う排熱服5と、人型ロボット1または排熱服5に設けられ、外部の空気を内部に送り込む送風機6と、を備え、排熱服5と人型ロボット1の外郭との間に、送風流路101を設けることによって、人型ロボット1の全身を効果的に冷却することができる。また、排熱服5のような軽量且つ気密性を保てる生地を使用することで、例えば、図3に示すように、胴体部10などに表皮部を形成する必要が無くなり、人型ロボット1の軽量化及び低コスト化を図ることができる。また、腕部11においても表皮部11aを無くしてもよく、これにより、さらなる軽量化及び低コスト化を図ることができる。
Therefore, according to the above-described present embodiment, the exhaust heat suit 5 covering the humanoid robot 1 and the blower 6 provided in the humanoid robot 1 or the exhaust heat suit 5 for sending the outside air into the inside are provided, By providing the air flow passage 101 between the heat exhaust clothing 5 and the outer shell of the humanoid robot 1, the whole body of the humanoid robot 1 can be effectively cooled. Further, by using a lightweight and airtight cloth such as the heat exhaust clothing 5, it is not necessary to form a skin portion on the body portion 10 or the like as shown in FIG. Weight reduction and cost reduction can be achieved. Further, the skin portion 11a may be omitted in the arm portion 11 as well, whereby further weight reduction and cost reduction can be achieved.
また、本実施形態では、排熱服5は、内部を正圧状態にし、送風流路101を形成する絞り部40を備えている。この構成によれば、人型ロボット1の首部13、腰部14、及び腕部11を通す、排熱服5の各開口部35から抜け出る空気量を減らし、排熱服5の内部を正圧状態にできる。排熱服5の内部が正圧状態になると、排熱服5が膨らみ、絞り部40以外の部分において、排熱服5は、人型ロボット1の外郭から浮くこととなる。そうすると、仮に、腕部11などを曲げても、そのような曲げ姿勢に影響されることなく、人型ロボット1の外郭と排熱服5との隙間が確保され、その結果、人型ロボット1の全身を効果的に冷却することができる。
Further, in the present embodiment, the exhaust heat suit 5 is provided with the throttle portion 40 that forms the blower flow path 101 by making the inside a positive pressure state. According to this configuration, the amount of air passing through the neck portion 13, the waist portion 14, and the arm portion 11 of the humanoid robot 1 that escapes from the respective openings 35 of the heat exhaust clothing 5 is reduced, and the inside of the heat exhaust clothing 5 is in a positive pressure state. You can When the inside of the heat exhaust clothing 5 is in a positive pressure state, the heat exhaust clothing 5 swells, and the heat exhaust clothing 5 floats from the outer shell of the humanoid robot 1 in a portion other than the throttle portion 40. Then, even if the arm portion 11 or the like is bent, the gap between the outer shell of the humanoid robot 1 and the heat removal suit 5 is secured without being affected by such a bending posture, and as a result, the humanoid robot 1 The whole body can be cooled effectively.
また、本実施形態では、人型ロボット1は、排熱服5に設けられた絞り部40と当接する受け部材50を備えている。この構成によれば、絞り部40が、平らな受け部材50の外周面51と当接できるため、両者の間に隙間が形成され難くなる。このため、絞り部40が、人型ロボット1のむき出しのフレームなどに当接する場合よりも、気密性が確保し易くなる。なお、本実施形態では、受け部材50を円柱体として説明したが、平らな(平滑な)面を有する立体であれば、多角柱体であっても球体や楕円体などであってもよい。
Further, in the present embodiment, the humanoid robot 1 is provided with the receiving member 50 that comes into contact with the throttle portion 40 provided on the heat exhaust clothing 5. According to this configuration, the narrowed portion 40 can contact the outer peripheral surface 51 of the flat receiving member 50, so that a gap is less likely to be formed between the two. For this reason, it is easier to secure the airtightness than when the narrowed portion 40 contacts the exposed frame of the humanoid robot 1 or the like. In addition, in this embodiment, the receiving member 50 is described as a columnar body, but may be a polygonal columnar body, a sphere, an ellipse, or the like as long as it is a solid body having a flat (smooth) surface.
また、本実施形態では、排熱服5には、人型ロボット1の腕部11を通す開口部35として、袖口部35bが形成されており、袖口部35bに、送風流路101と連通する排気口36が設けられている。この構成によれば、人型ロボット1の全身を空冷した後、人型ロボット1の末端の袖口部35bから、熱せられた空気を排出することができるため、人型ロボットの全身にくまなく空気を送り込むことができる。
Further, in the present embodiment, a cuff portion 35b is formed in the heat exhaust clothing 5 as an opening portion 35 through which the arm portion 11 of the humanoid robot 1 passes, and the cuff portion 35b communicates with the air flow passage 101. An exhaust port 36 is provided. According to this configuration, after the whole body of the humanoid robot 1 is air-cooled, the heated air can be discharged from the cuff portion 35b at the end of the humanoid robot 1. Can be sent.
また、本実施形態では、排熱服5には、人型ロボット1の腰部14を通す開口部35として裾口部35cが形成されており、裾口部35cの内側に、絞り部40cが設けられている。この構成によれば、裾口部35cの内側に絞り部40cを設けて2重化することで、排熱服5のデザイン(意匠性)を崩すことなく空気漏れを抑制することができる。これにより、サービスロボットに適した人型ロボット1の外観が得られる。
Further, in the present embodiment, the heat exhaust clothing 5 is formed with the hem mouth portion 35c as the opening portion 35 through which the waist portion 14 of the humanoid robot 1 is passed, and the narrowed portion 40c is provided inside the hem mouth portion 35c. Has been. According to this configuration, the throttle portion 40c is provided inside the hem opening portion 35c so as to be doubled, and thus air leakage can be suppressed without deteriorating the design (design) of the heat exhaust clothing 5. Thereby, the appearance of the humanoid robot 1 suitable for the service robot can be obtained.
また、本実施形態では、人型ロボット1の内郭に、送風流路101と連通する内部通気流路100が形成されている。この構成によれば、送風機6で取り込まれた空気が、一旦、ロボット本体2の内部(人間で例えるなら肋骨の内側)に流れて、そこから上記の送風流路101に送風されることで、効率的に熱を排熱することができる。このため、人間ではできない人型ロボット1特有の空冷作用が得られる。
In addition, in the present embodiment, the internal ventilation channel 100 that communicates with the ventilation channel 101 is formed inside the humanoid robot 1. According to this configuration, the air taken in by the blower 6 once flows into the inside of the robot body 2 (inside the ribs in the case of a human being), and is blown into the above-mentioned blow passage 101 from there, The heat can be efficiently exhausted. For this reason, the air-cooling action peculiar to the humanoid robot 1 which cannot be performed by a human is obtained.
(第2実施形態)
次に、本発明の第2実施形態について説明する。以下の説明において、上述の実施形態と同一又は同等の構成については同一の符号を付し、その説明を簡略若しくは省略する。 (Second embodiment)
Next, a second embodiment of the present invention will be described. In the following description, the same or equivalent configurations as those of the above-described embodiment are designated by the same reference numerals, and the description thereof will be simplified or omitted.
次に、本発明の第2実施形態について説明する。以下の説明において、上述の実施形態と同一又は同等の構成については同一の符号を付し、その説明を簡略若しくは省略する。 (Second embodiment)
Next, a second embodiment of the present invention will be described. In the following description, the same or equivalent configurations as those of the above-described embodiment are designated by the same reference numerals, and the description thereof will be simplified or omitted.
図5は、本発明の第2実施形態における排熱服5の袖口部35bにおける絞り部40b及び受け部材50の構成図である。
図5に示すように、第2実施形態の絞り部40bは、排熱服5の袖33a(袖33bも同様)の内側の全周に亘って固定された内側生地44を有する。内側生地44は、排熱服5と同様の生地から形成するとよい。 FIG. 5: is a block diagram of thethrottle part 40b and the receiving member 50 in the cuff part 35b of the heat exhaust clothing 5 in 2nd Embodiment of this invention.
As shown in FIG. 5, the narrowedportion 40b of the second embodiment has an inner cloth 44 that is fixed over the entire inner circumference of the sleeve 33a (similarly to the sleeve 33b) of the heat exhaust clothing 5. The inner fabric 44 may be formed of the same fabric as the heat exhaust clothing 5.
図5に示すように、第2実施形態の絞り部40bは、排熱服5の袖33a(袖33bも同様)の内側の全周に亘って固定された内側生地44を有する。内側生地44は、排熱服5と同様の生地から形成するとよい。 FIG. 5: is a block diagram of the
As shown in FIG. 5, the narrowed
内側生地44は、手首部23(受け部材50)を周回する環状に形成されており、その径方向外側が排熱服5の内側に縫製糸などにより固定されている。また、内側生地44の径方向内側には、伸縮可能な輪ゴム45などが織り込まれ、または、縫い付けられており、受け部材50の外周面51に密着している。なお、第2実施形態の受け部材50には、一対の環状突部52(第1の環状突部)の間に、第2の環状突部53が形成されており、絞り部40bに適した幅の溝を形成している。これにより、受け部材50(手首部23)と絞り部40b(排熱服5)との隙間の気密性が確保される。
The inner cloth 44 is formed in an annular shape that circulates around the wrist 23 (receiving member 50), and the radially outer side thereof is fixed to the inner side of the heat exhaust clothing 5 with a sewing thread or the like. Further, a stretchable rubber band 45 or the like is woven or sewn on the inner side in the radial direction of the inner cloth 44, and is in close contact with the outer peripheral surface 51 of the receiving member 50. In addition, in the receiving member 50 of the second embodiment, a second annular protrusion 53 is formed between the pair of annular protrusions 52 (first annular protrusions), which is suitable for the narrowed portion 40b. A groove having a width is formed. This ensures the airtightness of the gap between the receiving member 50 (wrist portion 23) and the narrowed portion 40b (heat exhaust clothing 5).
図6は、本発明の第2実施形態における受け部材50の斜視図である。図7は、図6に示す受け部材50を別方向から視た斜視図である。図8は、図6に示す受け部材50の矢視A-A断面図である。
図6に示すように、第2実施形態の受け部材50には、空気が通過する通気口54が形成されている。通気口54は、有頂筒状に形成された受け部材50の頂壁部50aを、受け部材50の中心軸が延びる軸方向に貫通して複数形成されている。 FIG. 6 is a perspective view of the receivingmember 50 according to the second embodiment of the present invention. FIG. 7 is a perspective view of the receiving member 50 shown in FIG. 6 viewed from another direction. 8 is a sectional view of the receiving member 50 shown in FIG. 6 taken along the line AA.
As shown in FIG. 6, the receivingmember 50 of the second embodiment is formed with a vent hole 54 through which air passes. A plurality of vent holes 54 are formed by penetrating the top wall portion 50a of the receiving member 50 formed in a cylindrical shape with a top in the axial direction in which the central axis of the receiving member 50 extends.
図6に示すように、第2実施形態の受け部材50には、空気が通過する通気口54が形成されている。通気口54は、有頂筒状に形成された受け部材50の頂壁部50aを、受け部材50の中心軸が延びる軸方向に貫通して複数形成されている。 FIG. 6 is a perspective view of the receiving
As shown in FIG. 6, the receiving
通気口54は、略扇形に形成されており、円板状の頂壁部50aの中心軸回りの周方向に、間隔をあけて複数形成されている。複数の通気口54の一つには、後述する操作片61が収まる窪み54aが形成されている。頂壁部50aの通気口54よりも径方向内側には、手首部23に固定するための固定孔55aが、周方向に間隔をあけて複数形成されている。また、頂壁部50aの固定孔55aよりも径方向内側には、手首部23と手部24との間を接続する図示しない配線ないしリンク部材を通すための貫通孔55bが、中央部に一つ形成されている。
The vent holes 54 are formed in a substantially fan shape, and a plurality of vent holes 54 are formed at intervals in the circumferential direction around the central axis of the disc-shaped top wall portion 50a. One of the plurality of vent holes 54 is formed with a recess 54a in which an operation piece 61 described later is accommodated. A plurality of fixing holes 55a for fixing to the wrist portion 23 are formed in the top wall portion 50a radially inward of the vent hole 54 at intervals in the circumferential direction. Further, a through hole 55b for passing a wire or a link member (not shown) that connects the wrist portion 23 and the hand portion 24 is formed in the central portion on the inner side in the radial direction of the fixing hole 55a of the top wall portion 50a. Is formed.
図7に示すように、頂壁部50aの周縁部から垂設された受け部材50の周壁部50bの内側には、径方向内側に突出する複数の係合突部57が、周方向に間隔をあけて複数形成されている。係合突部57は、図8に示すように、周壁部50bの開口端から頂壁部50aの裏側の手前まで直線状に延在している。また、頂壁部50aの裏側には、周壁部50bの垂設方向に突設された環状ボス部56が形成されている。環状ボス部56には、上述の固定孔55a及び貫通孔55bが形成されている。すなわち、環状ボス部56は、上述の通気口54よりも径方向内側に配置されている。
As shown in FIG. 7, a plurality of engagement protrusions 57 projecting radially inward are provided inside the peripheral wall portion 50b of the receiving member 50 suspended from the peripheral edge portion of the top wall portion 50a. And a plurality of them are formed. As shown in FIG. 8, the engagement protrusion 57 extends linearly from the open end of the peripheral wall portion 50b to the front side on the back side of the top wall portion 50a. An annular boss portion 56 is formed on the back side of the top wall portion 50a so as to project in the vertical direction of the peripheral wall portion 50b. The fixing hole 55a and the through hole 55b described above are formed in the annular boss portion 56. That is, the annular boss portion 56 is arranged radially inward of the above-described vent hole 54.
このような受け部材50の内側には、通気口54の開口面積の大きさを調整する流量調整部材60が、受け部材50の中心軸回りに回転可能に係合している。流量調整部材60は、図7に示すように、中央部に環状ボス部56を通す挿通孔62が形成された円板部材であって、挿通孔62よりも径方向外側に複数の通気口63を備えている。流量調整部材60の通気口63(第2の通気口)は、受け部材50の通気口54(第1の通気口)と、数、形状、及び配置が同じになるように形成されている。
A flow rate adjusting member 60 that adjusts the size of the opening area of the vent hole 54 is rotatably engaged with the inside of the receiving member 50 around the central axis of the receiving member 50. As shown in FIG. 7, the flow rate adjusting member 60 is a disc member having an insertion hole 62 through which the annular boss portion 56 is inserted in the central portion thereof, and a plurality of ventilation holes 63 are arranged radially outside the insertion hole 62. Is equipped with. The ventilation holes 63 (second ventilation holes) of the flow rate adjusting member 60 are formed to have the same number, shape, and arrangement as the ventilation holes 54 (first ventilation hole) of the receiving member 50.
流量調整部材60の外周面には、図8に示すように、径方向外側に突出する係合片64が形成されている。係合片64は、受け部材50の頂壁部50aと係合突部57との隙間(アンダーカット部)に挿入されている。この係合片64は、図7に示す周方向で隣り合う係合突部57のそれぞれの隙間に挿入可能な大きさで、複数形成されている。
As shown in FIG. 8, an engagement piece 64 protruding outward in the radial direction is formed on the outer peripheral surface of the flow rate adjusting member 60. The engagement piece 64 is inserted in a gap (undercut portion) between the top wall portion 50 a of the receiving member 50 and the engagement protrusion 57. A plurality of the engaging pieces 64 are formed in such a size that they can be inserted into the respective gaps of the engaging protrusions 57 that are adjacent to each other in the circumferential direction shown in FIG. 7.
図6に示すように、流量調整部材60には、受け部材50の頂壁部50aの表側から操作可能な操作片61が取り付けられている。操作片61は、溝54aが形成された通気口54を挿通して配置されている。操作片61が通気口54の開口縁に当接することで、受け部材50に対する流量調整部材60の周方向における回転角度がある範囲に制限される。この範囲では、係合片64の少なくとも一部が、受け部材50の係合突部57と軸方向において係合する。これにより、受け部材50に対する流量調整部材60の落下が防止される。なお、操作片61のシャフト部にネジなどを切って、流量調整部材60に対して着脱可能とするとよい。これにより、流量調整部材60の回転角度制限を容易に解除でき、流量調整部材60の受け部材50からの分解が容易になる。
As shown in FIG. 6, an operation piece 61 that can be operated from the front side of the top wall portion 50 a of the receiving member 50 is attached to the flow rate adjusting member 60. The operation piece 61 is arranged so as to pass through the ventilation port 54 in which the groove 54a is formed. When the operation piece 61 comes into contact with the opening edge of the vent hole 54, the rotation angle of the flow rate adjusting member 60 with respect to the receiving member 50 in the circumferential direction is limited to a certain range. In this range, at least a part of the engagement piece 64 engages with the engagement protrusion 57 of the receiving member 50 in the axial direction. This prevents the flow rate adjusting member 60 from falling onto the receiving member 50. In addition, it is preferable that the shaft portion of the operation piece 61 is provided with a screw or the like so as to be attachable to and detachable from the flow rate adjusting member 60. Thereby, the rotation angle restriction of the flow rate adjusting member 60 can be easily released, and the flow rate adjusting member 60 can be easily disassembled from the receiving member 50.
上記構成の第2実施形態によれば、操作片61を操作することで、受け部材50の通気口54と、流量調整部材60の通気口63とが重なる面積を増減させ、受け部材50を通過する空気の流量を調整することができる。これにより、排熱服5の内側の正圧状態をコントロールすることが可能となる。例えば、送風機6の吸気能力(風量)が低い場合は、通気口54の開口面積を小さくすることで、排熱服5の内側の風圧を高め、人型ロボット1の全身を効果的に空冷することが可能となる。また、送風機6の吸気能力(風量)が高い場合は、通気口54の開口面積を大きくすることで、排熱服5の内側の空気の入れ替えを促進させることができる。
According to the second embodiment having the above-described configuration, by operating the operation piece 61, the area where the vent hole 54 of the receiving member 50 and the vent hole 63 of the flow rate adjusting member 60 overlap is increased or decreased, and the passing member 50 is passed. The flow rate of the air to be used can be adjusted. This makes it possible to control the positive pressure state inside the exhaust heat suit 5. For example, when the air intake capacity (air volume) of the blower 6 is low, the opening area of the vent hole 54 is reduced to increase the wind pressure inside the heat exhaust clothing 5 and effectively cool the entire humanoid robot 1 by air. It becomes possible. Further, when the intake capacity (air volume) of the blower 6 is high, it is possible to promote the replacement of the air inside the exhaust heat suit 5 by increasing the opening area of the ventilation port 54.
また、第2実施形態では、図5に示すように、袖口部35bの内側に、絞り部40bが設けられている。この構成によれば、袖口部35bの内側に絞り部40bを設けて2重化することで、排熱服5のデザイン(意匠性)を崩すことなく空気漏れを抑制することができる。これにより、サービスロボットに適した人型ロボット1の外観が得られる。
なお、上述した第2実施形態の受け部材50及び流量調整部材60は、図9に示すような形態で、人型ロボット1に設けてもよい。 Further, in the second embodiment, as shown in FIG. 5, the narrowedportion 40b is provided inside the cuff portion 35b. According to this configuration, the throttle portion 40b is provided inside the cuff portion 35b and is doubled, so that air leakage can be suppressed without deteriorating the design (design) of the heat exhaust clothing 5. Thereby, the appearance of the humanoid robot 1 suitable for the service robot can be obtained.
The receivingmember 50 and the flow rate adjusting member 60 of the second embodiment described above may be provided in the humanoid robot 1 in a form as shown in FIG. 9.
なお、上述した第2実施形態の受け部材50及び流量調整部材60は、図9に示すような形態で、人型ロボット1に設けてもよい。 Further, in the second embodiment, as shown in FIG. 5, the narrowed
The receiving
図9は、本発明の第2実施形態における受け部材50及び流量調整部材60の適用例を示す人型ロボット1の正面図である。
図9に示す人型ロボット1は、上述した第2実施形態の受け部材50及び流量調整部材60を、腕部11の肘や肩の近傍に備えている。また、これら受け部材50及び流量調整部材60で仕切られた空間から、空気を排出可能とする線ファスナー34(排気口36)が、排熱服5の袖33a,33b及び前身頃30(後身頃31a,31bにあってもよい)に設けられている。 FIG. 9 is a front view of thehumanoid robot 1 showing an application example of the receiving member 50 and the flow rate adjusting member 60 according to the second embodiment of the present invention.
Thehumanoid robot 1 shown in FIG. 9 includes the receiving member 50 and the flow rate adjusting member 60 of the second embodiment described above near the elbows and shoulders of the arm 11. In addition, the line fastener 34 (exhaust port 36) that allows air to be discharged from the space partitioned by the receiving member 50 and the flow rate adjusting member 60 includes the sleeves 33a and 33b of the heat exhausting clothing 5 and the front body 30 (rear body. 31a, 31b).
図9に示す人型ロボット1は、上述した第2実施形態の受け部材50及び流量調整部材60を、腕部11の肘や肩の近傍に備えている。また、これら受け部材50及び流量調整部材60で仕切られた空間から、空気を排出可能とする線ファスナー34(排気口36)が、排熱服5の袖33a,33b及び前身頃30(後身頃31a,31bにあってもよい)に設けられている。 FIG. 9 is a front view of the
The
図9に示す構成によれば、各流量調整部材60を操作することによって、排熱服5の内側で特に発熱がみられる部分に重点的に空気を流し、空冷を進めることができる。例えば、胴体部10の駆動ユニット19(図3参照)に特に発熱がみられる場合には、前身頃30の線ファスナー34を開け、肩近傍の流量調整部材60を操作し、受け部材50の通気口54の開口面積を小さくすることで、胴体部10に重点的に空気を流すことができる。また、上腕部21(図3参照)の図示しない駆動ユニットに特に発熱がみられる場合には、袖33a,33bの線ファスナー34を開け、肘近傍の流量調整部材60を操作し、受け部材50の通気口54の開口面積を小さくすることで、上腕部21に重点的に空気を流すことができる。なお、第2実施形態の受け部材50及び流量調整部材60は、人型ロボット1の全身の発熱部に対応して、さらに複数個所に設けても構わない。
According to the configuration shown in FIG. 9, by operating each of the flow rate adjusting members 60, air can be focused on the portion inside the exhaust heat suit 5 where heat is particularly generated, and air cooling can be advanced. For example, when heat is particularly generated in the drive unit 19 (see FIG. 3) of the body portion 10, the line fastener 34 of the front body 30 is opened, the flow rate adjusting member 60 near the shoulder is operated, and the ventilation of the receiving member 50 is performed. By reducing the opening area of the mouth 54, the air can be focused on the body portion 10. When heat is particularly generated in the drive unit (not shown) of the upper arm 21 (see FIG. 3), the linear fasteners 34 of the sleeves 33a and 33b are opened, the flow rate adjusting member 60 near the elbow is operated, and the receiving member 50 is operated. By reducing the opening area of the vent hole 54, the air can be focused on the upper arm portion 21. In addition, the receiving member 50 and the flow rate adjusting member 60 of the second embodiment may be provided at a plurality of locations corresponding to the heat generating portion of the whole body of the humanoid robot 1.
(第3実施形態)
次に、本発明の第3実施形態について説明する。以下の説明において、上述の実施形態と同一又は同等の構成については同一の符号を付し、その説明を簡略若しくは省略する。 (Third Embodiment)
Next, a third embodiment of the present invention will be described. In the following description, the same or equivalent configurations as those of the above-described embodiment are designated by the same reference numerals, and the description thereof will be simplified or omitted.
次に、本発明の第3実施形態について説明する。以下の説明において、上述の実施形態と同一又は同等の構成については同一の符号を付し、その説明を簡略若しくは省略する。 (Third Embodiment)
Next, a third embodiment of the present invention will be described. In the following description, the same or equivalent configurations as those of the above-described embodiment are designated by the same reference numerals, and the description thereof will be simplified or omitted.
図10は、本発明の第3実施形態における排熱服5を着衣した人型ロボット1の正面図である。図11は、図10に示す人型ロボット1の背面図である。図12は、本発明の第3実施形態における人型ロボット1の手首部23の断面図である。
図10に示すように、第3実施形態では、人型ロボット1の手首部23から、外部の空気を送風流路101に取り込む吸気口70が設けられている。 FIG. 10 is a front view of thehumanoid robot 1 wearing the heat removal suit 5 according to the third embodiment of the present invention. FIG. 11 is a rear view of the humanoid robot 1 shown in FIG. FIG. 12 is a sectional view of the wrist 23 of the humanoid robot 1 according to the third embodiment of the present invention.
As shown in FIG. 10, in the third embodiment, anintake port 70 for taking in external air from the wrist 23 of the humanoid robot 1 to the air flow passage 101 is provided.
図10に示すように、第3実施形態では、人型ロボット1の手首部23から、外部の空気を送風流路101に取り込む吸気口70が設けられている。 FIG. 10 is a front view of the
As shown in FIG. 10, in the third embodiment, an
第3実施形態の排熱服5には、人型ロボット1の首部13を通す衿口部35aに、送風流路101と連通する排気口36が設けられている。すなわち、衿口部35aには上述した絞り部40aがなく、また、首部13には上述した受け部材50がない。このように、第3実施形態では、衿口部35aを除く、少なくともいずれか一つの開口部35(袖口部35b、裾口部35c)の内側に、絞り部40が設けられている。
In the exhaust heat suit 5 of the third embodiment, an exhaust port 36 communicating with the air flow passage 101 is provided in a collar portion 35a through which the neck 13 of the humanoid robot 1 passes. That is, the collar portion 35a does not have the above-described throttle portion 40a, and the neck portion 13 does not have the above-mentioned receiving member 50. As described above, in the third embodiment, the narrowed portion 40 is provided inside at least one of the openings 35 (the cuff portion 35b and the hem mouth portion 35c) excluding the collar portion 35a.
また、図11に示すように、人型ロボット1の背面には送風機6はなく、送風機6は人型ロボット1の手首部23に設けられている。このように、第3実施形態では、人型ロボット1の手首部23から吸気を行い、人型ロボット1の首部13から排気を行う構成となっている。なお、第3実施形態の人型ロボット1には、排熱服5によって覆われるロゴなどを外部に表示するための前掛プレート7が取り付けられている。
Further, as shown in FIG. 11, the blower 6 is not provided on the back surface of the humanoid robot 1, and the blower 6 is provided on the wrist portion 23 of the humanoid robot 1. As described above, in the third embodiment, the wrist 23 of the humanoid robot 1 inhales air and the neck 13 of the humanoid robot 1 exhausts air. The humanoid robot 1 of the third embodiment is provided with a front hanging plate 7 for displaying a logo or the like covered by the heat exhaust clothing 5 on the outside.
図10に示すように、第3実施形態の排熱服5は、袖33a,33bが下腕部22まで延びる七分袖となっており、下腕部22から手首部23、手部24までが排熱手袋80によって覆われている。排熱手袋80には、吸気口70が形成されている。袖口部35bには、絞り部40bが設けられ、絞り部40bは下腕部22の外郭と全周に亘って当接している。
As shown in FIG. 10, the exhaust heat suit 5 of the third embodiment is a three-quarter sleeve in which the sleeves 33a and 33b extend to the lower arm portion 22, and from the lower arm portion 22 to the wrist portion 23 and the hand portion 24. Are covered by the exhaust heat gloves 80. An intake port 70 is formed in the heat exhaust gloves 80. A narrowed portion 40b is provided on the cuff portion 35b, and the narrowed portion 40b is in contact with the outer contour of the lower arm portion 22 over the entire circumference.
排熱手袋80は、グローブ部81と、リストカバー部82と、アームカバー部83と、を有する。グローブ部81は、手部24を覆っている。グローブ部81には、例えば、人型ロボット1が物を掴んで作業をする場合には、可動部に伸縮性の良い材料や、指先に滑り止めのシリコン材料などを使用してもよい。なお、グローブ部81は、基本的には、上述した送風流路101を形成しないので、排熱服5のような通気性を有していなくてもよい。
The heat removal gloves 80 have a glove portion 81, a wrist cover portion 82, and an arm cover portion 83. The glove portion 81 covers the hand portion 24. For the glove portion 81, for example, when the humanoid robot 1 grasps an object for work, a material having good elasticity for the movable portion or a non-slip silicone material for the fingertip may be used. Since the glove portion 81 does not basically form the above-mentioned air flow passage 101, it does not have to have the air permeability like the heat exhaust suit 5.
リストカバー部82は、手首部23を覆っている。リストカバー部82は、通気性が高いメッシュ状の生地から形成されており、そのメッシュ目が吸気口70を形成している。手首部23は、図12に示すように、手首本体23aと、手首本体23aを囲う筒状ないしコの字状のリストカバー23bと、を有する。排熱手袋80のリストカバー部82は、少なくとも手部24とリストカバー23bとの隙間を覆っている。
The wrist cover part 82 covers the wrist part 23. The wrist cover portion 82 is made of a highly breathable mesh-like cloth, and the mesh of the wrist cover portion 82 forms the intake port 70. As shown in FIG. 12, the wrist portion 23 has a wrist body 23a and a cylindrical or U-shaped wrist cover 23b surrounding the wrist body 23a. The wrist cover portion 82 of the heat exhaust gloves 80 covers at least the gap between the hand portion 24 and the wrist cover 23b.
リストカバー23bの内側には、上述した内部通気流路100が形成されている。手首部23における内部通気流路100には、送風機6が設けられている。送風機6としては、軸方向の上下面に吸引口6aを有し、半径方向の側面に吐出口6bを有するブロアファンを使用するとよい。ブロアファンは、軸流ファンよりも風圧が高く指向性が高いため、胴体部10よりも流路が比較的狭くなる腕部11を効率よく冷却することができる。
The above-mentioned internal ventilation channel 100 is formed inside the wrist cover 23b. The blower 6 is provided in the internal ventilation passage 100 in the wrist portion 23. As the blower 6, it is preferable to use a blower fan having the suction port 6a on the upper and lower surfaces in the axial direction and the discharge port 6b on the side surface in the radial direction. Since the blower fan has higher wind pressure and higher directivity than the axial fan, it is possible to efficiently cool the arm portion 11 in which the flow passage is relatively narrower than the body portion 10.
図10に戻り、アームカバー部83は、下腕部22を覆っている。アームカバー部83は、下腕部22を通す腕通し口に絞り部40dを有している。絞り部40dは、上述した面ファスナーなどから形成され、下腕部22の外郭と全周に亘って当接している。アームカバー部83は、吸気口70から取り込んだ空気の漏れを防止するために、排熱服5と同等の生地から形成するとよい。
Returning to FIG. 10, the arm cover portion 83 covers the lower arm portion 22. The arm cover portion 83 has a narrowed portion 40d at an arm opening through which the lower arm portion 22 passes. The narrowed portion 40d is formed of the above-described surface fastener or the like, and is in contact with the outer contour of the lower arm portion 22 over the entire circumference. The arm cover portion 83 may be formed of the same material as that of the heat exhaust suit 5 in order to prevent the air taken in from the intake port 70 from leaking.
上記構成の第3実施形態によれば、送風機6を駆動させると、人型ロボット1の手首部23(排熱手袋80の吸気口70)から外部の空気が内部に取り込まれる。取り込まれた空気は、図12に示すように、手首部23の内部通気流路100に設けられた送風機6に吸い込まれ、下腕部22(詳しくは下腕部22の内部通気流路100)に向かって吐出される。下腕部22の内部通気流路100を通った空気は、上述した送風流路101に流れ込み、人型ロボット1の上腕部21から肩部、そして胴体部10を冷却し、首部13を通す排熱服5の衿口部35a(排気口36)から排気される。
According to the third embodiment having the above configuration, when the blower 6 is driven, the outside air is taken into the inside from the wrist 23 of the humanoid robot 1 (the intake port 70 of the heat removal gloves 80). As shown in FIG. 12, the taken-in air is sucked into the blower 6 provided in the internal ventilation passage 100 of the wrist portion 23, and the lower arm portion 22 (specifically, the internal ventilation passage 100 of the lower arm portion 22). Is discharged toward. The air that has passed through the internal ventilation passage 100 of the lower arm portion 22 flows into the above-described air passage passage 101, cools the upper arm portion 21 of the humanoid robot 1 from the shoulder portion, and the body portion 10, and passes through the neck portion 13. The heat is exhausted from the collar portion 35a (exhaust port 36) of the thermal clothing 5.
このように、上述した第3実施形態では、人型ロボット1の手首部23から、外部の空気を送風流路101に取り込む吸気口70が設けられているため、可動部が多く発熱が激しい腕部11を重点的に冷却することができる。また、排気が、腕部11ではなく胴体部10側になるので、手部24などに把持した物に排気がかからない。このため、例えば、人型ロボット1がレストラン等で給仕を行う場合であっても衛生的に使用できる。
As described above, in the above-described third embodiment, since the intake port 70 that takes in external air from the wrist 23 of the humanoid robot 1 into the air flow passage 101 is provided, the arm that has many movable parts and generates a lot of heat. The part 11 can be cooled intensively. Further, since the exhaust air is directed to the body portion 10 side rather than the arm portion 11, the object gripped by the hand portion 24 or the like is not exhausted. Therefore, for example, the humanoid robot 1 can be used hygienically even when serving in a restaurant or the like.
また、第3実施形態では、人型ロボット1の手首部23に、送風機6が設けられているため、胴体部10よりも流路が比較的狭くなる腕部11を効率よく冷却することができる。さらに、送風機6としては、軸流ファンよりも風圧が高く指向性が高いブロアファンを使用するとよい。
Further, in the third embodiment, since the blower 6 is provided on the wrist 23 of the humanoid robot 1, it is possible to efficiently cool the arm 11 whose flow path is relatively narrower than that of the body 10. . Further, as the blower 6, it is preferable to use a blower fan having a higher wind pressure and a higher directivity than the axial fan.
また、第3実施形態では、排熱服5には、人型ロボット1の首部13を通す開口部35として、衿口部35aが形成されており、衿口部35aに、送風流路101と連通する排気口36が設けられているため、煙突効果が得られ、腕部11及び胴体部10を冷却して熱を得て軽くなった空気を首部13から効率よく排気することができる。なお、煙突効果は得られないが、裾口部35cに排気口36を設け、胴体部10の下部から排気を行う構成であっても構わない。
Further, in the third embodiment, a collar portion 35a is formed in the heat exhaust clothing 5 as an opening portion 35 through which the neck portion 13 of the humanoid robot 1 passes, and the collar portion 35a is provided with an air flow passage 101. Since the exhaust port 36 that communicates is provided, the chimney effect is obtained, and the air cooled by the arm 11 and the body 10 to obtain heat and become lighter can be efficiently exhausted from the neck 13. Although the chimney effect cannot be obtained, the exhaust port 36 may be provided in the hem opening portion 35c to exhaust the air from the lower portion of the body portion 10.
以上、図面を参照しながら本発明の好適な実施形態について説明したが、本発明は上記実施形態に限定されるものではない。上述した実施形態において示した各構成部材の諸形状や組み合わせ等は一例であって、本発明の主旨から逸脱しない範囲において設計要求等に基づき種々変更可能である。
The preferred embodiments of the present invention have been described above with reference to the drawings, but the present invention is not limited to the above embodiments. The shapes, combinations, and the like of the constituent members shown in the above-described embodiments are examples, and various modifications can be made based on design requirements and the like without departing from the spirit of the present invention.
例えば、上記実施形態では、排熱服5の裾口部35cの内側に絞り部40cを設け(第1実施形態)、また、排熱服5の袖口部35bの内側に絞り部40bを設けた(第2実施形態)が、例えば、排熱服5の衿口部35aの内側にも、同じように絞り部40aを設けてもよい。
For example, in the above embodiment, the throttle portion 40c is provided inside the hem mouth portion 35c of the heat exhaust clothing 5 (first embodiment), and the throttle portion 40b is provided inside the cuff portion 35b of the heat exhaust clothing 5. In the second embodiment, for example, the throttle portion 40a may be similarly provided inside the collar portion 35a of the heat exhausting clothing 5.
また、例えば、上記実施形態では、人型ロボット1の下半身がリフター3及び移動台車4で構成された形態を例示したが、人型ロボット1の下半身として二足の脚部(肢体部)を有する形態であっても構わない。この場合、排熱服5は、上衣と下衣が一体のオーバーオール(つなぎ)とするとよい。この場合、二足の脚部を通す裾口部に、排気口36が形成されていてもよい。
Further, for example, in the above-described embodiment, the lower body of the humanoid robot 1 is exemplified by the lifter 3 and the moving carriage 4, but the lower body of the humanoid robot 1 has two legs (limbs). It may be in the form. In this case, the heat exhaust clothing 5 may be an overall (joint) in which the upper and lower garments are integrated. In this case, the exhaust port 36 may be formed at the hem opening through which the legs of the two legs pass.
また、例えば、上記第2実施形態では、流量調整部材60がスライド式の形態を例示したが、受け部材50の通気口54の開口面積の大きさを調整できれば、その形式は特に限定されない。
Further, for example, in the second embodiment, the flow rate adjusting member 60 is exemplified as a slide type, but the form thereof is not particularly limited as long as the size of the opening area of the ventilation port 54 of the receiving member 50 can be adjusted.
また、例えば、上記第2実施形態では、図5に示す絞り部40bの内側生地44を、排熱服5と同様の生地から形成した形態を例示したが、例えば、内側生地44を、通気性が高いメッシュ状の生地から形成し、受け部材50の周囲からも所定量の空気が通過できるようにしてもよい。
Further, for example, in the second embodiment, the inner cloth 44 of the narrowed portion 40b shown in FIG. 5 is formed of the same cloth as the heat exhaust clothing 5, but for example, the inner cloth 44 is breathable. It may be formed from a mesh-shaped material having a high air permeability so that a predetermined amount of air can pass from the periphery of the receiving member 50.
また、例えば、上記第3実施形態では、衿口部35aに排気口36を設けたが、排熱服5の脇下など他の場所に排気口36を設けても構わない。また、排気口36の近傍(例えば、衿口部35a近傍の人型ロボット1の肩部)に、排気を補助する補助送風機を設けても構わない。
Further, for example, in the third embodiment, the exhaust port 36 is provided in the collar portion 35a, but the exhaust port 36 may be provided in another place such as under the armor of the heat exhausting clothing 5. In addition, an auxiliary blower for assisting exhaust may be provided near the exhaust port 36 (for example, the shoulder of the humanoid robot 1 near the collar 35a).
また、例えば、上記第3実施形態では、排熱服5の袖33a,33bが下腕部22まで延びる七分袖となっており、下腕部22から手首部23、手部24までが排熱手袋80によって覆われている形態を例示したが、排熱服5の袖33a,33bの下端が下腕部22の下端近傍に面ファスナー等の絞り部40によって固定され、排熱手袋80のアームカバー部83の上端が手首部23の上端近傍に面ファスナー等の絞り部40によって固定されていてもよい。すなわち、下腕部22と手首部23との継ぎ目を、排熱手袋80乃至排熱服5で覆わなくてもよい。なお、この場合でも、手首部23の内部通気流路100は、下腕部22の内部通気流路100を介して胴体部10側の送風流路101と連通している。
この構成によれば、手首部23が下腕部22に対して、人間以上に手首回転する場合であっても、下腕部22と手首部23との継ぎ目部分において、排熱手袋80乃至排熱服5のねじれや、それによる送風流路101の閉塞の懸念が解消される。また、人型ロボット1への排熱服5の着衣、排熱手袋80の装着が容易になる。 In addition, for example, in the third embodiment, the sleeves 33a and 33b of the heat removal clothing 5 are three-quarter sleeves that extend to the lower arm portion 22, and the lower arm portion 22 to the wrist portion 23 and the hand portion 24 are discharged. Although the form covered with the thermal gloves 80 has been illustrated, the lower ends of the sleeves 33 a and 33 b of the thermal exhaust clothing 5 are fixed near the lower ends of the lower arm portions 22 by the squeezing section 40 such as a surface fastener, and The upper end of the arm cover part 83 may be fixed to the vicinity of the upper end of the wrist part 23 by a diaphragm part 40 such as a surface fastener. That is, the joint between the lower arm portion 22 and the wrist portion 23 does not have to be covered with the heat removal gloves 80 to the heat removal clothing 5. Even in this case, the internal ventilation channel 100 of the wrist 23 is in communication with the ventilation channel 101 of the body section 10 via the internal ventilation channel 100 of the lower arm 22.
According to this configuration, even when thewrist portion 23 rotates the wrist with respect to the lower arm portion 22 more than a human being, at the joint portion between the lower arm portion 22 and the wrist portion 23, the heat removal gloves 80 or The concern about the twist of the heat suit 5 and the blockage of the air flow passage 101 due to the twist is eliminated. Further, it becomes easy to wear the exhaust heat suit 5 and the exhaust heat gloves 80 on the humanoid robot 1.
この構成によれば、手首部23が下腕部22に対して、人間以上に手首回転する場合であっても、下腕部22と手首部23との継ぎ目部分において、排熱手袋80乃至排熱服5のねじれや、それによる送風流路101の閉塞の懸念が解消される。また、人型ロボット1への排熱服5の着衣、排熱手袋80の装着が容易になる。 In addition, for example, in the third embodiment, the
According to this configuration, even when the
上記した人型ロボットによれば、人型ロボットの全身を効果的に冷却することができる。
According to the humanoid robot described above, it is possible to effectively cool the whole body of the humanoid robot.
1 人型ロボット
5 排熱服
6 送風機
10 胴体部
11 腕部(肢体部)
13 首部
14 腰部
35 開口部
35a 衿口部
35b 袖口部
35b1 スリット
35c 裾口部
36 排気口
40 絞り部
40a 絞り部
40b 絞り部
40c 絞り部
50 受け部材
54 通気口
60 流量調整部材
61 操作片
63 通気口
64 係合片
100 内部通気流路
101 送風流路 1Humanoid Robot 5 Exhaust Heat Clothes 6 Blower 10 Body 11 Arm (limb)
13Neck part 14 Lumbar part 35 Opening part 35a Collar part 35b Cuff part 35b1 Slit 35c Hem mouth part 36 Exhaust port 40 Throttling part 40a Throttling part 40b Throttling part 40c Throttling part 50 Receiving member 54 Venting opening 60 Flow rate adjusting member 61 Operation piece 63 Ventilation Mouth 64 Engagement piece 100 Internal ventilation flow path 101 Blower flow path
5 排熱服
6 送風機
10 胴体部
11 腕部(肢体部)
13 首部
14 腰部
35 開口部
35a 衿口部
35b 袖口部
35b1 スリット
35c 裾口部
36 排気口
40 絞り部
40a 絞り部
40b 絞り部
40c 絞り部
50 受け部材
54 通気口
60 流量調整部材
61 操作片
63 通気口
64 係合片
100 内部通気流路
101 送風流路 1
13
Claims (10)
- 人型ロボットを覆う排熱服と、
前記人型ロボットまたは前記排熱服に設けられ、外部の空気を内部に送り込む送風機と、を備え、
前記排熱服と前記人型ロボットの外郭との間に、送風流路を設けた
人型ロボット。 Exhaust clothes that cover the humanoid robot,
The humanoid robot or the heat exhaust suit is provided with a blower for sending outside air into the inside,
A humanoid robot in which a ventilation passage is provided between the heat exhaust suit and the outer shell of the humanoid robot. - 前記排熱服は、内部を正圧状態にし、前記送風流路を形成する絞り部を備える
請求項1に記載の人型ロボット。 The humanoid robot according to claim 1, wherein the exhaust heat suit has a throttle portion that forms a positive pressure state inside and forms the air flow passage. - 前記人型ロボットは、前記排熱服に設けられた前記絞り部と当接する受け部材を備える
請求項2に記載の人型ロボット。 The humanoid robot according to claim 2, wherein the humanoid robot includes a receiving member that comes into contact with the narrowed portion provided on the heat exhaust suit. - 前記受け部材には、空気が通過する通気口が形成され、
前記人型ロボットは、前記受け部材の通気口の開口面積を調整する流量調整部材を備える
請求項3に記載の人型ロボット。 The receiving member is formed with a vent hole through which air passes,
The humanoid robot according to claim 3, wherein the humanoid robot includes a flow rate adjusting member that adjusts an opening area of a vent hole of the receiving member. - 前記排熱服には、前記人型ロボットの首部、腰部、及び肢体部を通す開口部が形成されており、
少なくともいずれか一つの前記開口部の内側に、前記絞り部が設けられている
請求項2~4のいずれか一項に記載の人型ロボット。 The heat exhaust suit has an opening through which the neck, waist, and limbs of the humanoid robot are formed,
The humanoid robot according to any one of claims 2 to 4, wherein the diaphragm unit is provided inside at least one of the openings. - 前記排熱服には、前記人型ロボットの肢体部を通す開口部として、袖口部または裾口部が形成されており、
前記袖口部または前記裾口部に、前記送風流路と連通する排気口が設けられている
請求項1に記載の人型ロボット。 In the heat exhaust clothing, a cuff portion or a hem mouth portion is formed as an opening through which the limb of the humanoid robot passes.
The humanoid robot according to claim 1, wherein an exhaust port communicating with the air flow passage is provided at the cuff portion or the hem portion. - 前記人型ロボットの手首部から、外部の空気を前記送風流路に取り込む吸気口が設けられている
請求項1に記載の人型ロボット。 The humanoid robot according to claim 1, further comprising an intake port that takes in outside air into the air flow passage from a wrist portion of the humanoid robot. - 前記人型ロボットの手首部に、前記送風機が設けられている
請求項7に記載の人型ロボット。 The humanoid robot according to claim 7, wherein the blower is provided on a wrist of the humanoid robot. - 前記排熱服には、前記人型ロボットの首部を通す開口部として、衿口部が形成されており、
前記衿口部に、前記送風流路と連通する排気口が設けられている
請求項7または8に記載の人型ロボット。 In the heat exhaust clothing, a neck portion is formed as an opening through which the neck of the humanoid robot passes.
9. The humanoid robot according to claim 7, wherein the collar portion is provided with an exhaust port that communicates with the air flow passage. - 前記人型ロボットの内郭に、前記送風流路と連通する内部通気流路が形成されている
請求項1に記載の人型ロボット。
The humanoid robot according to claim 1, wherein an internal ventilation channel communicating with the air flow channel is formed inside the humanoid robot.
Priority Applications (3)
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US17/282,045 US20210360989A1 (en) | 2018-10-16 | 2019-10-15 | Humanoid robot |
CN201980060255.8A CN112703095B (en) | 2018-10-16 | 2019-10-15 | Human robot |
EP19872830.5A EP3868525A4 (en) | 2018-10-16 | 2019-10-15 | Humanoid robot |
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JP2018195397 | 2018-10-16 | ||
JP2019-184137 | 2019-10-04 | ||
JP2019184137A JP7355589B2 (en) | 2018-10-16 | 2019-10-04 | humanoid robot |
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