Robot

Abstract

The robot (1) is operated in water and is provided with a main body upper part (3) located at the upper part of a robot main body (2) and a main body lower part (4) located at the lower part of the robot main body (2), the buoyancy of the main body upper part (3) is relatively large relative to the main body lower part (4), and the weight of the main body upper part (3) and the main body lower part (4) is relatively large relative to the main body upper part (3). The main body upper part (3) and the main body lower part (4) are connected by a plurality of links (5L, 5R, 6L, 6R) and a connecting part (7), and the connecting part (7) is provided with joints (8A, 8P) capable of rotating in the pitch direction and the roll direction of the robot main body (2).

Description

Technical Field

[0001] The present invention relates to robots.

[0002] The present application claims priority based on Japanese Patent Application No. 2023-029174 filed in Japan on February 28, 2023, the contents of which are incorporated herein by reference. Background Art

[0003] For example, Non-Patent Document 1 discloses a robot equipped with a parallel link and two separate floats. The float is divided into two at the top of the robot. In this robot, the robot's posture (pitch angle or roll angle) is changed by controlling the movement of the two floats.

[0004] Prior art literature

[0005] Non-patent literature

[0006] Non-patent document 1: Norimitsu Sakagami, Mizuho Shibata, Tomohiro Ueda, Kensei Ishizu, Kenshiro Yokoi, and Sadao Kawamura, "Numerical and Experimental Analysis of Portable Underwater Robots with a Movable Float Device", Journal of Robotics and Mechatronics Vol.33No.6, 2021 Summary of the Invention

[0007] Summary of the Invention

[0008] Problems to be solved by the invention

[0009] However, in a structure in which the float is divided into two at the upper portion of the robot, when the robot collides with an obstacle or the like, there is a high possibility that the float (a part of the robot) will be damaged.

[0010] Therefore, it is desired to improve the robustness of the robot.

[0011] In order to solve the above-mentioned problems, the present application aims to improve the robustness of a robot.

[0012] Solutions to Problems

[0013] As a solution to the above-mentioned problem, the present invention has the following configuration.

[0014] (1) The robot of the solution of the present invention is a robot that operates in water, and comprises: an upper body portion, which is located at the upper part of the robot body; and a lower body portion, which is located at the lower part of the robot body, wherein the buoyancy of the upper body portion is relatively large relative to the lower body portion, and the weight of the lower body portion is relatively large relative to the upper body portion, and the upper body portion and the lower body portion are connected by a plurality of connecting rods and connecting parts, and the connecting parts have joints that can rotate in the pitch direction and the roll direction of the robot body.

[0015] (2) In the robot described in (1) above, a plurality of the links may be arranged parallel to each other.

[0016] (3) The robot described in (1) or (2) above may include an actuator capable of rotating the link in the pitch direction and the roll direction at at least one of the plurality of joints.

[0017] (4) In the robot described in any one of (1) to (3) above, the upper part of the main body and the lower part of the main body may have a rectangular shape or a diamond shape when viewed from above, and the plurality of connecting rods may extend in a manner of being bridged over the four upper corners of the upper part of the main body and the four lower corners of the lower part of the main body.

[0018] (5) The robot described in any one of (1) to (4) above may also be provided with a manipulator and a power supply system, wherein the manipulator is arranged on one side of the lower portion of the main body in the longitudinal direction, and the power supply system is arranged on the other side of the lower portion of the main body in the longitudinal direction.

[0019] Effects of the Invention

[0020] The robot described in (1) above according to the present invention is a robot that operates in water, and comprises: an upper main body, which is located at the upper part of the robot main body; and a lower main body, which is located at the lower part of the robot main body, wherein the buoyancy of the upper main body is relatively large relative to the lower main body, and the weight of the lower main body is relatively large relative to the upper main body, and the upper main body and the lower main body are connected by a plurality of connecting rods and connecting parts, and the connecting parts have joints that can rotate in the pitch direction and roll direction of the robot main body, thereby achieving the following effects.

[0021] The robot body is composed of an upper body portion and a lower body portion, so the upper and lower parts of the robot body can be made into an integrated structure, thereby improving the robustness of the robot.

[0022] Furthermore, the posture of the robot body can be changed by moving the joints of the connection parts. Therefore, even when adding devices to the robot, it does not take time to adjust the static posture.

[0023] According to the robot described in the above (2) of the present invention, the plurality of links are arranged parallel to each other, thereby achieving the following effects.

[0024] For example, if the upper and lower body parts are connected by a two-link or trapezoidal four-bar linkage, the movement direction of the upper body forms a circular trajectory. Therefore, in order to increase the horizontal movement, it is necessary to set the virtual rotation center below (farther away from) the robot body.

[0025] For example, when the upper and lower body parts are connected by an XY sliding mechanism, the upper body part's movement direction becomes a highly fixed horizontal direction. Therefore, the horizontal movement amount and the distance between the upper and lower body centers (the distance between the two points) are relatively large, making the posture more stable. It should be noted that the upper and lower body centers are simply used to account for the positional changes of the center of buoyancy and center of gravity of the body, both individually and as a whole, when the arms are not in use.

[0026] In contrast, with this structure, the upper and lower parts of the main body are connected by a parallel link. Therefore, the movement of the upper part of the main body becomes a swinging motion at the top dead center, which is the joint center of the lower part of the parallel link. Furthermore, the upper part of the main body moves parallel to the lower part. Therefore, the horizontal movement is relatively large. This is achieved with a simple structure, thus preventing the robot from becoming too large.

[0027] According to the robot described in the above (3) of the present invention, at least one of the plurality of joints includes an actuator capable of rotating the link in the pitch direction and the roll direction, thereby achieving the following effects.

[0028] By driving the actuators, multiple links can be rotated synchronously, thus making it possible to change the posture of the robot simply and smoothly.

[0029] According to the robot described in (4) above of the present invention, the upper part of the main body and the lower part of the main body have a rectangular shape or a diamond shape when viewed from above, and a plurality of connecting rods extend in a manner of being bridged on the four upper corners of the upper part of the main body and the four lower corners of the lower part of the main body, thereby achieving the following effects.

[0030] The robot's main body's outer shape can be formed by multiple connecting rods extending from the upper and lower parts of the main body, each at the four corners. Therefore, compared to a case where multiple connecting rods extend from the upper and lower parts of the main body to the four central locations on the upper side and the four central locations on the lower side of the main body, it is easier to expand the robot's internal space. For example, even if equipment is installed in the robot's internal space, the freedom to configure the equipment can be increased. Furthermore, the multiple connecting rods extending from the upper and lower parts of the main body, each at the four corners, can protect the aforementioned equipment from external factors.

[0031] According to the robot described in (5) above of the present invention, it also has a manipulator and a power supply system. The manipulator is arranged on one side of the lower part of the main body in the longitudinal direction, and the power supply system is arranged on the other side of the lower part of the main body in the longitudinal direction, thereby achieving the following effects.

[0032] For example, the manipulator and the power supply system are relatively heavy objects among the equipment of the robot. Therefore, if the manipulator and the power supply system are all installed on one side of the longitudinal direction of the lower part of the main body, the weight balance of the robot may become unstable.

[0033] In contrast, according to this configuration, the heavy-duty manipulator and the power supply system are located on opposite sides of the lower body in the longitudinal direction, making it easier to stabilize the weight balance of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a perspective view of the robot according to the first embodiment.

[0035] Figure 2 This is a front view of the robot according to the first embodiment.

[0036] Figure 3 This is a left side view of the robot according to the first embodiment.

[0037] Figure 4 is included Figure 2 Left side view of section IV-IV.

[0038] Figure 5 yes Figure 4 Magnified view of the V portion.

[0039] Figure 6 yes Figure 4 An enlarged view of part VI.

[0040] Figure 7 is included Figure 3 Top view of section VII-VII.

[0041] Figure 8 yes Figure 7An enlarged view of part VIII.

[0042] Figure 9 yes Figure 7 Magnified view of section IX.

[0043] Figure 10 is included Figure 3 Bottom view of section XX.

[0044] Figure 11 It is an explanatory diagram of the rolling motion of the robot according to the first embodiment.

[0045] Figure 12 It is an explanatory diagram of the pitching motion of the robot according to the first embodiment.

[0046] Figure 13 It is an explanatory diagram of the posture change of the robot according to the first embodiment.

[0047] Figure 14 It is an explanatory diagram of the posture change of the double-link robot according to the second embodiment.

[0048] Figure 15 It is an explanatory diagram of a trapezoidal four-bar linkage robot according to a second embodiment.

[0049] Figure 16 It is an explanatory diagram of the posture change of the robot according to the third embodiment. DETAILED DESCRIPTION

[0050] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, as an example of a robot, a robot (ROV: Remote Operating Vehicle) that operates in the sea (an example in water) by remote control via wired communication will be cited for description. In the following description, expressions such as "parallel", "orthogonal", "center", "coaxial", etc. that indicate relative or absolute configurations not only strictly mean such configurations, but also include states of relative displacement with tolerances, angles, and distances to the extent that the same function can be obtained. In the drawings used for the following description, the scale of each component is appropriately changed to make each component a recognizable size.

[0051] <First embodiment>

[0052] <Robot>

[0053] Refer to Figures 1 to 3 、 Figure 7 and Figure 10 The robot 1 includes a robot body 2 as a main body portion of the robot 1 . The robot body 2 includes an upper body portion 3 located above the robot body 2 and a lower body portion 4 located below the robot body 2 .

[0054] In the following description, the direction in which the robot 1 is moving is referred to as "front," the direction opposite to the front is referred to as "rear," the right direction relative to the direction in which the robot 1 is moving is referred to as "right side," the left direction relative to the direction in which the robot 1 is moving is referred to as "left side," and the left-right direction of the robot 1 is referred to as "width direction." The vertical direction of the robot 1 is a direction perpendicular to the front-back direction and width direction of the robot 1. The upper side of the robot 1 is the side in the vertical direction of the robot 1 where the upper body portion 3 is located. The lower side of the robot 1 is the side opposite to the side in the vertical direction where the upper body portion 3 is located (the side where the lower part of the robot 1 is located). In the example shown in the accompanying drawings, the robot 1 is arranged horizontally. The vertical direction of the robot 1, the upper side of the robot 1, and the lower side of the robot 1 are respectively consistent with the vertical direction (vertical direction), vertical upper side, and vertical lower side of the robot 1 when the robot 1 is arranged horizontally. In the following description, the symbol L may be appended to the end of an element on the left side of the robot 1, and the symbol R may be appended to the end of an element on the right side.

[0055] <Upper body>

[0056] The upper body portion 3 is located above the robot body 2. The upper body portion 3 has a relatively greater buoyancy than the lower body portion 4. The upper body portion 3 has a rectangular shape when viewed from above. For example, to maintain the robot 1 in a horizontal position, stabilizers and buoyancy members may be provided on the upper body portion 3. For example, the configuration of the stabilizers and buoyancy members can be modified according to design specifications.

[0057] An upper thruster 10 (hereinafter also referred to as the "upper thruster 10") is provided on the upper body portion 3 for moving the robot 1 in the vertical direction. One upper thruster 10 is located at the center of the upper body portion 3 in both the front-to-back direction and the width direction. It should be noted that the number and location of the upper thrusters 10 are not limited to the examples above and can be changed according to design specifications.

[0058] The upper thruster 10 includes propellers that rotate about the axis above and below the upper body portion 3. For example, the upper thruster 10 rotates the propeller in one direction about the axis to move the robot 1 upward (ascend). For example, the upper thruster 10 rotates the propeller in the other direction about the axis to move the robot 1 downward (descend).

[0059] The upper part 3 of the main body is provided with a mounting portion 11 for a power line for transmitting power to the components of the robot 1 and a signal line (not shown) for transmitting signals. In the upper part 3 of the main body, a through hole 12 for the power line and the signal line to pass through is formed on the front or rear side of the mounting portion 11. In the example of the accompanying drawings, the mounting portion 11 is provided at the rear part of the upper part 3 of the main body. It should be noted that the location where the mounting portion 11 is provided is not limited to the above example and can be changed according to the design specifications. Although not shown in the figure, a posture detection sensor (for example, a gyro sensor, etc.) that detects the posture of the robot 1 (rotation, orientation, etc. relative to the front-back direction, width direction, and up-down direction) can also be provided near the mounting portion 11. For example, the posture detection sensor can be provided at a location where an arm is installed.

[0060] <Lower body>

[0061] The lower body portion 4 is located below the robot body 2. Compared to the upper body portion 3, the lower body portion 4 is relatively heavy and has a relatively small buoyancy (volume). The lower body portion 4 has a rectangular shape when viewed from above. For example, a weight can be placed on the lower body portion 4 to maintain the robot 1 horizontally and to increase its weight compared to the upper body portion 3. For example, the placement of the weight can be modified according to design specifications.

[0062] The lower body 4 includes a frame 20 having a rectangular shape when viewed from above. The frame 20 has a rectangular shape that is long in the front-to-back direction. An opening 21 is formed in the portion of the frame 20 that overlaps with the upper thruster 10 when viewed from above. A bracket 22 that is long in the width direction is provided at the lower front portion of the frame 20.

[0063] A plurality of lower thrusters 23L, 23R, 24L, 24R are provided at the lower portion 4 of the main body for moving the robot 1 in the forward and backward directions and in the width direction. The plurality of lower thrusters 23L, 23R, 24L, 24R are four thrusters (equivalent to four horizontal thrusters) consisting of a left and right pair of front thrusters 23L, 23R for moving the robot 1 in the forward direction or the width direction and a left and right pair of rear thrusters 24L, 24R for moving the robot 1 in the backward direction or the width direction. For example, four thrusters can be used simultaneously to move forward, backward, left and right. For example, if one side is rotating forward in the forward and backward direction or in the width direction, the opposite side can be rotating in reverse. It should be noted that the number of lower thrusters 23L, 23R, 24L, 24R, the location of the lower thrusters, and the method of operation are not limited to the above examples and can be changed according to the design specifications.

[0064] The front propellers 23L and 23R are arranged at the front of the frame 20. The front propellers 23L and 23R have propellers that rotate around an axis and are tilted so as to be located outward in the width direction as they move from the front of the lower body 4 toward the rear. For example, the front propellers 23L and 23R move the robot 1 forward by rotating the propellers in one direction around the axis. For example, by rotating the propeller of one of the left and right pair of front propellers 23L and 23R, the robot 1 moves in one direction (tilted direction) in the width direction. For example, by rotating the propeller of the other of the left and right pair of front propellers 23L and 23R, the robot 1 moves in the other direction (tilted direction) in the width direction. For example, the front and rear propellers can be used simultaneously to move in the width direction. It should be noted that the front propellers 23L and 23R can be arranged so as to be able to rotate around an axis above and below the lower body 4. For example, the arrangement of the front propellers 23L and 23R can be changed according to design specifications.

[0065] The rear propellers 24L and 24R are arranged at the rear of the frame 20. The rear propellers 24L and 24R have propellers that rotate around an axis and are tilted so as to be located outside in the width direction as they move from the rear of the lower body 4 toward the front. For example, the rear propellers 24L and 24R cause the robot 1 to move backward by rotating the propellers in one direction around the axis. For example, the robot 1 can be moved in one direction (tilted direction) in the width direction by rotating the propeller of one of the left and right rear propellers 24L and 24R. For example, the robot 1 can be moved in another direction (tilted direction) in the width direction by rotating the propeller of the other of the left and right rear propellers 24L and 24R. For example, the front and rear propellers can be used simultaneously to move in the width direction. It should be noted that the rear propellers 24L and 24R can be arranged so as to be able to rotate around an axis above and below the lower body 4. For example, the arrangement of the rear propellers 24L and 24R can be changed according to design specifications.

[0066] Propeller drive units 25L and 25R are provided on the lower portion 4 of the main body for applying driving force (rotational force to each propeller) to the propellers 10, 23L, 23R, 24L, and 24R. In the example shown in the drawings, a pair of propeller drive units 25L and 25R are provided on the left and right sides of the front portion of the frame 20. It should be noted that the number and location of the propeller drive units 25L and 25R are not limited to the above example and can be changed according to design specifications.

[0067] Although not shown, a thruster control device for controlling the thruster drive devices 25L and 25R may be installed in the front portion of the frame 20. For example, the thruster control device may be built into the thruster drive devices 25L and 25R. It should be noted that the location of the thruster control device is not limited to the above example and can be changed according to design specifications.

[0068] A camera 26 is provided on the lower portion 4 of the main body. In the example shown in the drawings, one camera 26 is located at the front of the frame 20, between the left and right pair of thruster drive units 25L and 25R. It should be noted that the number and placement of cameras 26 are not limited to the above example and can be varied according to design specifications.

[0069] A pair of left and right robots 30L and 30R are provided on the main body lower portion 4 . The robots 30L and 30R include arms 31 and hands 32 .

[0070] The arm 31 is composed of a combination of a joint and a connecting rod. The base end of the arm 31 is connected to the widthwise outer end of the bracket 22. The base end of the arm 31 is connected to the frame 20 via the bracket 22. For example, the arm 31 has six rotation axes. It should be noted that the rotation axes of the arm 31 are not limited to the above examples and can be changed according to design specifications.

[0071] The hand 32 is provided at the distal end of the arm 31 (the portion of the arm 31 opposite the base end). The hand 32 can grasp an object. In the example shown in the accompanying drawings, the hand 32 has three fingers. It should be noted that the number of fingers provided is not limited to the above example and can be changed according to design specifications.

[0072] In the example shown in the accompanying drawings, the manipulators 30L and 30R are U-shaped with their widthwise inner sides open when viewed from the front, but this is not limiting. For example, when the robot 1 moves in the front-to-back direction, the manipulators 30L and 30R can be straight lines along the front-to-back direction. This reduces resistance during the front-to-back movement of the robot 1, ensuring smoother movement.

[0073] Position detection sensors 35 are provided on the lower portion 4 of the main body to detect the position of the robot 1 (e.g., the distance from the seabed to the robot 1). For example, the position detection sensors 35 are ultrasonic sensors. In the example shown in the accompanying drawings, one position detection sensor 35 is located at the front of the frame 20, between the pair of left and right manipulators 30L and 30R. The number and placement of the position detection sensors 35 are not limited to the examples above and can be varied according to design specifications.

[0074] Power supply systems 36 and 37 are provided in the lower portion 4 of the main body. In the example shown in the drawings, each power supply system 36 and 37 is provided at the rear portion of the frame 20. It should be noted that the number and location of the power supply systems 36 and 37 are not limited to the above example and can be changed according to design specifications.

[0075] The lower portion 4 of the main body may be provided with a weight setting area 38 for setting weights (see Figure 7 In the example of the drawings, the weight setting area 38 is set at the rear side of the power supply system 37 at the rear part of the frame 20. It should be noted that the setting location of the weight setting area 38 can be changed according to the design specifications.

[0076] As described above, the robot 1 includes manipulators 30L and 30R, and power supply systems 36 and 37. The manipulators 30L and 30R are located at the front portion (one side in the longitudinal direction) of the lower body 4. The power supply systems 36 and 37 are located at the rear portion (the other side in the longitudinal direction) of the lower body 4. The manipulators 30L and 30R are located on the opposite side of the lower body 4 in the longitudinal direction, across the opening 21, from where the power supply systems 36 and 37 are located.

[0077] <Connecting rod>

[0078] The upper body portion 3 and the lower body portion 4 are connected by a connecting portion 7 and a plurality of connecting rods 5L, 5R, 6L, and 6R. The connecting rods 5L, 5R, 6L, and 6R are arranged parallel to each other. The connecting rods 5L, 5R, 6L, and 6R extend so as to bridge the four upper corners of the upper body portion 3 and the four lower corners of the lower body portion 4.

[0079] The multiple connecting rods 5L, 5R, 6L, and 6R are four connecting rods: a pair of left and right front connecting rods 5L and 5R, and a pair of left and right rear connecting rods 6L and 6R. The upper body 3 and the lower body 4 are connected in parallel by the four connecting rods 5L, 5R, 6L, and 6R. It should be noted that the number and location of the connecting rods 5L, 5R, 6L, and 6R are not limited to the above examples and can be changed according to design specifications.

[0080] <Joints>

[0081] The connecting portion 7 includes joints 8A and 8P that are rotatable in the pitch and roll directions of the robot body 2. Joints 8A and 8P are provided at the upper and lower ends of the four links 5L, 5R, 6L, and 6R, for a total of eight joints. It should be noted that the number of joints 8A and 8P provided is not limited to the example above and can be varied according to design specifications.

[0082] The robot 1 has an actuator 9 at one joint 8A (an example of at least one joint) of the eight joints 8A and 8P. This actuator 9 is capable of rotating the links 5L, 5R, 6L, and 6R in the pitch and roll directions. The actuator 9 is provided at the joint 8A at the lower end of the left rear link 6L among the four links 5L, 5R, 6L, and 6R. Actuators 9 are not provided at the joints 8P other than the joint 8A at the lower end of the left rear link 6L. It should be noted that the joints 8A where the actuator 9 is provided are not limited to the above example and can be changed according to design specifications.

[0083] Hereinafter, the joint 8A provided with the actuator 9 is also referred to as the "active joint 8A," and the joint 8P that moves due to the movement of the active joint 8A (the joint 8P not provided with the actuator 9) is also referred to as the "passive joint 8P." The robot 1 includes one active joint 8A and seven passive joints 8P.

[0084] <Active joints>

[0085] Refer to Figure 4 、 Figure 6 、 Figure 7 and Figure 9 On the active joint 8A, as an actuator 9, there are provided a pitch drive device 40 for rotating the links 5L, 5R, 6L, 6R in the pitch direction and a roll drive device 50 for rotating the links 5L, 5R, 6L, 6R in the roll direction.

[0086] The pitch drive device 40 includes a pitch motor 41 that rotates the links 5L, 5R, 6L, and 6R in the pitch direction; a driven pulley 42 that reduces the rotational speed of the pitch motor 41 to a predetermined value or less; a speed reducer 43 that further reduces the rotational speed reduced by the driven pulley 42; and a housing 44 that houses the pitch motor 41 and the driven pulley 42. Although not shown, a pitch control device that controls the pitch motor 41 is also located within the housing 44. The location of the pitch control device is not limited to the example above and can be changed according to design specifications.

[0087] The pitch motor 41 is housed in the upper portion of the housing 44. The driven pulley 42 includes a drive pulley on the output shaft of the pitch motor 41. For example, the driven pulley 42 is connected to the output shaft of the pitch motor 41 via a pulley mechanism. The speed reducer 43 is housed in the lower portion of the housing 44. The speed reducer 43 is coaxially arranged with the shaft of the driven pulley 42. One end of the speed reducer 43 is connected to the driven pulley 42. The housing 44 can be constructed by connecting the housing halves 45A and 45B, which are divided in the width direction, with fastening members such as bolts 46.

[0088] The other end of the speed reducer 43 is connected to the lower end of the left rear link 6L. The rotational force transmitted to the speed reducer 43 is transmitted to the lower end of the left rear link 6L. As a result, the left rear link 6L moves around the axis of the speed reducer 43.

[0089] The roll drive device 50 includes a roll motor 51 that rotates the links 5L, 5R, 6L, and 6R in the roll direction; a driven pulley 52 that reduces the rotational speed of the roll motor 51 to a predetermined value or less; a speed reducer 53 that further reduces the rotational speed reduced by the driven pulley 52; and a housing 54 that houses the roll motor 51 and the driven pulley 52. ​​Although not shown, the housing 54 is also provided with a roll control device that controls the roll motor 51. It should be noted that the location of the roll control device is not limited to the example above and can be changed according to design specifications.

[0090] The roll motor 51 is housed in the upper portion of the housing 54. The driven pulley 52 includes a drive pulley on the output shaft of the roll motor 51. For example, the driven pulley 52 is connected to the output shaft of the roll motor 51 via a pulley mechanism. The speed reducer 53 is housed in the rear portion of the housing 54, below the roll motor 51. The speed reducer 53 is coaxially arranged with the shaft of the driven pulley 52. ​​The housing 54 can be constructed by connecting the front and rear housing halves 55A and 55B using fastening members such as bolts 56.

[0091] One end of the speed reducer 53 is connected to the driven pulley 52. ​​The other end of the speed reducer 53 is connected to the lower end of the left rear link 6L via the housing 54 of the pitch actuator 40. The rotational force transmitted to the speed reducer 53 is transmitted to the lower end of the left rear link 6L via the housing 54 of the pitch actuator 40. As a result, the left rear link 6L moves about the axis of the speed reducer 53.

[0092] <Passive joints>

[0093] The structure of the passive joints 8P provided at the lower end of the left front link 5L among the seven passive joints 8P will be described below. The structures of the passive joints 8P provided at other locations are the same as that provided at the lower end of the left front link 5L, and thus detailed descriptions thereof will be omitted.

[0094] Refer to Figure 4 、 Figure 5 、 Figure 7 and Figure 8 The passive joint 8P is provided with a mechanism that allows it to tilt in any direction by combining two orthogonal axes, a so-called universal joint mechanism 60. It should be noted that the passive joint 8P may also be provided with a mechanism other than the universal joint mechanism 60. For example, the configuration of the universal joint mechanism 60 can be changed according to design specifications.

[0095] The universal joint mechanism 60 includes: a universal joint body 61 which is the main part of the universal joint mechanism 60; a pitch axis component 62 for rotating the connecting rods 5L, 5R, 6L, 6R in the pitch direction; a roll axis component 63 for rotating the connecting rods 5L, 5R, 6L, 6R in the roll direction; a supporting component 64 for supporting the roll axis component 63; and a plurality of sliding bearings 65, 66.

[0096] The universal joint body 61 supports the pitch axis member 62 and the roll axis member 63 via a plurality of sliding bearings 65 and 66. The pitch axis member 62 is supported at the widthwise end of the universal joint body 61 via the sliding bearings 65. The widthwise outer end of the pitch axis member 62 is connected to the lower end of the left front link 5L via a fastening member such as a bolt 67. A space for the roll axis member 63 to pass through is formed in the widthwise center of the pitch axis member 62.

[0097] The roll shaft member 63 is supported by the front-to-back end portion of the universal joint body 61 via a sliding bearing 66. The front-to-back end portion of the roll shaft member 63 is connected to the support member 64 via a fastening member such as a bolt 68. One end portion of the roll shaft member 63 in the front-to-back direction is connected to one end portion of the support member 64 via a fastening member such as a bolt and a connecting member 69 (see FIG. Figure 5 In the example shown in the drawings, the support member 64 has a U-shape (concave shape) when viewed in cross section. The support member 64 at the lower end of the left front link 5L is fixed to the upper surface of the left front portion of the frame 20 .

[0098] <An Example of a Robot's Tilt Movement>

[0099] Figure 11 It is an explanatory diagram of the rolling motion of the robot according to the first embodiment.

[0100] Refer to Figure 11 For example, when the output shaft of the roll motor 51 in the active joint 8A is rotated in one direction about an axis (about the axis in the front-back direction), the multiple driven joints 8P rotate in sync about the axis (about the axis in the front-back direction). This causes the robot body 2 to rotate in the roll direction. The example in the figure shows the robot body 2 rotating clockwise (an example of one direction in the roll direction) when viewed from the front.

[0101] <An Example of a Robot's Pitching Movement>

[0102] Figure 12 It is an explanatory diagram of the pitching motion of the robot according to the first embodiment.

[0103] Refer to Figure 12For example, when the output shaft of the pitch motor 41 in the active joint 8A is rotated in one direction about an axis (about an axis in the width direction), the multiple driven joints 8P rotate in sync about the axis (about an axis in the width direction). As a result, the robot body 2 rotates in the pitch direction. The example in the figure shows the robot body 2 rotating counterclockwise (one example of a direction in the pitch direction) when viewed from the left side.

[0104] Although not shown, it is also possible to rotate the output shaft of the roll motor 51 in the active joint 8A in one direction around the axis (the axis in the front-back direction), and the output shaft of the pitch motor 41 in the active joint 8A in one direction around the axis (the axis in the width direction). In this case, the multiple driven joints 8P rotate synchronously around the axis (the axis in the front-back direction), and the multiple driven joints 8P rotate synchronously around the axis (the axis in the width direction). As a result, the robot body 2 rotates in both the roll and pitch directions.

[0105] <Example of Change in Robot's Posture>

[0106] Figure 13 It is an explanatory diagram of the posture change of the robot according to the first embodiment.

[0107] Refer to Figure 13 The center of buoyancy P1 and center of gravity P2 of the robot 1 are preferably not aligned. In the example shown in the accompanying drawings, the center of buoyancy P1 and center of gravity P2 of the robot 1 are separated from each other in the vertical direction. In the initial stable posture, the arms 31 of the manipulators 30L and 30R are retracted. In the initial stable posture of the example shown in the accompanying drawings (the posture at the bottom of the drawing), when viewed from the right side, the outer shape of the upper body 3, the lower body 4, and the multiple connecting rods 5L, 5R, 6L, and 6R is a rectangular shape that is long in the front-to-back direction.

[0108] The extended arm 31 is in a state where the arm 31 has been extended from its initial stable position. When the arm 31 is extended, the center of gravity P2 of the robot 1 shifts, causing the robot 1 to lose its original position. In the example shown in the figure, after the arm 31 is extended (the position in the middle of the figure), the center of gravity P2 of the robot 1 shifts in the direction of arrow A. Therefore, when viewed from the right side, the outer shape of the upper body 3, the lower body 4, and the multiple links 5L, 5R, 6L, and 6R is a rectangular shape that is long in a direction inclined relative to the front-to-back direction (lower in the front and higher in the back).

[0109] From this state, the pitch motor 41 in the active joint 8A is driven. In the example shown in the uppermost section of the drawing, when the output shaft of the pitch motor 41 in the active joint 8A is rotated in one direction about an axis (about an axis in the width direction), the multiple links 5L, 5R, 6L, and 6R rotate in the direction of arrow B. This causes the center of buoyancy P1 of the robot 1 to shift in the direction of arrow C. As a result, the robot body 2 rotates in the direction of arrow D (an example of one direction in the pitch direction) when viewed from the right. This allows the robot 1 to maintain a horizontal posture while the arm 31 is extended.

[0110] <Effects>

[0111] As described above, the robot 1 of the above embodiment is a robot 1 that operates in water, and has an upper main body part 3 located on the upper part of the robot main body 2 and a lower main body part 4 located on the lower part of the robot main body 2. The buoyancy of the upper main body part 3 is relatively large relative to the lower main body part 4, and the weight of the lower main body part 4 is relatively large relative to the upper main body part 3. The upper main body part 3 and the lower main body part 4 are connected by multiple connecting rods 5L, 5R, 6L, 6R and a connecting part 7. The connecting part 7 has joints 8A, 8P that can rotate in the pitch direction and roll direction of the robot main body 2.

[0112] According to this structure, the robot body 2 is composed of the upper body portion 3 and the lower body portion 4 , so that the upper and lower parts of the robot body 2 can be integrated into one structure.

[0113] Furthermore, the posture of the robot body 2 can be changed by moving the joints 8A and 8P of the connection portion 7. Therefore, even when devices are added to the robot 1, it does not take time to adjust the inclination of the static posture.

[0114] For example, if a robot has an arm, extending the arm shifts the entire center of gravity, causing the robot's main body to tilt. Furthermore, when the arm is used dynamically, the robot's main body's tilt becomes unstable, making remote operation difficult. In contrast, this configuration addresses these issues by controlling the robot's main body's posture. Furthermore, it can also address posture changes caused by tides and changes in the robot's center of gravity caused by the addition of equipment.

[0115] For example, even a conventional remote-controlled ROV with a hovering function has the following problems. The posture changes dynamically due to changes in the overall center of gravity caused by the movable arm, the thrust of the propeller during movement, and the tide. When stopping to perform arm operations, the operator waits until the posture stabilizes or adjusts it using the propeller. As a result, it is likely that operation becomes difficult due to the operator's skills and the time it takes to wait for stabilization. In contrast, according to this structure, the robot body 2 stabilizes its posture, so the operator can concentrate on the arm operation, which can shorten the time.

[0116] In the above embodiment, the plurality of links 5L, 5R, 6L, and 6R are arranged in parallel with each other.

[0117] For example, when the upper body 3 and the lower body 4 are connected by a two-link or trapezoidal four-bar linkage, the movement direction of the upper body 3 forms a circular trajectory. Therefore, in order to increase the amount of horizontal movement, it is necessary to set the imaginary rotation center below (farther away from) the robot body 2.

[0118] For example, when the upper body 3 and the lower body 4 are connected by an XY slide mechanism, the movement direction of the upper body 3 is a highly fixed horizontal direction. Therefore, the horizontal movement amount and the distance between the center of the upper body 3 and the center of the lower body 4 (the distance between the two points) are relatively large, making the posture more stable.

[0119] In contrast, according to this structure, the upper body 3 and the lower body 4 are connected by parallel links 5L, 5R, 6L, and 6R. Therefore, the movement of the upper body 3 becomes a swinging motion at the top dead center, which is the center of the joint of the lower parallel links. Furthermore, the upper body 3 moves parallel to the lower body 4. Therefore, the horizontal movement is relatively large. This can be achieved with a simple structure, thus preventing the robot 1 from becoming larger in size.

[0120] In the above embodiment, one joint 8A among the plurality of joints 8A and 8P includes the actuator 9 capable of rotating the links 5L, 5R, 6L, and 6R in the pitch direction and the roll direction.

[0121] According to this configuration, the plurality of links 5L, 5R, 6L, and 6R can be rotated synchronously by driving the actuator 9. Therefore, the posture of the robot 1 can be changed simply and smoothly.

[0122] Furthermore, the number of actuators 9 to be installed can be minimized, which is preferable in terms of reducing the number of components and reducing costs.

[0123] In the above embodiment, the main body upper portion 3 and the main body lower portion 4 have a rectangular shape in a plan view, and the plurality of connecting rods 5L, 5R, 6L, and 6R extend in a manner spanning the four upper corners of the main body upper portion 3 and the four lower corners of the main body lower portion 4.

[0124] With this structure, the outer shape of the robot body 2 is formed by the multiple connecting rods 5L, 5R, 6L, and 6R extending from the upper and lower body parts 3 and 4 to the four corners. This makes it easier to expand the interior space of the robot body 2, compared to a case where the multiple connecting rods 5L, 5R, 6L, and 6R extend from the upper and lower body parts 3 and 4 to the four central locations on the lower side of the robot body 2. For example, even when equipment is installed within the interior space of the robot body 2, the degree of freedom in arranging the equipment can be increased. Furthermore, the multiple connecting rods 5L, 5R, 6L, and 6R extending from the upper and lower body parts 3 and 4 to the four central locations on the lower side of the robot body 2 can protect the equipment from external factors.

[0125] In the above embodiment, the robot 1 further includes manipulators 30L, 30R, and power supply systems 36, 37. The manipulators 30L, 30R are provided on one side of the lower body 4 in the longitudinal direction, and the power supply systems 36, 37 are provided on the other side of the lower body 4 in the longitudinal direction.

[0126] For example, the manipulators 30L, 30R and the power supply systems 36, 37 are relatively heavy objects among the equipment of the robot 1. Therefore, if the manipulators 30L, 30R and the power supply systems 36, 37 are all installed on one side in the longitudinal direction of the main body lower portion 4, the weight balance of the robot 1 is likely to become unstable.

[0127] In contrast, according to this configuration, the heavy manipulators 30L and 30R and the power supply systems 36 and 37 are provided on opposite sides of the main body lower portion 4 in the longitudinal direction.

[0128] <Second embodiment>

[0129] In the first embodiment, the upper body portion 3 and the lower body portion 4 are connected in parallel by a plurality of parallel links 5L, 5R, 6L, and 6R, but the present invention is not limited to this. Figure 14 and Figure 15 As shown, in the second embodiment, the configuration of the mechanisms 210A and 210B connecting the upper body 3 and the lower body 4 is different from that of the first embodiment. In the following description, the same components as those of the first embodiment are denoted by the same reference numerals and detailed description is omitted.

[0130] Figure 14It is an explanatory diagram of the posture change of the two-link robot 201A according to the second embodiment. Figure 15 It is an explanatory diagram of a trapezoidal four-link robot 201B according to the second embodiment.

[0131] Refer to Figure 14 and Figure 15 For example, the upper body portion 3 and the lower body portion 4 can be connected by a two-link or trapezoidal four-link mechanism 210A, 210B. In this case, the movement direction of the upper body portion 3 forms a circular trajectory. For example, in the case of a trapezoidal link, by setting the virtual rotation center VC below (farther away from) the robot body 2, the upper and lower parts can move in a substantially parallel state.

[0132] <Third embodiment>

[0133] In the first embodiment, the upper body portion 3 and the lower body portion 4 are connected in parallel by a plurality of parallel links 5L, 5R, 6L, and 6R, but the present invention is not limited to this. Figure 16 As shown, in the third embodiment, the form of the mechanism 310 connecting the main body upper portion 3 and the main body lower portion 4 is different from that of the first embodiment. In the following description, the same reference numerals are used for the same structures as those of the first embodiment, and detailed description thereof is omitted.

[0134] Figure 16 It is an explanatory diagram of the posture change of the robot 301 according to the third embodiment.

[0135] Refer to Figure 16 For example, the upper body 3 and the lower body 4 can be connected by an XY slide mechanism 310. In this case, the movement direction of the upper body 3 becomes a highly fixed horizontal direction. Therefore, the horizontal movement amount and the distance between the center of the upper body 3 and the center of the lower body 4 (the distance between the two points) are relatively large, which facilitates the stability of the posture.

[0136] <Modification>

[0137] In the above embodiment, the example of multiple connecting rods being arranged in parallel with each other is cited for explanation, but the present invention is not limited to this. For example, multiple connecting rods can also be arranged to cross each other. For example, the configuration of multiple connecting rods can be changed according to design specifications.

[0138] In the above embodiment, an example is given in which one of the multiple joints is equipped with an actuator capable of rotating the connecting rod in the pitch and roll directions, but the present invention is not limited to this. For example, two or more of the multiple joints may be equipped with actuators. For example, it is sufficient as long as at least one of the multiple joints is equipped with an actuator. For example, the arrangement of the actuator can be changed according to the design specifications.

[0139] In the above embodiment, the upper and lower main body portions have rectangular shapes when viewed from above, but the present invention is not limited to this. For example, the upper and lower main body portions may also have diamond-shaped shapes when viewed from above. For example, the upper and lower main body portions may also have polygonal shapes other than quadrilaterals, or circular shapes when viewed from above. For example, the upper and lower main body portions may have different shapes when viewed from above, depending on the design specifications.

[0140] In the above embodiment, the multiple connecting rods are described as extending from the four upper corners of the upper body and the four lower corners of the lower body, but the present invention is not limited to this embodiment. For example, the multiple connecting rods may also extend from the four upper central locations of the upper body and the four lower central locations of the lower body. For example, the arrangement of the multiple connecting rods can be changed according to design specifications.

[0141] In the above embodiment, the robot further includes a manipulator and a power supply system, with the manipulator being located on one longitudinal side of the lower body and the power supply system being located on another longitudinal side of the lower body. However, this is not limiting. For example, the manipulator and the power supply system may both be located on one longitudinal side of the lower body. For example, the placement of the manipulator and the power supply system may be modified according to design specifications.

[0142] It should be noted that a part or all of the programs for realizing the functions of the control device (e.g., thruster control device, pitch control device, and roll control device) in the present invention can be recorded on a computer-readable recording medium, and all or part of the processing performed by the control device can be performed by making the computer system read and execute the program recorded on the recording medium. It should be noted that the "computer system" mentioned here includes hardware such as OS and peripheral devices. In addition, the "computer system" also includes a WWW system with a homepage providing environment (or display environment). In addition, a "computer-readable recording medium" refers to a removable medium such as a floppy disk, magneto-optical disk, ROM, CD-ROM, or a storage device such as a hard disk built into the computer system. Moreover, a "computer-readable recording medium" also includes a medium that keeps the program for a fixed time, such as a server that sends a program via a network such as the Internet, a communication line such as a telephone line, or a volatile memory (RAM) inside a computer system that becomes a client.

[0143] In addition, the above-mentioned program can also be transmitted from a computer system that stores the program in a storage device or the like to other computer systems via a transmission medium, or transmitted to other computer systems via a transmission wave in a transmission medium. Here, the "transmission medium" of the transmission program refers to a medium that has the function of transmitting information, such as a network (communication network) such as the Internet, a communication line (communication line) such as a telephone line, etc. In addition, the above-mentioned program can also be a program for realizing a part of the aforementioned function. Moreover, it can also be a so-called differential file (differential program) that can realize the aforementioned function by combining with a program already recorded in a computer system.

[0144] In the above embodiment, a robot operating in the ocean via remote control using wired communication is used as an example, but the robot is not limited to this. For example, the robot can also be remotely controlled via wireless communication. For example, the robot can also be used in locations other than the ocean, such as rivers, lakes, and swamps. For example, the robot's applicable location can be changed according to design specifications.

[0145] While the modes for carrying out the present invention have been described above using the embodiments, the present invention is not limited to the embodiments, and various modifications and substitutions can be made without departing from the spirit of the present invention.

[0146] Explanation of symbols:

[0147] 1. 201A, 201B, 301 robots

[0148] 2 Robot body

[0149] 3 upper body

[0150] 4 lower part of main body

[0151] 5L, 5R front side connecting rod (connecting rod)

[0152] 6L, 6R rear connecting rod (connecting rod)

[0153] 7 connection part

[0154] 8A, 8P joints

[0155] 8 actuators

[0156] 30L, 30R manipulators

[0157] 36, 37 power supply system

Claims

1. A robot that operates in water, wherein: The robot has: an upper main body portion located at an upper portion of the robot main body; and The main body lower part is located at the lower part of the robot body, The buoyancy of the upper part of the main body is relatively large compared to the lower part of the main body. The weight of the lower part of the main body is relatively large compared to the upper part of the main body. The upper part of the main body and the lower part of the main body are connected by multiple connecting rods and connecting parts. The connection portion includes a joint rotatable in a pitch direction and a roll direction of the robot body.

2. The robot according to claim 1, wherein: The plurality of connecting rods are arranged parallel to each other.

3. The robot according to claim 1 or 2, wherein: At least one of the plurality of joints includes an actuator capable of rotating the link in the pitch direction and the roll direction.

4. The robot according to claim 1 or 2, wherein: The upper portion of the main body and the lower portion of the main body have a rectangular shape or a diamond shape when viewed from above. The plurality of connecting rods extend in a manner of spanning the four upper corners of the upper portion of the main body and the four lower corners of the lower portion of the main body.

5. The robot according to claim 1 or 2, wherein: The robot also has a manipulator and a power supply system. The manipulator is arranged on one side of the length direction of the lower part of the main body. The power supply system is arranged on the other side of the lower portion of the main body in the longitudinal direction.

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