Modular robot

Abstract

The modular robot (100) includes: a first link (10); a second link (20) connected to the first link (10) in a relatively movable manner; and a hydraulic cylinder (30) that causes the first link (10) and the second link (20) to move relative to each other. The first link (10) has a cylinder body (32) and the cylinder body (32) forms a cylinder chamber (31) for the hydraulic cylinder (30).

Description

Technical Field

[0001] This invention relates to a modular robot. Background Technology

[0002] Japanese Patent Application Publication No. WO2007 / 034561 discloses a robot arm having multiple arm components. The arm components are driven by an arm drive device, which includes a rod and a body portion for moving the rod axially. Summary of the Invention

[0003] The robot arm described in Japanese Patent Application Publication No. WO2007 / 034561 has a structure of an arm drive device having arm component parts that form links and drive arm component parts. It has a large number of parts and a complex structure.

[0004] The purpose of this invention is to provide a modular robot with a compact structure.

[0005] According to one aspect of the present invention, a modular robot comprises: a first link; a second link connected to the first link in a relatively movable manner; and a fluid pressure cylinder that causes the first link and the second link to move relative to each other, the first link having a cylinder body forming a chamber of the fluid pressure cylinder. Attached Figure Description

[0006] Figure 1 This is a side view of the module involved in an embodiment of the present invention.

[0007] Figure 2 This is a perspective view of the front side of the module involved in an embodiment of the present invention.

[0008] Figure 3 This is a perspective view of the rear side of the module involved in an embodiment of the present invention.

[0009] Figure 4 This is a perspective view of the front side of the module involved in the embodiment of the present invention, showing the state after the plates of the first connecting rod have been removed.

[0010] Figure 5 This is a system structure diagram of a modular robot and its modules.

[0011] Figure 6 This diagram schematically illustrates the ports and oil passages formed in the cylinder block.

[0012] Figure 7 A diagram illustrating a connection example of modules.

[0013] Figure 8 A diagram illustrating a connection example of modules.

[0014] Figure 9A side view of a modular robot whose legs are formed by connecting modules.

[0015] Figure 10 This is a side view of a module involved in a modified embodiment of the present invention, which corresponds to... Figure 1 The image.

[0016] Figure 11 This is a schematic diagram of a module involved in a variation of an embodiment of the present invention.

[0017] Figure 12A This is a plan view of a module involved in a variation of an embodiment of the present invention.

[0018] Figure 12B This is a side view of a module involved in a variation of an embodiment of the present invention.

[0019] Figure 13 This is a plan view of a modular robot according to a variation of an embodiment of the present invention. Detailed Implementation

[0020] Hereinafter, the modular robot 100 according to an embodiment of the present invention will be described with reference to the accompanying drawings. Modular robot 100 (refer to...) Figure 9 ) is to combine multiple Figures 1-3 The modules 101 shown are connected and configured. First, refer to... Figures 1-5 Module 101 will be described. Figure 1 This is a side view of module 101. Figure 2 This is a perspective view of the front side of module 101. Figure 3 This is a perspective view of the rear side of module 101. Figure 4 This is a perspective view of the front side of module 101, showing the state after the plates of the first connecting rod 10 have been removed. Figure 5 This is a system structure diagram of modular robot 100 and module 101.

[0021] Module 101 includes: a first link 10; a second link 20 connected to the first link 10 in a relatively movable manner; and a hydraulic cylinder 30 that causes the first link 10 and the second link 20 to move relative to each other. The hydraulic cylinder 30 corresponds to the fluid pressure cylinder and hydraulic cylinder described in the technical solution.

[0022] The first link 10 and the second link 20 are rotatably connected via a rotating shaft 1. A third link 2 is rotatably connected to the hydraulic cylinder 30 and the second link 20.

[0023] Hydraulic cylinder 30 is supplied by pump 3 (see reference 3) which serves as the hydraulic supply source. Figure 5An actuator that performs extension and retraction operations by being supplied with working oil (working fluid). The hydraulic cylinder 30 has: a cylinder body 32, which forms a cylinder chamber 31; a piston 33a, which is slidably inserted into the cylinder chamber 31 and divides the cylinder chamber 31 into a rod-side chamber 31a and a rod-opposite-side chamber 31b; and a piston rod 33b, one end of which is connected to the piston 33a and the other end of which extends outward from the cylinder chamber 31.

[0024] The cylinder body 32 is housed within the housing 11 of the first connecting rod 10 and is fixed to the housing 11 in a non-rotatable manner. Additionally, the hydraulic cylinder 30 is connected to the first connecting rod 10 in a non-rotatable manner. The cylinder body 32 is formed in a generally cuboid frame shape, and a cylinder chamber 31 and an oil passage (described later) communicating with the cylinder chamber 31 are formed inside. The cylinder chamber 31 is formed as a cylindrical hole opening on the end face 32a of the cylinder body 32. A cylinder head 34 is provided on the end face 32a of the cylinder body 32 to block the opening of the cylinder chamber 31 and through which the piston rod 33b is inserted. A bearing 35 is provided on the cylinder head 34 to support the piston rod 33b in a sliding manner, and a sealing member 36 to prevent working oil from leaking from the cylinder chamber 31.

[0025] like Figure 1 as well as Figure 4 As shown, a slider 50 is attached to the top of the piston rod 33b, and one end of the third link 2 is rotatably connected to the slider 50 via a rotating shaft 51. The slider 50 is positioned between a pair of linear guides 52 arranged along the axial direction of the piston rod 33b within the housing 11, and is guided to move by the linear guides 52. The other end of the third link 2 is rotatably connected to the second link 20 via a rotating shaft 53.

[0026] Hydraulic cylinder 30 supplies working oil from pump 3 to rod-side chamber 31a, and working oil from rod-side chamber 31b to fluid tank 4 (see reference). Figure 5 The piston rod 33b is discharged, thus performing a contraction operation. On the other hand, the hydraulic cylinder 30 extends by supplying working oil from the pump 3 to the opposite side chamber 31b of the rod, and the working oil in the rod side chamber 31a is discharged to the fluid tank 4. The extension and retraction operation of the hydraulic cylinder 30 converts the linear motion of the piston rod 33b into the rotational motion of the second link 20 via the third link 2, and the first link 10 and the second link 20 rotate relative to each other about the rotation axis 1. Thus, by driving the hydraulic cylinder 30, the first link 10 and the second link 20 can be rotated relative to each other. The module 101 has a rotational degree of freedom of one degree about the rotation axis 1, and the first link 10, the second link 20, and the hydraulic cylinder 30 are connected in a manner that forms a single degree of freedom.

[0027] Next, mainly refer to Figure 6The ports and oil passages formed in the cylinder block 32 are described in detail. Figure 6 The diagram schematically illustrates the ports and oil passages formed in the cylinder block 32.

[0028] On the outer surface of the cylinder body 32, a pump port P, which can be connected to the pump 3, and a fluid tank port T, which can be connected to the fluid tank 4, are formed in an open manner. In this embodiment, the pump port P and the fluid tank port T are formed on three of the multiple outer surfaces of the cylinder body 32. One of the pump ports P formed on the three surfaces is connected to the pump 3 via a hose or piping, and the unused pump port P is closed by a plug. Similarly, one of the fluid tank ports T formed on the three surfaces is connected to the fluid tank 4 via a hose or piping, and the unused fluid tank port T is closed by a plug.

[0029] A servo valve 5 is provided on the cylinder block 32 as a control valve (see reference). Figure 4 Servo valve 5 controls the communication between pump port P and fluid tank port T and cylinder chamber 31. Servo valve 5 has: a supply port 5a, which communicates with pump port P; a discharge port 5b, which communicates with fluid tank port T; a rod-side port 5c, which communicates with rod-side chamber 31a; and a rod-opposite-side port 5d, which communicates with rod-opposite-side chamber 31b. Servo valve 5 switches the communication between supply port 5a and discharge port 5b and rod-side port 5c and rod-opposite-side port 5d based on its position.

[0030] On the cylinder block 32, an oil passage 37 is formed that connects the pump port P, the fluid tank port T, and the cylinder chamber 31. The oil passage 37 has: a supply passage 37a that connects the pump port P and the supply port 5a of the servo valve 5; a discharge passage 37b that connects the fluid tank port T and the discharge port 5b of the servo valve 5; a rod-side passage 37c that connects the rod-side port 5c of the servo valve 5 and the rod-side chamber 31a; and a rod-opposite-side passage 37d that connects the rod-opposite-side port 5d of the servo valve 5 and the rod-opposite-side chamber 31b.

[0031] When the supply port 5a and the rod-side port 5c are connected via the servo valve 5, and the discharge port 5b is connected to the rod-opposite port 5d, working oil is supplied from the pump port P to the rod-side chamber 31a, and the working oil in the rod-opposite chamber 31b is discharged to the fluid tank port T, causing the hydraulic cylinder 30 to retract. Conversely, when the supply port 5a and the rod-opposite port 5d are connected via the servo valve 5, and the discharge port 5b is connected to the rod-side port 5c, working oil is supplied from the pump port P to the rod-opposite chamber 31b, and the working oil in the rod-side chamber 31a is discharged to the fluid tank port T, causing the hydraulic cylinder 30 to extend.

[0032] On the outer surface of the cylinder body 32, in addition to forming the pump port P and the fluid tank port T, a supply and discharge port 38 is formed in an open manner, which can selectively connect to the pump 3 and the fluid tank 4. The supply and discharge port 38 has a first supply and discharge port 38A communicating with the rod-side chamber 31a and a second supply and discharge port 38B communicating with the opposite side port 5d of the rod. The first supply and discharge port 38A and the second supply and discharge port 38B are connected to a control valve (not shown) located outside the module 101 via hoses and pipes. By the operation of the control valve, one of the first supply and discharge port 38A and the second supply and discharge port 38B is connected to the pump 3, and the other is connected to the fluid tank 4. In this embodiment, the first supply and discharge port 38A and the second supply and discharge port 38B are formed on one of the multiple outer surfaces of the cylinder body 32.

[0033] In addition to forming an oil passage 37, an oil passage 39 is also formed on the cylinder block 32, connecting the supply and exhaust ports 38 and the cylinder chamber 31. The oil passage 39 has: a first supply and exhaust passage 39a, which connects the first supply and exhaust port 38A and the rod-side chamber 31a; and a second supply and exhaust passage 39b, which connects the second supply and exhaust port 38B and the rod-opposite side chamber 31b. A portion of the first supply and exhaust passage 39a and a portion of the rod-side passage 37c are shared, and a portion of the second supply and exhaust passage 39b and a portion of the rod-opposite side passage 37d are shared.

[0034] With the first supply / discharge port 38A connected to the pump 3 and the second supply / discharge port 38B connected to the fluid tank 4, working oil is supplied to the rod-side chamber 31a, and working oil is discharged from the rod-side chamber 31b, causing the hydraulic cylinder 30 to retract. Conversely, with the second supply / discharge port 38B connected to the pump 3 and the first supply / discharge port 38A connected to the fluid tank 4, working oil is supplied to the rod-side chamber 31b, and working oil is discharged from the rod-side chamber 31a, causing the hydraulic cylinder 30 to extend.

[0035] As described above, a pump port P, a fluid tank port T, and a supply / discharge port 38 are formed on the cylinder block 32. When the pump port P and the fluid tank port T are in use, the supply / discharge port 38 is closed by a plug, and when the supply / discharge port 38 is in use, the pump port P and the fluid tank port T are closed by a plug.

[0036] Furthermore, as described above, a cylinder chamber 31 is formed inside the frame-shaped cylinder body 32, and oil passages 37c, 37d, 39a, and 39b are formed connecting the cylinder chamber 31, an oil passage 37a connecting the servo valve 5 and the pump 3, and an oil passage 37b connecting the servo valve 5 and the fluid tank 4. Therefore, since there is no need to provide hoses or piping for connecting the cylinder chamber 31 and the servo valve 5, the module 101 can be designed with a simple structure. The cylinder body 32 is formed of metal or resin depending on the rigidity required for its use as module 101. Although the cylinder body 32 has a complex structure with the cylinder chamber 31 and oil passages 37 and 39 formed inside, it can be easily manufactured by using 3D printing in the molding of the cylinder body 32.

[0037] like Figure 4 As shown, module 101 further includes: a servo valve 5; a sensor 6 as a state quantity detector, which detects the state quantity of module 101; and a controller 7, which controls the action of the servo valve 5 based on the detection result of the sensor 6, thereby controlling the movement of module 101. Thus, the servo valve 5, sensor 6, and controller 7 are provided for each module 101, and the hydraulic cylinder 30 is controlled independently. The servo valve 5, sensor 6, and controller 7 are disposed on the outer surface of the cylinder body 32 and housed within the housing 11.

[0038] In this embodiment, the sensor 6 includes: a linear encoder 6a, which detects the stroke of the hydraulic cylinder 30 as a state quantity of the module 101; and a pressure sensor 6b, which detects the pressure of the hydraulic cylinder 30 as a state quantity of the module 101.

[0039] Linear encoder 6a detects the stroke of piston rod 33b. The detection result of linear encoder 6a is used for position control of module 101. Controller 7 calculates the relative rotation angle of first link 10 and second link 20 based on the detection result of linear encoder 6a. Alternatively, instead of linear encoder 6a, a rotor encoder can be installed on the rotating shaft 1 to detect the relative rotation angle of first link 10 and second link 20.

[0040] As pressure sensor 6b, two sensors are provided: one for detecting the pressure in the rod-side chamber 31a and the other for detecting the pressure in the opposite-side chamber 31b. The detection result of pressure sensor 6b is used for load control of module 101. Alternatively, instead of pressure sensor 6b, a load sensor that detects the load acting on hydraulic cylinder 30 as a state quantity of module 101 can be provided in hydraulic cylinder 30.

[0041] The state variables of module 101 detected by sensor 6, besides the stroke of hydraulic cylinder 30, the relative rotation angle of the first connecting rod 10 and the second connecting rod 20, the pressure of hydraulic cylinder 30, and the load of hydraulic cylinder 30, can also be the stroke speed of hydraulic cylinder 30, the flow rate of working oil supplied to hydraulic cylinder 30, etc. The stroke speed of hydraulic cylinder 30 can be calculated from the detection result of linear encoder 6a, and the flow rate of working oil supplied to hydraulic cylinder 30 can be obtained by installing a flow sensor on hydraulic cylinder 30. The state variables of module 101 detected by sensor 6 can be appropriately selected according to the motion control of module 101. Next, refer to... Figure 5 The system structure of the modular robot 100 and module 101 is described below. Module 101 is constructed by modularizing the components of the first link 10, the second link 20, the hydraulic cylinder 30, the servo valve 5, the sensor 6, and the controller 7. In addition to module 101, the modular robot 100 also includes a pump 3 that supplies working oil to the hydraulic cylinder 30 and a fluid tank 4 that stores the working oil.

[0042] The controller 7 calculates the deviation between the command signal output from the output device 8 and the feedback signal from the sensor 6, and controls the servo valve 5 such that the deviation is zero. Thus, the controller 7 performs feedback control based on the detection results of the sensor 6. The output device 8 and the controller 7 are connected via wired or wireless means, and the controller 7 and the servo valve 5 are also connected via wired or wireless means.

[0043] The command signals output from the output device 8 are information that specifies the movement of the module 101. The command signals output from the output device 8 may be information directly input to the output device 8, information transmitted to the output device 8 via a communication line, information read from a storage medium, etc.

[0044] Next, mainly refer to Figures 1-4 The structure of the first link 10 and the second link 20 will be described in detail.

[0045] The cylinder body 32 is formed into a generally rectangular frame shape, and has six surfaces as its outer surface: an end face 32a for openings into the cylinder chamber 31, an end face 32b opposite to the end face 32a, a surface 32c on which the servo valve 5, sensor 6, and controller 7 are disposed, a back face 32d opposite to the surface 32c, and a pair of side faces 32e and 32f. Furthermore, although in Figure 4 as well as Figure 6 In the middle, the sides 32e and 32f are formed into steps, but they can also be flat surfaces.

[0046] Pump port P and fluid tank port T are formed on end face 32b and a pair of side faces 32e and 32f on the outer surface of cylinder 32. In addition, first supply and exhaust port 38A is formed on side face 32e on the outer surface of cylinder 32, and second supply and exhaust port 38B is formed on side face 32f on the outer surface of cylinder 32.

[0047] The outer casing 11 of the first connecting rod 10 includes: a pair of first plates 12a and 12b, which are fixed to a pair of side surfaces 32e and 32f of the cylinder body 32 in a surface-to-surface contact manner and are arranged parallel to each other; a second plate 13, which is fixed to the end face 32b of the cylinder body 32 in a surface-to-surface contact manner; and a third plate 14, which is arranged at a predetermined interval from the surface 32c of the cylinder body 32. The first plates 12a and 12b, the second plate 13, and the third plate 14 are joined together by fasteners such as screws. Furthermore, in Figure 1 The image shows the state after the first plate 12b, which is fixed to the side 32f of the cylinder body 32, has been removed.

[0048] A rotating shaft 1 is provided on a pair of first plates 12a and 12b in a manner that extends across both. A notch 70 is formed on the first plate 12a to expose the pump port P, the fluid tank port T, and the first supply / discharge port 38A. A notch 71 is formed on the first plate 12b to expose the pump port P, the fluid tank port T, and the second supply / discharge port 38B. Additionally, a notch 72 is formed on the second plate 13 to expose the pump port P and the fluid tank port T. Thus, the pump port P and the fluid tank port T are formed on three surfaces of the outer surface of the first connecting rod 10, while the first supply / discharge port 38A and the second supply / discharge port 38B are formed on one surface of the outer surface of the first connecting rod 10.

[0049] The first plates 12a, 12b, the second plate 13, and the third plate 14 are formed of metal or resin according to the rigidity required for their use as module 101. Alternatively, a portion of the first plates 12a, 12b, the second plate 13, and the third plate 14 may be formed of metal, and the remainder may be formed of resin.

[0050] On the first plates 12a and 12b, the second plate 13, and the third plate 14, a plurality of fastening holes 60 are formed at equal intervals for inserting fasteners for connecting modules 101 to each other. In this embodiment, six fastening holes 60 are formed on the first plates 12a and 12b, four on the second plate 13, and eight on the third plate 14. Alternatively, the plurality of fastening holes 60 may be spaced unequally.

[0051] like Figure 3As shown, no plate is fixed to the back surface 32d of the cylinder body 32, and the back surface 32d is formed in an exposed manner. The back surface 32d of the cylinder body 32, together with plates 12a, 12b, 13, and 14, constitutes part of the housing 11 of the first connecting rod 10. Similar to plates 12a, 12b, 13, and 14, a plurality of fastening holes 60 are formed at equal intervals on the back surface 32d for fasteners for connecting modules 101 to each other. In this embodiment, four fastening holes are formed on the back surface 32d. A plate 15 is provided between the first plates 12a and 12b in a manner arranged on the back surface 32d of the cylinder body 32. The plate 15 is used to close the opening on the back side of the first connecting rod 10. The plate 15 is not a necessary structure and can be omitted.

[0052] The cylinder body 32 is fixed to the first plates 12a and 12b, which are provided with the rotation shaft 1, and forms part of the first connecting rod 10. In other words, the first connecting rod 10 has a cylinder body 32 as a component of the hydraulic cylinder 30. The cylinder body 32 has the functions of forming a cylinder chamber 31 and oil passages 37 and 39 inside, and the function of a connecting rod. Therefore, the number of parts in the module 101 can be reduced, and the module 101 can be made into a simple structure. Although in this embodiment, the first plates 12a and 12b, the second plate 13, and the third plate 14 are formed separately and combined with each other, they can also be formed as a single integral part. Alternatively, the cylinder body 32, the first plates 12a and 12b, and the second plate 13 can also be formed as a single integral part. That is, it can also be configured as a single cylinder body composed of the cylinder body 32, the first plates 12a and 12b, and the second plate 13 of this embodiment. In this case, the third plate 14 functions as a cover for the housing 11, and only the third plate 14 is formed as a different part.

[0053] The second link 20 is formed in the shape of a flat plate. A bracket 21 is provided on the surface 20a of the second link 20 to support the rotating shaft 53 and the rotating shaft 1 so that they can rotate freely. On the inner side 20b of the second link 20, a plurality of fastening holes 60 are formed at equal intervals for fasteners to be inserted into the connecting modules 101. Figure 1 The spacing between the plurality of fastening holes 60 formed in the first link 10 and the spacing between the plurality of fastening holes 60 formed in the second link 20 are the same. Alternatively, the plurality of fastening holes 60 formed in the second link 20 may not be equally spaced. Furthermore, the shape of the second link 20 is not limited to a flat plate, as long as it is formed in a shape appropriate to the purpose of module 101.

[0054] Next, mainly refer to Figures 7-9 The connections between modules 101 are described in detail.

[0055] The two modules 101 are connected by a first link 10 or a second link 20 of the first module 101A and a first link 10 or a second link 20 of the second module 101B. Specifically, any one of the plates 12a, 12b, 13, 14 of the first module 101A, the back surface 32d of the cylinder 32, and the inner surface 20b of the second link 20 is designated as a connecting plate 80A. Similarly, any one of the plates 12a, 12b, 13, 14 of the second module 101B, the back surface 32d of the cylinder 32, and the inner surface 20b of the second link 20 is designated as a connecting plate 80B. With the connecting plates 80A and 80B in face-to-face contact, fasteners are inserted through the fastening holes 60 of both the connecting plates 80A and 80B, thereby connecting the connecting plates 80A and 80B. The fastener is, for example, a cylindrical tenon component that is pressed in through fastening holes 60 throughout the connecting plate 80A and the connecting plate 80B. Here, the plurality of fastening holes 60 formed in the first connecting rod 10 are equally spaced from each other, and the plurality of fastening holes 60 formed in the second connecting rod 20 are equally spaced from each other, and the spacing between the plurality of fastening holes 60 formed in the first connecting rod 10 and the plurality of fastening holes 60 formed in the second connecting rod 20 is the same. Therefore, the first connecting rod 10 or the second connecting rod 20 of the first module 101A and the first connecting rod 10 or the second connecting rod 20 of the second module 101B can be easily connected. Alternatively, the two modules 101 can be connected via an accessory instead of directly connecting them. In this case, it is preferable to clamp the accessory between the connecting plate 80A and the connecting plate 80B, and to connect the connecting plate 80A and the accessory by fasteners, and to connect the connecting plate 80B and the accessory by fasteners.

[0056] Reference Figure 7 as well as Figure 8 The connection example of the two modules 101A and 101B that constitute the modular robot 100 is explained. Figure 7 as well as Figure 8 The following explanation concerns the connection of two identical modules 101A and 101B. Here, in this specification, "identical module" means that the parts constituting the module are identical, and that the shapes and dimensions of these parts are the same. That is, identical modules can also be referred to as identical components.

[0057] Figure 7This example illustrates a back-side connection where the connecting plate 80A of the first module 101A and the connecting plate 80B of the second module 101B are both on the back side 32d of the cylinder body 32, and the back sides of the first module 101A and the second module 101B are connected to each other. Since the cylinder body 32 forms part of the first connecting rod 10 and has a fastening hole 60 formed on its back side 32d, the cylinder body 32 of the first module 101A and the first connecting rod 10 or the second connecting rod 20 of the second module 101B can be combined. Thus, the first connecting rod 10 and the second connecting rod 20 can be combined using the cylinder body 32, which forms part of the first connecting rod 10.

[0058] Figure 8 This example illustrates a series connection where the connecting plate 80A of the first module 101A is the inner 20b of the second link 20, and the connecting plate 80B of the second module 101B is the third plate 14 of the first link 10, with the first module 101A and the second module 101B connected in series. As another example of a series connection, the connecting plate 80A of the first module 101A can be set as the inner 20b of the second link 20, and the connecting plate 80B of the second module 101B can be set as the second plate 13 of the first link 10, with the first module 101A and the second module 101B connected. Alternatively, the connecting plate 80A of the first module 101A and the connecting plate 80B of the second module 101B can both be set as the inner 20b of the second link 20, with the first module 101A and the second module 101B connected.

[0059] exist Figure 7 as well as Figure 8 In the connection example shown, since the movements of the first module 101A and the second module 101B are in the same plane, the modular robot 100 performs two-dimensional motion as a whole. If the connecting plate 80A of the first module 101A is set as the first plate 12a of the first link 10, and the connecting plate 80B of the second module 101B is set as the back side of the cylinder 32 of the first link 10, and the first module 101A and the second module 101B are connected, then the modular robot 100 performs three-dimensional motion as a whole.

[0060] The above is an example of a connection method for two modules 101A and 101B, which are freely connected according to the desired movement of the modular robot 100. For example, the first plate 12a of the first link 10 of the first module 101A and the first plate 12b of the first link 10 of the second module 101B can be combined, and the first module 101A and the second module 101B can be connected side by side in the same orientation. In this case, by connecting the second link 20 of the first module 101A and the second module 101B to the driving object and synchronously controlling the hydraulic cylinders 30 of the first module 101A and the second module 101B, the output of the modular robot 100 can be amplified. In the case of side-by-side connection, the rotation axis 1 can also be common. Next, refer to Figure 9 An example of a modular robot 100 will be provided. Figure 9 The illustrated modular robot 100 shows an example of a footed robot constructed by connecting three identical modules 101A, 101B, and 101C in a manner corresponding to the ankle, knee, and hip joints, respectively. Specifically, the rotation axis 1 of each module 101A, 101B, and 101C corresponds to the ankle, knee, and hip joints, respectively. The second link 20 of module 101A functions as the foot. Each module 101 of the modular robot 100 constitutes a single-joint module, and the modular robot 100 as a whole has three degrees of freedom.

[0061] Modules 101A and 101B were Figure 8 The series connection shown indicates that modules 101B and 101C are... Figure 7 The back connection is shown.

[0062] The pump ports P of modules 101A, 101B, and 101C are connected in series via hoses and piping, and any one pump port P of modules 101A, 101B, and 101C is connected to pump 3. In this way, working oil supplied from pump 3 is supplied to each pump port P of modules 101A, 101B, and 101C. Additionally, the fluid tank ports T of modules 101A, 101B, and 101C are connected in series via hoses and piping, and any one fluid tank port T of modules 101A, 101B, and 101C is connected to fluid tank 4. In this way, each fluid tank port T of modules 101A, 101B, and 101C is connected to fluid tank 4.

[0063] Since the pump port P and the fluid tank port T are formed on three faces of the outer surface of the first link 10, the optimal pump port P and fluid tank port T can be used according to the connection method between modules 101 and taking into account the handling of hoses and piping.

[0064] In addition, when the extension and retraction of the hydraulic cylinder 30 is controlled by a control valve located outside the module 101 instead of using the servo valve 5, the pump port P and the fluid tank port T are closed by plugs, and the first supply and discharge port 38A and the second supply and discharge port 38B are connected to the control valve via hoses and piping.

[0065] The controllers 7 of modules 101A, 101B, and 101C cause the hydraulic cylinders 30 to extend and retract based on the detection results of the linear encoder 6a, and control the movement of modules 101A, 101B, and 101C in such a way that the relative rotation angle between the first link 10 and the second link 20 becomes the desired angle. Since the movement of each module 101A, 101B, and 101C is controlled independently, the posture of the modular robot 100 is controlled.

[0066] In addition, the controllers 7 of modules 101A, 101B, and 101C control the torque of each joint based on the detection results of the pressure sensor 6b. For example, gravity compensation control of each hydraulic cylinder 30 is implemented to eliminate the self-weight of the modular robot 100.

[0067] Modular Robot 100 is used as an autonomous walking robot, a robot installed on a person to support the person's walking and posture.

[0068] Alternatively, the modular robot 100 can also be used by fixing the second link 20 of module 101A to the ground, wall, or base. In this case, the second link 20 of module 101A can be fixed to the ground, wall, or base simply by means of a base plate. The second link 20 of module 101A is fixed to the surface of the base plate in a manner that allows for easy installation and removal, and the inside of the base plate is fixed to the ground, wall, or base by bolts or the like.

[0069] Modular robot 100 is not limited to Figure 9 The illustrated legged robot. For example, by fixing the second link 20 of module 101A to the ground or base, and by mounting brackets, rods, and handles as accessories on the second link 20 of module 101C, it is possible to create a modular robot 100 with other uses and functions. In addition to the configuration... Figure 9 In addition to the legged robot shown, humanoid robots and centipede robots can be constructed by connecting more modules 101. In this way, various robots corresponding to different uses and functions can be easily constructed simply by connecting multiple modules 101.

[0070] According to the above implementation method, the following effects are achieved.

[0071] By connecting multiple modules 101, each having a first link 10, a second link 20, and a hydraulic cylinder 30, a modular robot 100 suitable for various applications can be easily constructed. Furthermore, since the modular robot 100 can be constructed simply by connecting multiple modules 101, assembly is easy; and since it can be easily assembled and transported simply by being divided into individual modules 101 during transport, it is also easy to assemble and transport. Thus, a modular robot 100 that can be used for various applications and is easy to assemble and transport can be constructed.

[0072] Furthermore, the cylinder body 32 of the hydraulic cylinder 30, which has a cylinder chamber 31, forms part of the first connecting rod 10. Therefore, a module 101 with a fewer number of parts and a simpler structure can be obtained. Thus, a modular robot 100 with a simple structure can be obtained.

[0073] Furthermore, since the drive source for module 101 is hydraulic, the output weight ratio is higher compared to cases where the drive source is an electric motor. Therefore, even for applications requiring high output, the modular robot 100 can avoid becoming too large. Additionally, since the extension and retraction of the hydraulic cylinder 30 is controlled by the servo valve 5, the movement of module 101 can be controlled with high precision.

[0074] Hereinafter, variations of the above embodiments will be described. These variations are also within the scope of the present invention, and it is possible to combine these variations with the structures of the above embodiments or to combine these variations with each other. Furthermore, in the following descriptions of the variations, the same reference numerals are used to describe structures identical to those in the above embodiments.

[0075] (1) In the above embodiment, the module 101 was described as having one degree of freedom (single joint). Alternatively, the module may also have multiple degrees of freedom. In the case of multiple degrees of freedom, it is possible to simply increase the number of links or change the hydraulic cylinder to a two-link type.

[0076] (2) In the above embodiment, the form in which module 101 has a rotational degree of freedom has been described. Alternatively, the module may also have a form with multiple concurrent degrees of freedom. In this case, a hydraulic cylinder is provided between the first link and the second link, which are connected to each other in a sliding manner. Thus, the first link and the second link are not limited to being connected in a relatively rotational manner, as long as they are connected in a relatively movable manner.

[0077] (3) In the above embodiment, the configuration of connecting identical modules 101 has been described. Alternatively, the connected modules may not be identical (of the same specifications). For example, modules with different shapes and sizes of the first link may be connected, or modules including hydraulic cylinders with different stroke lengths may be connected. That is, as long as multiple modules of different specifications are prepared separately, the modules can be freely connected according to the desired movement of the modular robot and the purpose and function of the modular robot. However, by connecting multiple modules of the same specifications to form a modular robot, it is possible to manufacture the modular robot at a low cost.

[0078] (4) The third link 2 is not a necessary structure. The piston rod 33b of the hydraulic cylinder 30 and the second link 20 can be directly connected in a rotatable manner.

[0079] (5) Although the above embodiment describes a configuration in which the hydraulic cylinder 30 and the second connecting rod 20 are connected rotatably via the third connecting rod 2, the method of connecting the hydraulic cylinder 30 and the second connecting rod 20 is not limited thereto. For example, as... Figure 10 As shown, the first link 10 and the second link 20 can also be rotatably connected by a V-shaped link 90 that rotates around a rotation axis 91. In this case, one end of the third link 2 is rotatably connected to the slider 50, and the other end of the third link 2 is rotatably connected to the rotation axis 91 of the V-shaped link 90. ​​In this structure, the rotation axis 1 of the first link 10 and the second link 20 is located inside the V-shaped link 90. ​​As the first link 10 and the second link 20 rotate relative to each other, the angle of the V-shaped link 90 changes. Therefore, the stroke length of the hydraulic cylinder 30 can be shortened, and the hydraulic cylinder 30 can be made more compact.

[0080] (6) In the above embodiment, the pump port P and the fluid tank port T are formed on three of the plurality of outer surfaces of the cylinder body 32. However, it is sufficient that the pump port P and the fluid tank port T are formed on at least two of the plurality of outer surfaces of the cylinder body 32. Alternatively, the pump port P and the fluid tank port T may be formed on the back surface 32d of the cylinder body 32.

[0081] (7) In the above embodiment, the first supply and exhaust port 38A and the second supply and exhaust port 38B are formed on one surface of the outer surface of the cylinder block 32. However, the first supply and exhaust port 38A and the second supply and exhaust port 38B are formed on two or more surfaces of the outer surface of the cylinder block 32. Alternatively, in the above embodiment, the first supply and exhaust port 38A and the second supply and exhaust port 38B are formed on different surfaces of the cylinder block 32. Alternatively, the first supply and exhaust port 38A and the second supply and exhaust port 38B may also be formed on the same surface of the cylinder block 32.

[0082] (8) In the above embodiment, the cylindrical tenon component pressed into the first link 10 or the second link 20 of module 101A and the first link 10 or the second link 20 of module 101B in such a way as to cover the fastening holes 60 of connecting plate 80A and fastening holes 60 of connecting plate 80B has been described. However, the method of connecting the two links of module 101A and module 101B is not limited to this. For example, the two links may be connected by electromagnet or hydraulic clamp instead of using the tenon component.

[0083] (9) In the above embodiment, the configuration in which the connecting plate 80A of module 101A and the connecting plate 80B of module 101B are joined in a face-to-face contact manner has been described. Alternatively, a spacer may be clamped between the connecting plate 80A of module 101A and the connecting plate 80B of module 101B, and the modules 101A and 101B may be connected by the spacer. As a specific example, the cylinder body 32 of module 101A and the first connecting rod 10 or the second connecting rod 20 of module 101B may be joined by the spacer. By clamping the spacer, a gap can be provided between module 101A and module 101B.

[0084] (10) In the above embodiment, the configuration in which modules 101A and 101B are connected in a manner that prevents them from moving relative to each other has been described. Alternatively, modules 101A and 101B may be connected in a manner that allows them to move relative to each other. For example, modules 101A and 101B may be connected via a pin, and configured such that they can rotate or swing relative to each other with the pin as the center, or can rotate and swing relative to each other. In this configuration, a power source for rotating or swinging modules 101A and 101B relative to each other may also be provided.

[0085] (11) In the above embodiment, the control valve for controlling the supply and discharge of working oil from pump 3 to hydraulic cylinder 30 is described as a servo valve 5. The control valve is not limited to servo valve 5, and may also be an electromagnetically piloted control valve.

[0086] (12) In the above embodiments, the modular robot 100 was described as being configured by connecting multiple modules 101. However, the modular robot of the present invention is not limited to the structure of connecting multiple modules, and may also be configured by a single module.

[0087] (13)Reference Figure 11 The module 201 involved in the modified example of this embodiment will be described. Figure 11This is a schematic diagram of module 201. Module 201 includes: a second link 20A, which is rotatably connected to one end of the first link 10; a second link 20B, which is rotatably connected to the other end of the first link 10; a first hydraulic cylinder 30A (fluid pressure cylinder), which moves the first link 10 and the second link 20A relative to each other; a second hydraulic cylinder 30B (fluid pressure cylinder), which moves the first link 10 and the second link 20B relative to each other; a third link 202a, which is rotatably connected to the piston rod 205a of the second link 20A and the first hydraulic cylinder 30A; and a third link 202b, which is rotatably connected to the piston rod 205b of the second link 20B and the second hydraulic cylinder 30B. Linear guides 204a and 204b, which guide the linear movement of the piston rods 205a and 205b of the first hydraulic cylinder 30A and the second hydraulic cylinder 30B, are provided along the first connecting rod 10. The first hydraulic cylinder 30A and the second hydraulic cylinder 30B are connected to the first connecting rod 10 when they are facing opposite directions to each other, and are connected to the first connecting rod 10 in a non-rotatable manner, similar to the embodiment described above. That is, the respective cylinder bodies 203a and 303b of the first hydraulic cylinder 30A and the second hydraulic cylinder 30B constitute part of the first connecting rod 10.

[0088] When the first hydraulic cylinder 30A extends or retracts, the first link 10 and the second link 20A rotate relative to each other around the rotation axis 1a. When the second hydraulic cylinder 30B extends or retracts, the first link 10 and the second link 20B rotate relative to each other around the rotation axis 1b. Thus, module 201 has two degrees of rotational freedom centered on rotation axes 1a and 1b, and performs two-dimensional motion as a whole. Furthermore, multiple modules 201 can be connected to form a modular robot.

[0089] Alternatively, the cylinder body 203a of the first hydraulic cylinder 30A and the cylinder body 203b of the second hydraulic cylinder 30B can be integrally formed. In this case, the cylinder chamber 31A of the first hydraulic cylinder 30A and the cylinder chamber 31B of the second hydraulic cylinder 30B are formed on the integrally formed cylinder body with openings facing opposite directions to each other.

[0090] (14)Reference Figure 12A and Figure 12B The module 301 involved in the modified example of this embodiment will be described. Figure 12A This is a plan view of module 301. Figure 12BThis is a side view of module 301. Module 301 includes: a first link 10 and a second link 20, which are connected to be rotatably rotatable relative to each other; a first hydraulic cylinder 30A (fluid pressure cylinder) and a second hydraulic cylinder 30B (fluid pressure cylinder) that move the first link 10 and the second link 20 relative to each other. The first hydraulic cylinder 30A and the second hydraulic cylinder 30B are connected to the first link 10 when they are facing the same direction as each other, and are connected to the first link 10 in a non-rotatable manner, similar to the above embodiment. That is, the respective cylinder bodies 307a and 307b of the first hydraulic cylinder 30A and the second hydraulic cylinder 30B constitute part of the first link 10.

[0091] The first link 10 and the second link 20 are connected in a rotatable manner in any direction via a ball joint 308. Module 301 also includes a pair of third links 302a and 302b. One end of the third links 302a and 302b is rotatably connected to the piston rods 309a and 309b of the first hydraulic cylinder 30A and the second hydraulic cylinder 30B, respectively. The other ends of the third links 302a and 302b are rotatably connected to the second link 20 via ball joints 306a and 306b, respectively. A linear guide 303, which guides the linear movement of the piston rods 309a and 309b of the first hydraulic cylinder 30A and the second hydraulic cylinder 30B, is provided along the first link 10.

[0092] When the first hydraulic cylinder 30A and the second hydraulic cylinder 30B extend and retract in opposite directions, the second connecting rod 20... Figure 12A The rotation is centered on the ball joint 308 during the main view shown. Specifically, when the first hydraulic cylinder 30A retracts and the second hydraulic cylinder 30B extends, the second connecting rod 20... Figure 12A As shown in the main view, the rotation is clockwise with the ball joint 308 as the center. When the first hydraulic cylinder 30A extends and the second hydraulic cylinder 30B retracts, the second connecting rod 20... Figure 12A The main view shown rotates counterclockwise with the ball joint 308 as the center. On the other hand, when the first hydraulic cylinder 30A and the second hydraulic cylinder 30B extend and retract in the same direction, the second connecting rod 20... Figure 12B As shown in the side view, rotation is centered on the ball joint 308. Specifically, when the first hydraulic cylinder 30A and the second hydraulic cylinder 30B extend, the second connecting rod 20... Figure 12B When viewed from the side, the rotation is clockwise with the ball joint 308 as the center. When the first hydraulic cylinder 30A and the second hydraulic cylinder 30B retract, the second connecting rod 20... Figure 12BWhen viewed from the side, the module 301 rotates counterclockwise around the ball joint 308. Thus, module 301 possesses two rotational degrees of freedom centered on two orthogonal axes, enabling three-dimensional motion as a whole. Furthermore, multiple modules 301 can be connected to form a modular robot.

[0093] (15) Although the above embodiment describes a hydraulic cylinder 30 with working oil as the working fluid, other fluids such as working water can be used instead of working oil. Alternatively, an air pressure cylinder driven by compressed air can be used instead of the hydraulic cylinder 30. In other words, any actuator that moves the first link 10 and the second link 20 relative to each other can be a hydraulic cylinder.

[0094] (16)Reference Figure 13 The modular robot 200 according to a variation of this embodiment will be described. In the above embodiment, the configuration in which the modules 101 are connected to each other by fasteners was described. Alternatively, a portion of each module 101 of the modular robot 200 is integrally formed. The modular robot 200 consists of four modules 101A, 101B, 101C, and 101D. A portion of the cylinder 32 of the four modules 101A, 101B, 101C, and 101D is integrally formed. That is, the cylinder 32 of the four modules 101A, 101B, 101C, and 101D is formed as a common single part. Furthermore, as Figure 13 As shown, the first link 10 of the four modules 101A, 101B, 101C, and 101D can also be integrally formed with the cylinder body 32. The modular robot 200 has four degrees of freedom composed of the four modules 101A, 101B, 101C, and 101D. It is also possible to add [something] to the modular robot 200... Figure 13 Two modules are integrally formed vertically on the paper, creating a modular robot with six degrees of freedom. Alternatively, multiple modular robots 200 can be connected via fasteners.

[0095] The structure, function, and effects of the embodiments of the present invention are summarized and explained below.

[0096] The modular robot 100 includes: a first link 10; a second link 20 connected to the first link 10 in a relatively movable manner; and a hydraulic cylinder 30 (fluid pressure cylinder, liquid pressure cylinder) that causes the first link 10 and the second link 20 to move relative to each other, wherein the first link 10 has a cylinder body 32 with a cylinder chamber 31 formed by the hydraulic cylinder 30.

[0097] In this structure, the cylinder body 32 of the hydraulic cylinder 30, which has a cylinder chamber 31, forms part of the first connecting rod 10. Therefore, a module 101 with a smaller number of parts and a simpler structure can be obtained. Thus, a modular robot 100 with a simple structure can be obtained.

[0098] The modular robot 100 is composed of multiple modules 101 connected together. Each module 101 has a first link 10, a second link 20, and a hydraulic cylinder 30. Two modules 101A and 101B are connected by the first link 10 or the second link 20 of the first module 101A and the first link 10 or the second link 20 of the second module 101B. The cylinder 32 of the first module 101A can be connected with the first link 10 or the second link 20 of the second module 101B.

[0099] In this structure, when multiple modules 101 are connected to form a modular robot 100, the first link 10 and the second link 20 can be combined using the cylinder 32 that forms part of the first link 10.

[0100] In addition, the modular robot 200 is composed of multiple modules 101, with a portion of each module 101 being integrally formed.

[0101] In this structure, the effort of connecting modules 101 to each other via fasteners can be omitted.

[0102] In addition, at least two of the multiple outer surfaces of the cylinder 32 are provided with a pump port P that can be connected to the pump 3 (liquid pressure supply source) and a fluid tank port T that can be connected to the fluid tank 4.

[0103] In this structure, the optimal pump port P and fluid tank port T can be used according to the connection configuration of the modules 101.

[0104] Additionally, an oil passage 37 is formed on the cylinder block 32, connecting the pump port P, the fluid tank port T, and the cylinder chamber 31.

[0105] Since in this structure, in addition to forming the cylinder chamber 31, an oil passage 37 connecting the pump port P and the fluid tank port T to the cylinder chamber 31 is also formed on the cylinder block 32, no piping connected to the cylinder chamber 31 is required, and the module 101 can be set to a simple structure.

[0106] In addition, at least two of the multiple outer surfaces of the cylinder body 32 are formed with a pump port P that can be connected to the pump 3 (hydraulic supply source) and a fluid tank port T that can be connected to the fluid tank 4. The module 101 also includes: a sensor 6 (state quantity detector) that detects the state quantity of the module 101; a servo valve 5 (control valve) that controls the connection between the pump port P and the fluid tank port T and the cylinder chamber 31; and a controller 7 that controls the action of the servo valve 5 based on the detection result of the sensor 6 and controls the movement of the module 101.

[0107] In this structure, the movement of module 101 can be controlled independently.

[0108] In addition, a supply and discharge port 38 is formed on the outer surface of the cylinder body 32, which can be selectively connected to the pump 3 and the fluid tank 4. An oil passage 39 is formed on the cylinder body 32 to connect the supply and discharge port 38 and the cylinder chamber 31.

[0109] In this structure, the use of pump port P, fluid tank port T, and supply / discharge port 38 can be appropriately selected according to the shape of the modular robot 100.

[0110] In addition, the modular robot 100 is constructed by connecting at least two identical modules 101.

[0111] This structure enables the low-cost manufacture of modular robots 100.

[0112] Additionally, a fastening hole 60 is formed on the cylinder body 32 of the first module 101A for inserting a fastener that is used to engage with the first connecting rod 10 or the second connecting rod 20 of the second module 101B.

[0113] Since the cylinder 32 forms part of the first connecting rod 10 in this structure, a module 101 with a smaller number of parts and a simpler structure can be obtained.

[0114] The embodiments of the present invention have been described above. However, the above embodiments are merely some examples of the application of the present invention and are not intended to limit the technical scope of the present invention to the specific structures of the above embodiments.

[0115] This application claims priority based on Japanese Patent Application 2020-167735, filed with the Japan Patent Office on October 2, 2020, the entire contents of which are incorporated herein by reference.

Claims

1. A modular robot, wherein the modular robot is configured by linking a plurality of modules, the modules each have: a first link; a second link linked to the first link in a manner that allows relative movement; a fluid pressure cylinder that causes the first link and the second link to move relatively, the first link has a cylinder body in which a cylinder chamber of the fluid pressure cylinder is formed, the fluid pressure cylinder is a hydraulic cylinder, pump ports connectable to a hydraulic pressure supply source and a fluid tank port connectable to a fluid tank are formed in at least two of a plurality of outer surfaces of the cylinder body, an outer shell of the first link has: a pair of first plates each fixed to a pair of side surfaces of the cylinder body; and a third plate coupled to the pair of first plates and disposed at a predetermined interval from a surface of the cylinder body, the modules each further have: a state quantity detector that detects a state quantity of the module; a control valve that controls communication of the pump ports and the fluid tank port with the cylinder chamber; a controller that controls operation of the control valve based on a detection result of the state quantity detector, thereby controlling movement of the module, the state quantity detector, the control valve, and the controller are disposed in the interval between the third plate and the surface of the cylinder body.

2. The modular robot according to claim 1, wherein two of the modules are linked by coupling the first link or the second link of one first module and the first link or the second link of another second module.

3. The modular robot according to claim 2, wherein the cylinder body of the first module is couplable to the first link or the second link of the second module.

4. The modular robot according to claim 1, wherein the modular robot is configured by a plurality of modules that are integrally formed in part with each other.

5. The modular robot according to claim 1, wherein a passage that connects the pump ports and the fluid tank port with the cylinder chamber is formed in the cylinder body.

6. The modular robot according to claim 1, wherein a supply / drain port that is selectively connectable to a hydraulic pressure supply source and a fluid tank is formed in an outer surface of the cylinder body, a passage that connects the supply / drain port with the cylinder chamber is formed in the cylinder body.

7. The modular robot according to claim 1, wherein the modular robot is configured by linking at least two identical modules.

8. The modular robot according to claim 3, wherein a fastening hole into which a fastener for coupling the first link or the second link of the second module is inserted is formed in the cylinder body of the first module.

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