JP2004286205A - Torque limiter device, component holding device, articulating device and robot device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide firstly a simple and small torque limiter device, secondly a component holding device for effectively and surely preventing the breakage of a component, and thirdly an articulating device and a robot device for improving safety. <P>SOLUTION: The torque limiter device comprises a gear rotatably arranged on a first link and a gripping means arranged on a second link for gripping a polygonal protruded portion formed on one face of the gear with predetermined gripping force. The component holding device comprises an energizing means for energizing a component to be pressed against a second member out of first and second members arranged with a component holding means therebetween. The articulating device comprises a shutter mechanism provided inside a cover to cover a gap of the cover produced with the displacement of the first or second link. The robot device comprises a contact detecting means arranged in an area held between the first and second links. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a robot device, and is suitably applied to, for example, a humanoid entertainment robot.
[0002]
[Prior art]
In recent years, a humanoid entertainment robot has been researched and developed by the present applicant.
[0003]
In such an entertainment robot, various external sensors such as a CCD (Charge Coupled Device) camera, a microphone, and a touch sensor, and various internal sensors such as a temperature sensor and an acceleration sensor are mounted, and based on the sensor outputs of these external sensors and the internal sensors. It recognizes external and internal states, and can act autonomously based on the recognition result.
[0004]
[Problems to be solved by the invention]
By the way, as a torque limiter mechanism used for a conventional robot, there are various types such as a mechanism for holding down a rotating shaft using a leaf spring and a mechanism for holding down a rotating shaft by insert molding to generate a torque (for example, JP-A-2001-2001). No. 3951).
[0005]
However, since the mechanism is complicated and the manufacturing is complicated and expensive in each case, adopting such a conventional torque limiter mechanism for all the joints of a robot having a large number of joints makes the configuration of the robot itself complicated. There has been a problem that the size and size of the robot are increased and the manufacturing cost of the robot is increased.
[0006]
On the other hand, some conventional robots are equipped with a pair of CCD cameras and can measure a distance to an object by a so-called stereo distance measuring method based on image signals output from these CCD cameras. is there.
[0007]
In such a conventional robot, such a pair of CCD cameras are completely fixed to predetermined positions in the robot using screws or the like, and respond to external impacts by the rigidity of the CCD camera components. I was
[0008]
For this reason, in such a conventional robot, when the rigidity of the parts of the CCD camera is low when the robot falls or falls, there is a problem that the plastic deformation or destruction occurs in the CCD camera.
[0009]
On the other hand, in a conventional robot, many joints are provided in order to be able to express more delicate motion. In such a joint portion, the user may erroneously pinch a finger. For example, a robot using an actuator having a large torque may cause an injury.
[0010]
Therefore, in a robot using an actuator having a particularly large torque as a drive source for a joint, some kind of safety measure is required to prevent such an injury to the user.
[0011]
The present invention has been made in consideration of the above points, and firstly, a torque limiter device capable of simplifying and miniaturizing the configuration, and secondly, a constant state while effectively and reliably preventing breakage of parts. A third object of the present invention is to propose a component holding device that can be held, and thirdly, a joint device and a robot device that can improve safety.
[0012]
[Means for Solving the Problems]
In order to solve this problem, in the present invention, in a torque limiter device, a first link and a second link that are flexibly connected to each other, and a polygonal prism protruding portion that is rotatably disposed on the first link and that is provided on one surface. And a pinching means disposed on the second link for pinching the projection of the gear with a predetermined pinching force.
[0013]
As a result, this torque limiter device can be configured simply and compactly as a whole.
[0014]
Further, in the present invention, in the component holding device, holding means for holding the component, first and second members arranged so as to sandwich the holding means, and holding means arranged between the first member and the holding means, And an urging means for urging the means so as to press the second member against the second member.
[0015]
As a result, the component holding device can always keep the component in a constant state while effectively preventing external impact from being directly applied to the component.
[0016]
Further, according to the present invention, in the joint device, a joint mechanism that flexibly connects the first and second links, a cover disposed so as to cover the joint mechanism, and a joint that responds to displacement of the first or second link. And a shutter mechanism provided inside the cover so as to cover the resulting gap between the covers.
[0017]
As a result, in this joint device, it is possible to effectively and reliably prevent a foreign substance such as a user's finger from entering the inside of the cover through the gap of the cover.
[0018]
Further, according to the present invention, in the robot apparatus, a joint mechanism that flexibly connects the first and second links, and a joint mechanism disposed between the first and second links between the first and second links are provided. Then, a contact detecting means for detecting a contact of the external object and a control means for executing a predetermined control process when the contact of the external object is detected by the contact detecting means are provided.
[0019]
As a result, in the robot apparatus, even when the user's finger or the like is caught between the first and second links, it is possible to effectively prevent the occurrence of injuries and the like.
[0020]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.
[0021]
(1) Overall configuration of robot 1 according to the present embodiment
1 and 2, reference numeral 1 denotes a robot according to the present embodiment as a whole. A head unit 4 is connected to an upper part of a body unit 2 via a neck part 3. Arm units 5A and 5B are connected to both side surfaces, respectively, and a pair of leg units 6A and 6B are connected to a lower portion of the body unit 2.
[0022]
In this case, as shown in FIG. 3, the neck 3 is held by a neck joint mechanism 13 having degrees of freedom around the neck joint pitch axis 10, the neck joint yaw axis 11, and the neck joint pitch axis 12. The head unit 4 is attached to the tip of the neck 3 with a degree of freedom around the neck roll shaft 14 as shown in FIG. Thus, in the robot 1, the head unit 4 can be directed in desired directions such as front and rear, left and right, and diagonally.
[0023]
1 and 2, each arm unit 5A is composed of three blocks of an upper arm block 15, a forearm block 16 and a hand block 17, and the upper end of the upper arm block 15 is shown in FIG. As shown in FIG. 3, it is connected to the body unit 2 via a shoulder joint mechanism 20 having degrees of freedom around the shoulder pitch axis 18 and the shoulder roll axis 19.
[0024]
At this time, the forearm block 16 is connected to the upper arm block 15 with a degree of freedom about the upper arm yaw axis 21 as shown in FIG. The hand block 17 is connected to the forearm block 16 with a degree of freedom around the wrist yaw axis 22 as shown in FIG. Further, the forearm block 16 is provided with an elbow joint mechanism 24 having a degree of freedom around the elbow pitch axis 23.
[0025]
As a result, in the robot 1, these arm units 5A and 5B can be moved as a whole with almost the same degree of freedom as a human arm, and thus a greeting with one hand raised, a dance of swinging the arm units 5A and 5B, etc. Various actions using the arm units 5A and 5B can be performed.
[0026]
Further, five finger portions 25 are attached to the tip of the hand portion block 17 so as to bend and extend, respectively, so that an object can be picked up or grasped using these finger portions. ing.
[0027]
On the other hand, each leg unit 6A, 6B is composed of three blocks of a thigh block 30, a shin block 31 and a foot block 32, as is apparent from FIGS. The upper end of 30 is connected to the body unit 2 via a hip joint mechanism 36 having degrees of freedom around the hip joint yaw axis 33, the hip joint roll axis 34 and the hip joint pitch axis 35 as shown in FIG.
[0028]
At this time, the thigh block 30 and the shin block 31 are connected via a knee joint mechanism 38 having a degree of freedom around the shin pitch axis 37 as shown in FIG. Are connected via an ankle joint mechanism 41 having a degree of freedom around an ankle pitch axis 39 and an ankle roll axis 40 as shown in FIG.
[0029]
Thereby, in the robot 1, these leg units 6A and 6B can be moved with almost the same degree of freedom as the human leg, and thus various actions using the leg units 6A and 6B such as walking and kicking a ball. Has been made possible.
[0030]
In the case of the robot 1, each hip joint mechanism 36 is supported by a waist joint mechanism 44 having a degree of freedom around the trunk roll axis 42 and the trunk pitch axis 43 as shown in FIG. The body unit 2 can also be freely tilted in the front-back, left-right directions.
[0031]
Here, in the robot 1, as described above, as a power source for moving the head unit 4, each arm unit 5A, 5B, each leg unit 6A, 6B, and the body unit 2, as shown in FIG. , The joints having the respective degrees of freedom including the respective joint mechanisms such as the neck joint mechanism 13 and the shoulder joint mechanism 20 are provided with the actuators A corresponding to the degrees of freedom. ₁ ~ A ₁₇ Are arranged.
[0032]
The body unit 2 accommodates a main control unit 50 that controls the operation of the entire robot 1, a peripheral circuit 51 such as a power supply circuit and a communication circuit, and a battery 52 (FIG. 5). Each of the constituent units (the body unit 2, the head unit 4, the arm units 5A and 5B, and the leg units 6A and 6B) includes sub-control units 53A to 53A to which the main control unit 50 is electrically connected. 53D is stored.
[0033]
Further, as shown in FIG. 5, the head unit 4 includes various external sensors such as a pair of CCD cameras 60A and 60B functioning as “eyes” of the robot 1 and a microphone 61 functioning as “ears”, and “mouth”. And a speaker 62 functioning as "" are disposed at predetermined positions. Further, a touch sensor 63 as an external sensor is provided at each predetermined portion such as the back surface of the foot block 32 in each of the leg units 6A and 6B.
[0034]
Further, various internal sensors such as a battery sensor 64 and an acceleration sensor 65 are provided in the body unit 2, and each of the actuators A ₁ ~ A ₁₇ And the corresponding actuator A ₁ ~ A ₁₇ Potentiometer P as an internal sensor for detecting the rotation angle of the output shaft ₁ ~ P ₁₇ Is provided.
[0035]
Then, each of the CCD cameras 60A and 60B captures an image of the surroundings and sends the obtained image signal S1A to the main control unit 50 via the sub control unit 53B (not shown in FIG. 5), while the microphone 61 Then, various external sounds are collected, and the audio signal S1B thus obtained is transmitted to the main control unit 50 via the sub control unit 53B. Further, each touch sensor 63 detects a physical action from the user or a physical contact with the outside, and the detection result is used as a pressure detection signal S1C as a corresponding sub-control unit 53A to 53D (not shown in FIG. 5). ) To the main control unit 50.
[0036]
Further, the battery sensor 64 detects the remaining energy of the battery 52 at a predetermined cycle and sends the detection result to the main control unit 50 as a remaining battery signal S2A, while the acceleration sensor 65 outputs three axes (x axis, y axis). , And z-axis) are detected at predetermined intervals, and the detection result is sent to the main control unit 50 as an acceleration detection signal S2B. In addition, each potentiometer P ₁ ~ P ₁₇ Is the corresponding actuator A ₁ ~ A ₁₇ , The rotation angle of the output shaft is detected, and the detection result is transmitted at a predetermined cycle to an angle detection signal S2C. ₁ ~ S2C ₁₇ To the main control unit 50 via the corresponding sub-control units 53A to 53D.
[0037]
The main control unit 50 includes external sensor signals such as an image signal S1A, an audio signal S1B, and a pressure detection signal S1C supplied from various external sensors such as the CCD cameras 60A and 60B, the microphone 61, and the touch sensors 63, and a battery sensor. 64, acceleration sensor 65 and each potentiometer P ₁ ~ P ₁₇ The remaining energy signal S2A, the acceleration detection signal S2B, and the angle detection signals S2C respectively supplied from various internal sensors such as ₁ ~ S2C ₁₇ Based on these internal sensor signals, the external and internal states of the robot 1 and the presence / absence of physical action by the user are determined.
[0038]
Then, the main control unit 50 determines the robot 1 based on the determination result, the control program stored in the internal memory 50A in advance, and the various control parameters stored in the external memory 66 loaded at that time. Is determined, and a control command based on the determination result is transmitted to the corresponding sub-control units 53A to 53D (FIG. 4).
[0039]
As a result, based on the control command, the corresponding actuator A is controlled under the control of the sub-control units 53A to 53D. ₁ ~ A ₁₇ Are driven, and various actions such as swinging the head unit 4 up and down, left and right, raising the arm units 5A and 5B, and walking are exhibited by the robot 1.
[0040]
In this way, the robot 1 can autonomously act on the basis of external and internal situations and the like.
[0041]
(2) Various characteristic configurations of the robot 1
Next, various characteristic configurations mounted on the robot 1 will be described.
(2-1) Torque limiter mechanism in finger section 25
FIG. 6 shows an internal configuration of the finger unit 25 of the robot 1. As is clear from FIG. 6, each finger 25 is formed by connecting three parts of a finger base 70, a middle finger 71, and a fingertip 72 so as to be bent inward in the finger 25. It is configured.
[0042]
In this case, a motor 73 is fixed to one end of the finger base 70, and a pinion gear 74 is attached to the output shaft. The pinion gear 74 is meshed with a worm gear 75 rotatably supported inside the finger base 70, and the worm gear 75 is rotatably disposed inside the finger base 70. Gear 76 ₁ ~ 76 ₃ And a gear 78 rotatably held by a shaft 77 connecting the finger base portion 70 and the middle finger portion 71 via a gear train 76 composed of.
[0043]
Further, the gear 78 includes a plurality of gears 79 rotatably disposed inside the middle finger portion 71. ₁ ~ 79 ₃ And a gear (hereinafter, referred to as a final gear) 81 rotatably held by a shaft 80 connecting the middle finger portion 71 and the fingertip portion 72 via a gear train 79 made of By rotating the 73, the final gear 81 can be driven to rotate in a desired rotational direction.
[0044]
At this time, as shown in FIG. 7, a quadrangular prism portion 81A is formed on one surface side of the final stage gear 81. The first and second legs 82B and 82C (FIG. 7) of the helical coil spring 82 are hung on the prism portion 81A in a crossed state.
[0045]
As shown in FIG. 8, the helical coil spring 82 has a first foot 82A that is bent as a whole to form a hook shape, and the tips of the first and second feet 82B and 82C are respectively outward. The coil portion 82A (FIG. 7) is disposed inside the fingertip 72 such that the coil 82A (FIG. 7) fits into a protrusion 72A formed to protrude inside the fingertip 72.
[0046]
The first and second legs 82B and 82C of the helical coil spring 82 are hung on the prism 81A of the final stage gear 81 in a state of intersecting as described above. Of the final-stage gear 81 can be held between the legs 82B and 82C with a constant pressure of 81A.
[0047]
Thus, in the finger portion 25, the motor 73 is driven to rotate to rotate the final gear 81, whereby the fingertip 72 can be moved to bend or extend integrally with the prism portion 81A of the final gear 81. At this time, another gear 79 provided on the middle finger portion 71 is provided. ₁ ~ 79 ₃ The middle finger 71 can also be bent or extended integrally with the fingertip 72 based on the load applied to the fingertip 72.
[0048]
In the helical coil spring 82, the joint (joint) between the finger base 70 and the middle finger 71 and the joint (joint) between the middle finger 71 and the fingertip 72 reach the end of the movable range (hard limit). Further, the spring constant is selected so that the prism 81A of the final gear 81 can be held with a pinching force enough to cause the prism 81A of the final gear 81 to idle when the motor 73 continues to be driven.
[0049]
Thus, in the finger portion 25, damage to the final gear 81 and the like due to the rotation of the motor 73 in a state where the hard limit of each joint has been reached can be prevented beforehand. Even when an external force is applied, the prismatic portion 81A of the final stage gear 81 idles between the first and second legs 82B and 82C of the helical coil spring 82, so that the final stage gear caused by the external force is generated. It is designed so that damage such as 81 can be effectively and effectively prevented.
[0050]
(2-2) Configuration of CCD camera holding mechanism
Next, a CCD camera holding mechanism mounted on the robot 1 will be described.
[0051]
In the robot 1 according to the present embodiment, two CCD cameras 60A and 60B are used, and a distance to an object is measured by a stereo distance measuring method based on an image signal S1A output from the CCD cameras 60A and 60B. Has been done.
[0052]
Therefore, if the positional relationship between these two CCD cameras 60A and 60B changes due to the impact given to the head unit 4, it also affects the distance measurement to such an object, and thus greatly affects the autonomous behavior of the robot 1. This will have an adverse effect.
[0053]
Therefore, in the robot 1, these two CCD cameras 60A and 60B are held by a CCD camera holding mechanism 90 configured as shown in FIGS. 9 to 12, so that when an external impact is applied, Also, a change in the positional relationship between these two CCD cameras 60A and 60B can be effectively prevented.
[0054]
Actually, the CCD camera holding mechanism section 90 has a base plate 91 formed in a substantially triangular shape as a whole, as is clear from FIGS. 9 to 11, and a substantially inverted regular triangle is provided on the front side of the base plate 91. The three bosses 92A to 92C are provided with the positional relationship of the vertices.
[0055]
Among these bosses 92A to 92C, conical compression coil springs 93A and 93B integrally formed are respectively fitted into the first and second bosses 92A and 92B which are adjacent in the horizontal direction (y direction), and the other one is fitted. A compression coil spring 94 is fitted into the two bosses 92C.
[0056]
On one surface of the base plate 91, a CCD camera holder 95 to which two CCD cameras 60A and 60B are fixed in a predetermined positional relationship so as to be located in front of the conical compression coil springs 93A and 93B and the compression coil spring 94. Are arranged.
[0057]
In practice, the CCD camera holder 95 has through holes 95A to 95C formed in the center in the width direction so as to correspond to the bosses 92A to 92C of the base plate 91, respectively. The bosses 91A to 92C are fitted to the base plate 91 so as to be fitted therein.
[0058]
Further, a fixing plate 96 is fixed to the base plate 91 by being screwed to the bosses 92A to 92C using screws 97A to 97C so as to be located on the front side of the CCD camera holder 95.
[0059]
As a result, in the CCD camera holding mechanism 90, the CCD camera holder 95 is normally pressed against the fixed plate 96 by the elastic force of the conical compression coil springs 93A and 93B and the compression coil spring 94. The two CCD cameras 60A and 60B held by the camera can be held in a predetermined positional relationship.
[0060]
In the CCD camera holding mechanism 90, the base plate 91, the CCD camera holder 95, and the fixed plate 96 have a mirror-like structure with a virtual xz plane passing through the center line in the width direction as a plane of symmetry. The base plate 91 is fixed to the front side of a frame 99 provided inside the head unit 4 so that the virtual xz plane passes through the center of the cover 98 of the head unit 4 in the width direction.
[0061]
In this state, the fixing plate 96 and the CCD camera holder 95 are in contact with the inside of the cover 98 of the head unit 4, respectively, whereby the shock avoiding mechanism 90 is stably held by the frame 99 and the cover 98. Have been made to get.
[0062]
Thus, in the CCD camera holding mechanism section 90, when an impact is applied to the front central portion of the head unit 4 as shown in FIG. 12A, the cover 98 of the head unit 4 (FIG. 9). The impact given to the fixed plate 96 can be released to the frame 99 (FIG. 9) via the fixed plate 96 and the base plate 91 as shown in FIG. 12B, whereby the CCD camera held by the CCD camera holder 95 It is possible to prevent the shock from being transmitted to 60A and 60B, and effectively prevent the positional relationship between the two CCD cameras 60A and 60B from being changed due to the shock.
[0063]
Further, in the CCD camera holding mechanism 90, when an impact is applied to the front left and right end portions of the head unit 4 as shown in FIGS. As shown in FIGS. 13B and 14B, the conical compression coil springs 92A and 92B and the compression coil spring 93 (FIG. 9) deflect the impact given to the CCD camera holder 95 via the 98 (FIG. 9). Thus, the shock can be prevented from being transmitted to the CCD cameras 60A, 60B held in the CCD camera holder 95, and the positional relationship between the two CCD cameras 60A, 60B due to the shock changes. Is effectively prevented.
[0064]
(2-3) Configuration of shutter mechanism in hip joint mechanism 36
Next, the configuration of the shutter mechanism provided in the hip joint mechanism 36 of the robot 1 will be described.
[0065]
15 to 20 show a partial configuration of the hip joint mechanism 36 of the robot 1, and an actuator A for the hip joint roll shaft 34 (FIG. 3) disposed in parallel with the x direction. _Thirteen An actuator A for the hip joint yaw shaft 33 (FIG. 3) is attached to the output shaft 100 (FIG. 4). ₁₂ A connecting member 101 for connecting with the output shaft of FIG. 4 is fixed, and a cover 102 is attached so as to cover this from the back side of the robot 1.
[0066]
In this case, notches 102A of a predetermined shape are provided at the upper portions on both right and left sides of the cover 102, whereby the thigh block 30 of the leg units 6A and 6B is enlarged as shown in FIGS. The contact between the cover 102 and the thigh block 30 when rotating about the thigh roll shaft 34 can be prevented beforehand.
[0067]
Therefore, in order to prevent the user's finger or the like from being caught in the notch 102A of the cover 102, the hip joint mechanism 36 is configured to close the left and right notches 102A of the cover 102 from the inside of the cover 102. A shutter mechanism 105 including an outer shutter 103 and an inner shutter 104 is provided on both left and right sides of the unit 36.
[0068]
Actually, in the outer shutter 103, the actuator A _Thirteen Is parallel to a plane (xy plane) including the front-back direction of the robot 1 (arrow x direction and the opposite direction) and the left-right direction (arrow y direction and the opposite direction) and the arrow x direction. Is rotatably held by a shaft 107 disposed at an inclination of about 45 °.
[0069]
As shown in FIG. 21, a substantially triangular opening 103A is provided at the tip of the outer shutter 103, and the outer shutter 103 is held by the inner shutter 104 so as to be freely movable in the opening 103A. The shaft body 108 is disposed.
[0070]
The inner shutter 104 has a hole (not shown) formed in the vicinity of the center of the fan shape, which is formed in a substantially fan shape as a whole, and this hole is implanted in a bracket 109 fixed to the connecting member 102. The upright shaft body 110 is fitted.
[0071]
Accordingly, in the shutter mechanism 105, the actuator A for the hip joint roll shaft 34 of the hip joint mechanism 36 is provided. _Thirteen When the bracket 109 is rotated integrally with the connecting member 101 and rotated as shown in FIGS. 19 and 20, the vicinity of the fan-shaped center of the inner shutter 104 can be lifted by the shaft body 110 as shown in FIG. It has been done.
[0072]
Thus, in the shutter mechanism 105, when the thigh block 30 of the leg units 6A, 6B is not rotating in the direction of the hip joint roll axis 34 (FIG. 4) as shown in FIGS. When the notch 102A of the cover 102 is closed from the inside of the cover 102 by the inner shutter 104, while the thigh block 30 of the leg units 6A and 6B rotates in the direction of the hip joint roll axis 34 as shown in FIGS. The inner shutter 104 is displaced without being obstructed by the inner wall of the cover 102 so that the vicinity of the notch 102A of the cover 102 can be widely closed.
[0073]
(2-4) Arrangement of Touch Sensor 63 (FIG. 5) for Safety Measures in Robot 1
Next, a description will be given of the touch sensors 63 for safety measures, which are arranged everywhere in the robot 1.
[0074]
In the robot 1, a touch sensor 63 is provided everywhere where a user including each joint mechanism or the like may pinch a finger or the like. When the user pinches a finger or the like, the touch sensor 63 detects this. And perform appropriate processing.
[0075]
Actually, as shown in FIG. 22 to FIG. 24, the armpit units 5A and 5B and the inside of the left elbow and the leg units 6A and 6B each inside the thigh block 30 and the shin block 31. A surface contact switch 63F as a touch sensor 63 for safety measures is provided at the lower end of the back surface of the thigh block 30 in each leg unit 6A, 6B. ₁ ~ 63F ₅ Are arranged.
[0076]
The left and right shoulders of the robot 1, the front sides of the thigh block 30 and the shin block 31 in each leg unit 6A, 6B, and the upper end of the thigh block 30 in each leg unit 6A, 6B. On the outside, a tact switch 63T is provided as a touch sensor 63 for safety measures. ₁ ~ 63T ₃ Are arranged.
[0077]
In this case, the surface contact switch 63F ₁ ~ 63F ₅ As shown in FIGS. 25A and 25B, a lower sheet 121 in which predetermined first and second conductor patterns 120A and 120B are formed on one surface side in a state of being insulated from each other, and the lower sheet 121 As shown in FIG. 25C, the upper sheet 123 on which a conductor layer 122 is formed over the entire surface opposing the surface 121 is laminated via a spacer 124 made of rubber or the like. .
[0078]
Thereby, the surface contact switch 63F ₁ ~ 63F ₅ In the above, when the upper layer sheet 123 is pressed, the upper layer sheet 123 comes into contact with the lower layer sheet 121, and the first and second conductor patterns 120A and 120B of the lower layer sheet 121 are conducted by the conductor layer 122 of the upper layer sheet 123. By doing so, it is possible to detect that an external pressure is applied to the upper layer sheet 123 based on whether or not the first and second conductor patterns 120A and 120B are electrically connected.
[0079]
And in the robot 1, such a surface contact switch 63F ₁ ~ 63F ₅ As described above, the armpit units 5A and 5B have an armpit and the inside of the left elbow, the leg units 6A and 6B have the inside of the thigh block 30 and the shin block 31, and the leg units 6A and 6B. The lower-layer sheets 121 are attached to the lower end of the back surface of the thigh block 30 in FIG. ₁ ~ 63F ₅ Accordingly, it is possible to reliably detect the pinch of the user's finger or the like in such a narrow space.
[0080]
On the other hand, tact switch 63T ₁ ~ 63T ₃ As shown in FIG. 26, a tact switch 131 is provided inside a switch cover 130 which forms a part of an external housing (case) of the robot 1 and is separated from another external housing. The switch cover 130 is configured to be urged in a direction away from the tactile switch 131 by an elastic body such as a spring (not shown) disposed inside the switch cover 130, and when the switch cover 130 is pressed, By pressing the tact switch 131, it is possible to detect that an external force is applied to the switch cover 130.
[0081]
And in this robot 1, such a tact switch 63T ₁ ~ 63T ₃ As described above, the left and right shoulders, the front sides of the thigh block 30 and the shin block 31 in each leg unit 6A, 6B, and the upper end of the thigh block 30 in each leg unit 6A, 6B The tact switches 63T ₁ ~ 63T ₃ Thus, for example, when the robot 1 falls down, the user's finger can be reliably detected between the thigh block 30 or the shin block 31 of the leg units 6A and 6B and the floor. I have.
[0082]
Further, in the case of this robot 1, as shown in FIGS. 27 to 30, a switch 63S as a touch sensor 63 for safety measures is also provided on the upper surface of the foot block 32 so as to correspond to the movable range of the ankle joint mechanism 41. Is provided.
[0083]
In this case, the switch 63S is formed to have a narrow width along a part of the outside of the recess 32A provided on the upper surface of the foot block 32. This is because the switch 63S is provided near the entrance of the gap where the user's finger is sandwiched, so that the user's finger is located between the lower end of the shin block 31 of the leg units 6A and 6B and the upper surface of the foot block 31. This is because it is possible to reliably detect that the object has been trapped, and to simplify the configuration.
[0084]
The switch 63S is formed so that the center in the width direction of the upper surface thereof is slightly higher than the end in the width direction so that the contact area with the finger of the user is as small as possible. Even when the user's finger is caught between the lower end of the shin block 31 of each of the units 6A and 6B and the switch 63S, the user can easily pull out the finger.
[0085]
On the other hand, each of these touch sensors 63 (surface contact sensor 63F) ₁ ~ 63F ₅ , Tact switch 63T ₁ ~ 63T ₃ And the pressure detection result by the switch 63S) is given to the main control unit 50 as the pressure detection signal S1C as described above.
[0086]
Then, the main control unit 50 constantly monitors the pressure detection signals S1C given from the respective touch sensors 63, and when detecting that any one of the touch sensors 63 is pressed, the position of the touch sensor 63 and the position of the touch sensor 63 at that time. Based on the posture and state of the robot 1, the robot 1 performs an appropriate coping operation such as immediately stopping the movement of the robot 1.
[0087]
In this way, in the robot 1, occurrence of an accident such as pinching of the user's finger can be effectively prevented.
[0088]
In the case of the robot 1, for example, an actuator A such as a neck joint mechanism 13 is used. ₁ ~ A ₄ The touch sensor 63 is provided at a position where the output torque of the touch sensor 63 is small or the user is not injured or the internal structure is not destroyed even if the user is pinched because the torque limiter is built in like the finger portion 25. Are not provided, and when it is confirmed that a foreign object is caught for a certain period of time or more based on the servo error signal in these portions, the actuator A ₁ ~ A ₄ In addition, the driving of the motor 73 (FIG. 6) is stopped, the servo gain is reduced, or the motor 73 (FIG. 6) is driven to rotate in the reverse direction.
[0089]
In addition, the outside portion of the elbow joint mechanism 24 has a structure in which the foreign matter is removed outside the joint when the foreign matter is sandwiched by the shape of the cover.
[0090]
(3) Operation and effect of this embodiment
In the above configuration, in the robot 1, a torque limiter is formed by the helical coil spring 82 and the prismatic portion 81A of the final gear 81 at the tip of the finger portion 25, and the first and second feet 82B, When a load greater than the pinching force for pinching the prismatic portion 81A of the final gear 81 by the 82C is applied to the fingertip 72 of the finger 25, or a rotational driving force greater than the gripping force is applied to the final gear 81. Then, the prism portion 81A of the final stage gear 81 idles between the first and second legs 82B and 82C of the helical coil spring 82.
[0091]
Therefore, in the robot 1, even when an external force is applied to the fingertip 72 of the finger 25, or when the motor 73 (FIG. 6) is driven in a state where the finger 25 is fully extended, this does not occur. As a result, the final gear 81 and other gears 76 ₁ ~ 76 ₃ , 79 ₁ ~ 79 ₃ Can be effectively prevented from being damaged.
[0092]
In this case, since the torque limiter includes only the prismatic portion 81A of the final gear 81 and the helical coil spring 82, the number of components is small, and the torque limiter can be simply and compactly constructed as a whole.
[0093]
In the robot 1, the CCD cameras 60A and 60B are held by the CCD camera holding mechanism 90 described above with reference to FIGS. The impact given to the fixing plate 96 via the cover 98 (FIG. 9) of the unit 4 is released to the frame 99 (FIG. 9) via the fixing plate 96 and the base plate 91, and the impact is applied to the front left and right end portions of the head unit 4. Is given, the conical compression coil springs 92A and 92B and the compression coil spring 93 (FIG. 9) deflect the impact applied to the CCD camera holder 95 via the cover 98 (FIG. 9) of the head unit 4. Absorb by doing.
[0094]
Therefore, in the robot 1, the impact is not directly transmitted to the CCD cameras 60A and 60B, and the damage to the CCD cameras 60A and 60B due to the impact can be effectively prevented.
[0095]
In this case, in the robot 1, the CCD camera holder 95 of the CCD camera holding mechanism 90 is urged by the conical compression coil springs 92A and 92B and the compression coil spring 93 so as to be constantly pressed against the fixed plate 96. Even if a shock is applied to the front left and right ends of the head unit 4 and the CCD camera holder 95 is displaced as shown in FIGS. 13B and 14B, the conical compression coil springs 92A, 92B Also, since the CCD camera holder 95 immediately returns to the original state shown in FIG. 11 by the urging force of the compression coil spring 93, it is possible to effectively prevent a change in the positional relationship between the two CCD cameras 60A and 60B due to the impact. .
[0096]
Further, in the robot 1, the shutter mechanism 105 is provided inside the cover 102 (FIG. 15) that covers the back side of the hip joint mechanism 36, and the actuator A for the hip joint roll shaft 34 (FIG. 3) of the hip joint mechanism 36 is provided. _Thirteen (FIG. 4) is driven, and the leg units 6A and 6B rotate around the hip joint roll axis 34, so that the cover 102 (FIG. 15) disposed on the back side of the hip joint When a gap is formed between the inner shutter 104 and the inner shutter 104, the inner shutter 104 of the shutter mechanism 105 rotates so as to close the gap from the inside.
[0097]
Therefore, in the robot 1, the user inserts his / her finger into a gap between the cover 102 (FIG. 15) and another cover generated by the driving of the hip joint mechanism 36, and foreign matter is removed through the gap. 102 can be effectively and reliably prevented from entering the interior.
[0098]
Further, in this robot 1, touch sensors 63 for safety measures are provided in various parts of the fuselage, and when any one of them is pressed, the position of the touch sensor 63, the posture and the state of the robot 1 at that time, etc. , An appropriate coping operation such as immediately stopping the movement of the robot 1 is executed.
[0099]
Therefore, in the robot 1, occurrence of an accident such as pinching of the user's finger can be effectively prevented.
[0100]
According to the above configuration, the torque limiter of the finger portion 25 in the robot 1 is formed by the helical coil spring 82 and the prism portion 81A formed in the final gear 81, so that the torque limiter can be configured with a small number of components. Thus, the configuration of the torque limiter can be simplified and downsized.
[0101]
Further, according to the above configuration, the CCD camera holder 95 having the CCD cameras 60A and 60B attached thereto is pressed against the fixed plate 96 by the urging force of the conical compression coil springs 92A and 92B and the compression coil spring 93. , 60B, it is possible to effectively prevent the shock applied to the front center portion and the front left and right end portions of the head unit 4 from being directly transmitted to the CCD cameras 60A, 60B. Thus, the CCD cameras 60A and 60B can be maintained in a constant state while effectively and reliably preventing damage.
[0102]
Further, according to the above configuration, the shutter mechanism 105 is provided inside the cover 102 (FIG. 15) that covers the back side of the hip joint mechanism 36, and the rotation of the leg units 6A and 6B around the hip joint roll axis 34 is caused. The gap between the cover 102 (FIG. 15) disposed on the back side of the hip joint mechanism 36 and the other cover, which is generated by the inner shutter 104 of the shutter mechanism 105, is closed from the inside. It is possible to effectively and reliably prevent a user from putting a finger into the cover 102 through the gap or a foreign object, thereby improving the safety of the robot.
[0103]
Further, according to the above configuration, the touch sensors 63 for safety measures are provided everywhere in the body, and when any one of them is pressed, the position of the touch sensor 63 and the posture and state of the robot 1 at that time. Based on the above, an appropriate coping operation such as, for example, immediately stopping the movement of the robot 1 is performed, so that occurrence of an accident such as pinching of the user's finger can be effectively prevented, and thus, The safety of the robot can be improved.
[0104]
(4) Other embodiments
In the above-described embodiment, the case where the helical coil spring 82 is used as the holding means for holding the prism portion 81A of the final gear 81 of the finger portion 25 of the robot 1 with a predetermined holding force has been described. The present invention is not limited to this, and various other elastic members such as a leaf spring can be widely applied.
[0105]
Further, in the above-described embodiment, the case where the torque limiter is provided at the last stage of the gear train provided inside the finger portion 25 has been described. However, the present invention is not limited to this, and the same configuration may be provided in the middle. A torque limiter may be provided.
[0106]
Furthermore, in the above-described embodiment, a case has been described in which the torque limiter device according to the present invention is applied to the finger portion 25 of the robot 1. However, the present invention is not limited to this, and is widely applied to various other devices. can do.
[0107]
Further, in the above-described embodiment, a case has been described in which the protrusion that forms a part of the torque limiter formed on one surface of the finger portion 25 has a rectangular prism shape. However, the present invention is not limited to this. A polygonal pillar shape other than a square pillar may be used.
[0108]
Further, in the above-described embodiment, the CCD camera holder 95 as holding means for holding the CCD cameras 60A and 60B, the base plate 91 as the first and second members arranged so as to sandwich the CCD camera holder 95, and Although the case where the fixing plate 96 and the fixing plate 96 are respectively configured as shown in FIGS. 9 to 11 has been described, the present invention is not limited to this, and various other shapes can be widely applied.
[0109]
Further, in the above-described embodiment, a case is described in which the conical compression coil springs 92A and 92B and the compression coil spring 93 are applied as urging means for urging the CCD camera holder 95 so as to press the fixed plate 96 against the fixing plate 96. However, the present invention is not limited to this, and various other materials having elasticity, such as rubber and leaf springs, can be widely applied.
[0110]
Further, in the above-described embodiment, a case has been described in which the component holding device according to the present invention is applied to the CCD camera holding mechanism 90 that holds the CCD cameras 60A and 60B, but the present invention is not limited to this. The present invention can be widely applied to a component holding device that holds components other than the CCD cameras 60A and 60B.
[0111]
Furthermore, in the above-described embodiment, a case has been described in which the joint device according to the present invention is applied to the robot 1 configured as shown in FIGS. 1 to 5. However, the present invention is not limited to this, and It can be widely applied to various devices having joints.
[0112]
Further, in the above-described embodiment, the case where the shutter mechanism 105 (FIG. 15) is configured by the outer shutter 103 and the inner shutter 104 has been described. However, the present invention is not limited to this. Various other configurations can be widely applied as long as the configuration allows expansion and contraction so as not to hinder the movement of the hip joint mechanism 36 inside.
[0113]
In this case, in the above-described embodiment, a case has been described in which the opening 103A of the outer shutter 103 has a triangular shape. However, the present invention is not limited to this, and the opening 103A has a round shape. The shaft 108 held by the inner shutter 104 may have an oval shape.
[0114]
Furthermore, in the above-described embodiment, a case has been described in which the touch sensor 63 for safety measures is arranged at the position described above with reference to FIGS. 22 to 30. However, the present invention is not limited to this, and in addition thereto. Or you may make it arrange | position to another part instead of these.
[0115]
Furthermore, in the above-described embodiment, a case has been described in which a surface contact sensor, a tact switch, or the like is applied as contact detection means for detecting a user's contact, but the present invention is not limited to this, and various other The sensor can be widely applied. For example, for a contact type, a capacitance type sensor, a pressure-sensitive rubber, a strain gauge, a piezoelectric element, or the like can be applied. For a non-contact type, a reflection type photo sensor, a photo interrupter, or the like can be applied. it can.
[0116]
【The invention's effect】
As described above, according to the invention, in the torque limiter device, the first and second links flexibly connected to each other, and the first link is rotatably disposed, and a polygonal column projection is formed on one surface. And a pinching means arranged on the second link for pinching the projection of the gear with a predetermined pinching force, so that the overall structure can be simplified and reduced in size, and thus mounted. Thus, it is possible to realize a torque limiter device that can simplify and reduce the configuration of the device to be used.
[0117]
Further, according to the present invention, in the component holding device, a holding means for holding a component, first and second members arranged so as to sandwich the holding means, and a first member and a holding member are arranged between the first member and the holding means. By providing the urging means for urging the holding means to press against the second member, it is possible to prevent the external impact from being directly applied to the part, and to keep the part constant. Thus, it is possible to realize a component holding device capable of holding the component in a constant state while effectively and reliably preventing breakage of the component.
[0118]
Furthermore, according to the present invention, in a joint device, a joint mechanism that flexibly connects the first and second links, a cover disposed to cover the joint mechanism, and a displacement of the first or second link. By providing a shutter mechanism provided inside the cover so as to cover the gap between the covers that occurs in response to the above, foreign substances such as a user's finger can be effectively and reliably prevented from entering the inside of the cover through the gap between the covers. Thus, a joint device that can improve safety can be realized.
[0119]
Furthermore, according to the present invention, in the robot apparatus, a joint mechanism that flexibly connects the first and second links and a portion of the first and / or second links that are sandwiched between the first and second links are provided. The first and the second are provided by providing contact detection means for detecting contact of an external object, and control means for executing a predetermined control process when the contact of the external object is detected by the contact detection means. Even when the user's finger or the like is caught in the second link, it is possible to effectively prevent the occurrence of injuries and the like, and thus to realize a robot device capable of improving safety.
[Brief description of the drawings]
FIG. 1 is a schematic perspective view showing an external configuration of a robot according to an embodiment.
FIG. 2 is a schematic perspective view showing an external configuration of the robot according to the embodiment.
FIG. 3 is a conceptual diagram for explaining a degree of freedom in each joint mechanism of the robot.
FIG. 4 is a block diagram for explaining an internal configuration of the robot.
FIG. 5 is a block diagram for explaining an internal configuration of the robot.
FIG. 6 is a schematic exploded view showing an internal configuration of a finger unit.
FIG. 7 is a perspective view showing a configuration of a final gear.
FIG. 8 is a perspective view showing a helical coil spring.
FIG. 9 is an exploded perspective view illustrating a configuration of an impact avoiding mechanism mounted on the robot according to the present embodiment.
FIG. 10 is a perspective view illustrating a configuration of an impact avoiding mechanism.
FIG. 11 is a perspective view showing a configuration of an impact avoiding mechanism.
FIG. 12 is a perspective view for explaining a function of an impact avoiding mechanism.
FIG. 13 is a perspective view for explaining the function of an impact avoiding mechanism.
FIG. 14 is a perspective view for explaining the function of an impact avoiding mechanism.
FIG. 15 is a perspective view for explaining a shutter mechanism in the hip joint mechanism mounted on the robot according to the present embodiment.
FIG. 16 is an exploded perspective view illustrating a configuration of a shutter unit.
FIG. 17 is a perspective view for explaining a shutter unit.
FIG. 18 is an exploded perspective view illustrating a configuration of a shutter unit.
FIG. 19 is a perspective view for explaining a shutter unit.
FIG. 20 is an exploded perspective view illustrating a configuration of a shutter unit.
FIG. 21 is a front view showing a configuration of an outer shutter.
FIG. 22 is a front view for explaining an arrangement position of a touch sensor for safety measures.
FIG. 23 is a front view for explaining an arrangement position of a touch sensor for safety measures.
FIG. 24 is a rear view for explaining an arrangement position of a touch sensor for safety measures.
FIG. 25 is a schematic exploded view and a sectional view showing the configuration of the surface contact switch.
FIG. 26 is a schematic sectional view showing the configuration of a tact switch.
FIG. 27 is a perspective view for explaining a touch sensor for safety measures provided on the foot block;
FIG. 28 is a perspective view for explaining a touch sensor for safety measures provided on the foot block;
FIG. 29 is a top view for explaining a touch sensor for safety measures provided on the foot block;
FIG. 30 is a top view for explaining a touch sensor for safety measures provided in the foot block;
[Explanation of symbols]
1 ... Robot, 50 ... Main control unit, 25 ... Finger unit, 60A, 60B ... CCD camera, 63 ... Touch sensor, 63F ₁ ~ 63F ₅ .... Surface contact switch, 63T ₁ ~ 63T ₃ ...... Tact switch, 63T ₄ , Switch, 70, finger base, 71, middle finger, 72, fingertip, 73, motor, 81, final gear, 81A, prism, 82, helical coil spring, 82B, 82C: Foot, 90: CCD camera holding mechanism, 91: Base plate, 92A to 92C: Boss, 93A, 93B: Conical compression spring, 94: Compression coil spring, 95: CCD camera holder 95 ... Fixing plate 103, outer shutter 103A opening 104, inner shutter 105 shutter part 107, 108, 110 shaft.

Claims (4)

First and second links that are flexibly connected;
A gear rotatably disposed on the first link, and having a polygonal columnar projection formed on one surface;
A torque limiting device disposed on the second link and configured to clamp the protrusion of the gear with a predetermined clamping force. Holding means for holding the component;
First and second members arranged so as to sandwich the holding means,
A component holding device, comprising: urging means disposed between the first member and the holding means, for urging the holding means to press against the second member. An articulation mechanism for flexibly connecting the first and second links;
A cover arranged to cover the joint mechanism;
A joint mechanism provided with a shutter mechanism provided inside the cover so as to cover a gap between the covers generated in accordance with displacement of the first or second link. An articulation mechanism for flexibly connecting the first and second links;
A contact detection unit disposed at a portion of the first and / or second link sandwiched between the first and second links, and detecting contact of an external object;
A control unit for executing a predetermined control process when the contact of the external object is detected by the contact detection unit.

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