Linkage mechanism device and robot

Abstract

A link mechanism device is provided, in which the link mechanism device is driven by a number of driving sections smaller than the number of four-link mechanisms, and is capable of being driven in a manner that imitates the shape of an object. The link mechanism device has a plurality of four-link mechanisms connected to each other, and a driving section that drives the four-link mechanisms. The driving section is connected to at least one of a first outer side joint that joins the end of a first outer side link to the end of a first driving side link, and a first inner side joint that joins the end of the first driving side link to the end of a first inner side link, and drives the first four-link mechanism in a manner that changes the relative positions of the first outer side joint and the first inner side joint. When the length of a second outer side link is set as A1, the length of a second driving side link is set as B1, the length of a second inner side link is set as C1, and the length of a second top side link is set as D1, A1+B1>C1+D1 is satisfied.

Description

Technical Field

[0001] This disclosure relates to linkage mechanisms and robots. Background Technology

[0002] Previously, linkage mechanisms having multiple interconnected four-bar linkages were known. Furthermore, Patent Document 1 discloses a configuration that specifies the lengths of the links included in the four-bar linkage.

[0003] Existing technical documents Patent documents Patent Document 1: Japanese Patent No. 6948647 Summary of the Invention

[0004] The problem that the invention aims to solve However, in conventional linkage devices, when driving multiple four-bar linkages in a manner that mimics the shape of an object, a number of drive units, equal to the number of four-bar linkages, is sometimes required. When the same number of drive units as the number of four-bar linkages is used, not only does the linkage device become more expensive, but its size and weight also increase, and its configuration may become more complex.

[0005] The purpose of this disclosure is to provide a linkage mechanism device that can use fewer drive units than a plurality of four-bar linkages to drive the plurality of four-bar linkages in a manner that mimics the shape of an object.

[0006] Solution for solving the problem One aspect of this disclosure provides a linkage mechanism device comprising: a plurality of interconnected four-bar linkages; and a drive unit for driving the four-bar linkages. The plurality of four-bar linkages includes: a first four-bar linkage connected to the drive unit; and a second four-bar linkage connected to the first four-bar linkage. The first four-bar linkage includes: a first outer link located on the side opposite to the object when the first four-bar linkage contacts an object; a first drive-side link located on the drive unit side; a first inner link located on the object side when the first four-bar linkage contacts the object; and a first top link located on the side opposite to the drive unit side. The second four-bar linkage includes: a second outer link located on the side opposite to the object when the second four-bar linkage contacts the object; and a second drive-side link located on the drive unit side. The first four-bar linkage consists of a second inner link located on the object side when the second four-bar linkage contacts the object; and a second top-side link located on the side opposite to the drive unit side. The drive unit is connected to at least one of the first outer joint and the first inner joint, and drives the first four-bar linkage in such a way that the relative positions of the first outer joint and the first inner joint are variable. The first outer joint engages the end of the first outer link with the end of the first drive-side link, and the first inner joint engages the end of the first drive-side link with the end of the first inner link. When the length of the second outer link is set to A1, the length of the second drive-side link is set to B1, the length of the second inner link is set to C1, and the length of the second top-side link is set to D1, A1 + B1 > C1 + D1 is satisfied.

[0007] Invention Effects According to one aspect of this disclosure, a linkage mechanism device can be provided, wherein the linkage mechanism device can use a smaller number of drive units than the number of multiple four-bar linkages to drive multiple four-bar linkages in a manner that mimics the shape of an object. Attached Figure Description

[0008] Figure 1 This is a schematic diagram illustrating an example of the configuration of the linkage mechanism device according to the first embodiment.

[0009] Figure 2 This is a schematic diagram illustrating an example of the operation of the linkage mechanism device according to the first embodiment.

[0010] Figure 3 This is a schematic diagram illustrating the configuration example of the linkage mechanism device in the first comparative example.

[0011] Figure 4 This is a schematic diagram illustrating the operation of the linkage mechanism device in the first comparative example.

[0012] Figure 5 This is a schematic diagram illustrating the configuration example of the linkage mechanism device in the second comparative example.

[0013] Figure 6 This is a schematic diagram illustrating the operation of the linkage mechanism device in the second comparative example.

[0014] Figure 7 This is a schematic diagram illustrating an example of the configuration of the linkage mechanism device according to the second embodiment.

[0015] Figure 8 This is a first schematic diagram illustrating an example of the operation of the linkage mechanism device according to the second embodiment.

[0016] Figure 9 This is a second schematic diagram illustrating an example of the operation of the linkage mechanism device according to the second embodiment.

[0017] Figure 10 This is a schematic diagram illustrating the configuration of the linkage mechanism device in the first modified example.

[0018] Figure 11 This is a schematic diagram illustrating the configuration of the linkage mechanism device in the second variation.

[0019] Figure 12 This is a schematic diagram illustrating the configuration of the linkage mechanism device in the third variation.

[0020] Figure 13 This is a schematic diagram illustrating the configuration of the linkage mechanism device in the fourth variation.

[0021] Figure 14 This is a schematic front view illustrating an example of a robot according to the third embodiment.

[0022] Figure 15 This is a schematic side view illustrating an example of a robot according to the third embodiment.

[0023] Figure 16 It means Figure 16 A schematic cross-sectional view at the XVI-XVI line. Detailed Implementation

[0024] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to denote the same constituent elements, and repeated descriptions are omitted where appropriate.

[0025] The embodiments shown below are illustrative examples of linkage mechanism devices and robots used to visualize the technical concepts of this disclosure, and are not intended to limit this disclosure to the embodiments shown below. Unless otherwise specified, the dimensions, materials, shapes, relative arrangements, etc., of the constituent parts described below are not intended to limit the scope of this disclosure, but are intended to be illustrative. Furthermore, for clarity of explanation, the size, positional relationships, etc., of the components shown in the drawings are sometimes exaggerated.

[0026] [First Implementation] <The configuration of the linkage mechanism device in the first embodiment> Reference Figure 1 and Figure 2 The linkage mechanism device of the first embodiment will be described. Figure 1 This is a schematic diagram illustrating an example of the configuration of the linkage mechanism device 200 according to the first embodiment. Figure 2 This is a schematic diagram illustrating an example of the operation of the linkage mechanism 200.

[0027] The linkage device 200 includes: a plurality of four-bar linkages 210 interconnected with each other; and a drive unit 220 for driving the four-bar linkages 210. The plurality of four-bar linkages 210 includes: a first four-bar linkage 211 connected to the drive unit 220; and a second four-bar linkage 212 connected to the first four-bar linkage 211.

[0028] The first four-bar linkage 211 includes: a first outer linkage L11, located on the side opposite to the object S when the first four-bar linkage 211 contacts the object S; and a first drive-side linkage L12, located on the drive unit 220 side. Furthermore, the first four-bar linkage 211 includes: a first inner linkage L13, located on the object S side when the first four-bar linkage 211 contacts the object S; and a first top-side linkage L14, located on the side opposite to the drive unit 220 side.

[0029] The second four-bar linkage 212 includes: a second outer link L21, located on the side opposite to the object S when the second four-bar linkage 212 contacts the object S; and a second drive-side link L22, located on the drive unit 220 side. Furthermore, the second four-bar linkage 212 includes: a second inner link L23, located on the object S side when the second four-bar linkage 212 contacts the object S; and a second top-side link L24, located on the side opposite to the drive unit 220 side.

[0030] The drive unit 220 can be connected to at least one of the first outer engagement portion J11 and the first inner engagement portion J12, wherein the first outer engagement portion J11 engages the end of the first outer connecting rod L11 with the end of the first driving side connecting rod L12, and the first inner engagement portion J12 engages the end of the first driving side connecting rod L12 with the end of the first inner connecting rod L13. The drive unit 220 drives the first four-bar linkage 211 in a manner that allows the relative positions of the first outer engagement portion J11 and the first inner engagement portion J12 to be variable.

[0031] When the length of the second outer connecting rod L21 is set as A1, the length of the second drive-side connecting rod L22 is set as B1, the length of the second inner connecting rod L23 is set as C1, and the length of the second top-side connecting rod L24 is set as D1, A1 + B1 > C1 + D1 is satisfied. It should be noted that in this specification, the term "connecting rod length" refers to the length in the direction from the joint at one end of the connecting rod to the joint at the other end when the connecting rod is connected to other connecting rods in a manner forming a joint. Furthermore, when the connecting rod is not linear, the length of the connecting rod refers to the straight-line distance between the joints at both ends of the connecting rod. It should be noted that when the connecting rod is flexible, the distance between the joints when the connecting rod is placed on a plane is considered the length of the connecting rod.

[0032] exist Figure 1 and Figure 2 In the illustrated linkage device 200, when the first four-bar linkage 211 is driven by the driven part 220 and comes into contact with the object S, a second four-bar linkage 212, connected to a position closer to the top of the first four-bar linkage 211, is driven by forces T21 and T22 generated in response to this contact. The driven second four-bar linkage 212 then comes into contact with the object S. It should be noted that the top side refers to the end side of the linkage device 200 opposite to the side opposite to the driven part 220.

[0033] To provide a more detailed explanation. Figure 1 In the example shown, a force F1 is applied to the first outer joint J11 from the drive unit 220 in the direction of approaching the top end. The applied force F1 causes the first outer joint J11 to move towards the top end. This movement of the first outer joint J11 towards the top end causes a force T11 rotating around the first inner joint J12 to act on the first drive-side link L12, causing the first drive-side link L12 to tilt towards the object S. Furthermore, the movement of the first outer joint J11 towards the top end causes a force T12 rotating around the first inner joint J12 to act on the first inner link L13, causing the first inner link L13 to tilt towards the object S. Thus, the first inner link L13 comes into contact with the object S.

[0034] The object S is in contact with the first inner connecting rod L13, such as... Figure 2 As shown, a force T21, rotating around the second inner joint J22, acts on the second drive-side connecting rod L22, causing it to tilt towards the object S. Furthermore, through the contact between the first inner connecting rod L13 and the object S, the force T22, rotating around the second inner joint J22, acts on the second inner connecting rod L23, causing it to tilt towards the object S. Thus, the second inner connecting rod L23 comes into contact with the object S.

[0035] In the linkage device 200, the force generated by the four-bar linkage 210 located on the drive unit 220 side contacting the object S acts sequentially on the four-bar linkage 210 connected to the top side. This allows the top-side four-bar linkage 210 to sequentially contact the object S. By having the four-bar linkage 210 contact the object S sequentially from the drive unit 220 side to the top side, the multiple four-bar linkages 210 form a shape that mimics the shape of the object S. Thus, the linkage device 200 can drive the multiple four-bar linkages 210 in a manner that mimics the shape of the object S. In other words, in this embodiment, a linkage device 200 can be provided in which a smaller number of drive units 220 than the number of multiple four-bar linkages 210 are used to drive the multiple four-bar linkages 210 in a manner that mimics the shape of the object S. Furthermore, from another perspective, the linkage device 200 constitutes a so-called underactuated arm and enables multiple four-bar linkages 210 to be driven in a manner that mimics the shape of the object S.

[0036] exist Figure 1 and Figure 2 In the example shown, the object S is a sphere. The linkage device 200 enables the two four-bar linkages 210 to be driven in a manner that mimics the shape of the sphere, which is the object S. However, the object S is not limited to a sphere and can be an object of any shape. For example, the object S can also be a human torso. The linkage device 200 can surround the human torso by driving the two four-bar linkages 210 in a manner that mimics the shape of the human torso, which is the object S.

[0037] Furthermore, the linkage device 200 can drive the four-bar linkages 210 using a smaller number of drive units 220 than the number of multiple four-bar linkages 210. Figure 1 and Figure 2In the example shown, there is one drive unit 220 and two four-bar linkages 210. Therefore, the number of drive units 220 is less than the number of four-bar linkages 210. By making the number of drive units 220 less than the number of four-bar linkages 210 in the linkage device 200, the linkage device 200 can be constructed inexpensively, in a small size, and with a light weight, and the structure of the linkage device 200 can be simplified.

[0038] In addition, Figure 1 and Figure 2 In the example shown, the drive unit 220 is connected to the first outer joint J11, causing the first outer joint J11 to move to the side opposite to the drive unit 220. Thus, the drive unit 220 can drive the first four-bar linkage 211 in a manner that allows the relative position of the first outer joint J11 and the first inner joint J12 to be variable. Driven by the first four-bar linkage 211, the first inner link L13 in the first four-bar linkage 211 can come into contact with the object S.

[0039] For the drive unit 220, a motor mechanism utilizing a stepper motor, servo motor, or the like can be used. However, as long as the relative position of the first outer joint J11 and the first inner joint J12 is variable, the type of drive unit 220 is not limited. For example, a piston-crank mechanism or the like can also be used as the drive unit 220. Furthermore, as long as the relative position of the first outer joint J11 and the first inner joint J12 is variable, there are no limitations on the configuration connecting the drive unit 220 to the first outer joint J11. For example, a mechanism for changing the direction of force transmission from the drive unit 220 can be provided between the drive unit 220 and the first outer joint J11. It should be noted that in this case, the changing mechanism is included in the drive unit 220.

[0040] exist Figure 1 and Figure 2In the example shown, the first outer connecting rod L11 and the first drive-side connecting rod L12 are engaged through the first outer joint J11. The first drive-side connecting rod L12 and the first inner connecting rod L13 are engaged through the first inner joint J12. The first outer connecting rod L11 and the first top-side connecting rod L14 are engaged through the second outer joint J21. The first inner connecting rod L13 and the first top-side connecting rod L14 are engaged through the second inner joint J22. The first outer connecting rod L11, the second outer connecting rod L21, and the second drive-side connecting rod L22 are engaged through the second outer joint J21. The first inner connecting rod L13, the second drive-side connecting rod L22, and the second inner connecting rod L23 are engaged through the second inner joint J22. The second outer connecting rod L21 and the second top-side connecting rod L24 are engaged through the third outer joint J31. The second inner connecting rod L23 and the second top-side connecting rod L24 are engaged through the third inner joint J32. It should be noted that the first top-side link L14 and the second drive-side link L22, located at the boundary between the first four-bar linkage 211 and the second four-bar linkage 212, are identical components. In other words, the first top-side link L14 and the second drive-side link L22 can be used interchangeably.

[0041] As described above, the lengths of the four links included in the second four-bar linkage 212 satisfy A1 + B1 > C1 + D1. On the other hand, the lengths of the four links included in the first four-bar linkage 211 are not particularly limited. Furthermore, when the linkage device 200 has three or more four-bar linkages, in order for the multiple four-bar linkages 210 to be driven in a manner that mimics the shape of the object S, the four-bar linkages connected to a position closer to the top than the second four-bar linkage 212 must satisfy the same conditions as the second four-bar linkage 212.

[0042] Here, the condition for the required lengths of the four links of a four-bar linkage 210 located at the second or subsequent position from the drive unit 220 side is generalized when the linkage device 200 has three or more four-bar linkages 210. For example, consider the case where the linkage device of the embodiment has n interconnected four-bar linkages 210. n is a natural number greater than or equal to 2. When the length of the nth outermost link is set as An-1, the length of the nth drive-side link is set as Bn-1, the length of the nth innermost link is set as Cn-1, and the length of the nth top-side link is set as Dn-1, the lengths of the four links in the four-bar linkages 210 located at the second or subsequent position from the drive unit 220 side satisfy (An-1) + (Bn-1) > (Cn-1) + (Dn-1). In this case, the force generated by the four-bar linkage 210 on the drive unit 220 side contacting the object S will also act sequentially on the top-side four-bar linkage 210. Thus, the linkage device 200 having three or more four-bar linkages 210 can drive n four-bar linkages 210 in a manner that mimics the shape of the object S.

[0043] exist Figure 1 and Figure 2 In the example shown, the lengths of the four links in the second four-bar linkage 212 satisfy A1 + B1 > C1 + D1, and also satisfy each of the conditions A1 > B1 and C1 > D1. However, it is only necessary for the lengths of the four links in the second four-bar linkage 212 to satisfy A1 + B1 > C1 + D1, but it is not necessary to satisfy conditions such as A1 > B1 or C1 > D1. For example, it is also possible that the lengths of the four links in the second four-bar linkage 212 satisfy A1 + B1 > C1 + D1, and also satisfy each of the conditions A1 < B1 and C1 < D1.

[0044] Furthermore, in the linkage device 200, each of the four links included in each of the plurality of four-bar linkages 210 can be constructed from plate-shaped members. By constructing the links from plate-shaped members, the four-bar linkages 210 can be constructed with lighter weight and superior flexibility compared to the case where the links are constructed from columnar members. Thus, the linkage device 200 can be made lighter, and the plurality of four-bar linkages 210 can appropriately mimic the shape of the object S. It should be noted that the plate-shaped members constituting the links are not limited to planar members, but can also be curved members.

[0045] The material of the links included in each of the plurality of four-bar linkages 210 can be appropriately selected to match the application of the linkage device 200. The materials of the links included in each of the plurality of four-bar linkages 210 can be all the same or different.

[0046] Alternatively, at least one of the links in each of the multiple four-bar linkages 210, positioned on the object S side, can be made of a material that is more flexible than other links. For example, at least one of the first inner link L13 in the first four-bar linkage 211 and the second inner link L23 in the second four-bar linkage 212. By making the links that contact the object S from a flexible material, the multiple four-bar linkages 210 can appropriately mimic the shape of the object S.

[0047] Alternatively, the links in each of the multiple four-bar linkages 210, positioned at the boundaries between adjacent four-bar linkages 210, can be made of a flexible material, such as the first top-side link L14 in the first four-bar linkage 211. By making the links positioned at the boundaries between adjacent four-bar linkages 210 of a flexible material, the multiple four-bar linkages 210 can appropriately mimic the shape of the object S.

[0048] The joint only needs to connect two adjacent links at a variable angle; its configuration is unrestricted. For example, a hinge can be used for the joint, or a shaft-like component can be used to connect two adjacent links respectively, allowing them to rotate about a rotation axis. Figure 1 and Figure 2 In the example shown, two adjacent links are joined by a joint, but it is not limited to this and can also be joined by more than two joints.

[0049] Furthermore, in the linkage device 200, the thickness of the plate-like member constituting one of the four links in the four-link linkage 210 can be less than or equal to 10% of the length of the shortest link among the three links connected to that link. This allows the four-link linkage 210 to be constructed lightweight and with excellent flexibility, making the linkage device 200 lightweight, and enabling multiple four-link linkages 210 to appropriately mimic the shape of the object S. Preferably, the thickness of the plate-like member constituting one of the four links in the four-link linkage 210 is less than or equal to 8% of the length of the shortest link among the three links connected to that link, more preferably less than or equal to 6% of the length of the shortest link among the three links connected to that link.

[0050] Furthermore, in the linkage device 200, the flexibility of the plate-shaped member constituting the link in the four-bar linkage 210 can be set to be greater than or equal to 0.08 N under stress when the deflection is 1.5 mm during three-point bending. This allows the four-bar linkage 210 to be configured with excellent flexibility, enabling multiple four-bar linkages 210 to appropriately mimic the shape of the object S. Preferably, the flexibility of the plate-shaped member is greater than or equal to 0.2 N under stress when the deflection is 1.5 mm during three-point bending, and more preferably greater than or equal to 0.35 N under stress when the deflection is 1.5 mm during three-point bending.

[0051] Furthermore, in the linkage device 200, a plate-like member can be formed from at least one of resin, carbon fiber, titanium, magnesium, and aluminum to construct the links in the plurality of four-bar linkages 210. This allows for a lightweight four-bar linkage with excellent flexibility. Consequently, the linkage device 200 can be made lightweight, and the plurality of four-bar linkages 210 can appropriately mimic the shape of the object S.

[0052] (Example of manufacturing method for linkage mechanism device 200) Taking the case where a hinge is used for the connecting member as an example, the manufacturing method of the linkage mechanism device 200 will be described.

[0053] (1) First, prepare the hinge and cut the link to match the width of the hinge (the length of the shorter dimension of the hinge).

[0054] (2) Next, holes for mounting hinges are formed in the connecting rod.

[0055] (3) Next, for the connecting rods located on the inner side (object S side) and the outer side (opposite to object S side), the hinges are assembled to the connecting rods in such a way that the hinges are located on the inner side. Furthermore, for the connecting rods located at the boundary positions of adjacent four-bar linkages 210, the hinges are assembled to the connecting rods in such a way that the connecting rods are clamped by two hinges. For the material of the hinges, metal or resin can be used. In the assembly of the hinges to the connecting rods, threaded components or adhesive components can be used.

[0056] (4) Next, if a top link is to be provided on the top side of the four-bar linkage 210 located at the topmost side (the side opposite to the drive unit 220 side), the top link is assembled on the top side of the four-bar linkage 210.

[0057] (5) Next, the drive unit 220 is connected to the first four-bar linkage 211.

[0058] Through the above process, a linkage mechanism device 200 can be manufactured.

[0059] <Comparative Example> (First comparative example) Reference Figure 3 and Figure 4 The linkage mechanism of the first comparative example will be described. Figure 3 This is a schematic diagram illustrating an example of the configuration of the linkage mechanism device 200X of the first comparative example. Figure 4 This is a schematic diagram illustrating an example of the operation of the linkage mechanism 200X.

[0060] The linkage device 200X differs from the linkage device 200 of the first embodiment primarily in that the lengths of the four links included in the second four-bar linkage 212 satisfy A1 + B1 = C1 + D1. It should be noted that although the linkage device 200X of the comparative example is a device without the application of the embodiment, for ease of understanding, the reference numerals for components having substantially the same function as those included in the linkage device 200 of the first embodiment are the same as those for components included in the linkage device 200 of the first embodiment. A1 is the length of the second outer link L21 in the linkage device 200X. B1 is the length of the second drive-side link L22 in the linkage device 200X. C1 is the length of the second inner link L23 in the linkage device 200X. D1 is the length of the second top-side link L24 in the linkage device 200X. These points are also the same in the comparative examples shown later.

[0061] like Figure 3 and Figure 4 As shown, in the linkage device 200X, when a force F1 is applied to the first outer joint J11 from the drive unit 220, the first drive-side link L12 tilts towards the object S by rotating around the first inner joint J12. However, the first inner link L13 does not rotate around the first inner joint J12 and does not tilt towards the object S, therefore, the first inner link L13 does not contact the object S. Consequently, no force is generated in response to the contact between the first inner link L13 and the object S, and the second four-bar linkage 212 is not driven, thus preventing it from contacting the object S. As a result, in the linkage device 200X, it is impossible to use fewer drive units 220 than the number of multiple four-bar linkages 210 to drive the multiple four-bar linkages 210 in a manner that mimics the shape of the object S.

[0062] (Second comparative example) Reference Figure 5 and Figure 6 The linkage mechanism of the second comparative example will be described. Figure 5 This is a schematic diagram illustrating an example of the configuration of the linkage mechanism device 200Y of the second comparative example. Figure 6 This is a schematic diagram illustrating an example of the operation of the linkage mechanism 200Y.

[0063] The linkage mechanism device 200Y differs from the linkage mechanism device 200 of the first embodiment described above mainly in that the lengths of the four links included in the second four-bar linkage 212 satisfy A1 + B1 < C1 + D1.

[0064] like Figure 5 and Figure 6As shown, in the linkage device 200Y, when a force F1 is applied to the first outer joint J11 from the drive unit 220, the first drive-side link L12 tilts towards the object S by rotating around the first inner joint J12. However, the first inner link L13 does not rotate around the first inner joint J12 and does not tilt towards the object S, therefore, the first inner link L13 does not contact the object S. Consequently, no force is generated in response to the contact between the first inner link L13 and the object S, and the second four-bar linkage 212 is not driven, thus preventing it from contacting the object S. As a result, in the linkage device 200Y, it is impossible to use fewer drive units 220 than the number of multiple four-bar linkages 210 to drive the multiple four-bar linkages 210 in a manner that mimics the shape of the object S.

[0065] [Second Implementation] Next, refer to Figures 7-9 The linkage mechanism device of the second embodiment will now be described. It should be noted that the same names and reference numerals as in the first embodiment described above denote the same or similar components, and detailed descriptions are appropriately omitted. This also applies to the embodiments and variations shown later.

[0066] Figure 7 This is a schematic diagram illustrating an example of the configuration of the linkage mechanism device 200A according to the second embodiment. Figure 8 This is a first schematic diagram illustrating an example of the operation of the linkage mechanism 200A. Figure 9 This is a second schematic diagram illustrating an example of the operation of the linkage mechanism 200A.

[0067] The linkage mechanism device 200A differs from the linkage mechanism device 200 of the first embodiment mainly in that it also has a third four-bar linkage 213 connected to the top side of the second four-bar linkage 212 in addition to the multiple four-bar linkages 210.

[0068] exist Figures 7-9 In the example shown, the third four-bar linkage 213 includes: a third outer link L31, located on the side opposite to the object S when the third four-bar linkage 213 contacts the object S; a third drive-side link L32, located on the drive unit 220 side; a third inner link L33, located on the object S side when the third four-bar linkage 213 contacts the object S; and a third top-side link L34, located on the side opposite to the drive unit 220 side. When the length of the third outer link L31 is set to A2, the length of the third drive-side link L32 is set to B2, the length of the third inner link L33 is set to C2, and the length of the third top-side link L34 is set to D2, A2 + B2 > C2 + D2 is satisfied.

[0069] exist Figures 7-9 In the example shown, the second outer link L21, the third outer link L31, and the third drive-side link L32 are joined by the third outer joint J31. The second inner link L23, the third drive-side link L32, and the third inner link L33 are joined by the third inner joint J32. The third outer link L31 and the third top-side link L34 are joined by the fourth outer joint J41. The third inner link L33 and the third top-side link L34 are joined by the fourth inner joint J42. The top link P, the third outer link L31, and the third top-side link L34 are joined by the fourth outer joint J41. It should be noted that the second top-side link L24 and the third drive-side link L32, located at the boundary between the second four-bar linkage 212 and the third four-bar linkage 213, are identical components. That is, the second top-side link L24 and the third drive-side link L32 can be used interchangeably.

[0070] exist Figures 7-9 In the illustrated linkage device 200A, when the first four-bar linkage 211 is driven by the driven unit 220 and comes into contact with the object S, the second four-bar linkage 212, located at a position closer to the top of the first four-bar linkage 211, is driven by forces T21 and T22 generated in response to this contact. The driven second four-bar linkage 212 then comes into contact with the object S. The third four-bar linkage 213, located at a position closer to the top of the second four-bar linkage 212, is driven by forces T31 and T32 generated in response to the contact between the second four-bar linkage 212 and the object S. The driven third four-bar linkage 213 then comes into contact with the object S.

[0071] To provide a more detailed explanation. Figure 7 In the example shown, a force F1 is applied to the first outer joint J11 from the drive unit 220 in the direction of approaching the top end. Due to the applied force F1, the first outer joint J11 moves towards the top end. This movement of the first outer joint J11 causes a force T11 rotating around the first inner joint J12 to act on the first drive-side link L12, thereby tilting the first drive-side link L12 towards the object S. Furthermore, the movement of the first outer joint J11 causes a force T12 rotating around the first inner joint J12 to act on the first inner link L13, thereby tilting the first inner link L13 towards the object S. Thus, the first inner link L13 comes into contact with the object S.

[0072] The object S is in contact with the first inner connecting rod L13, such as... Figure 8As shown, a force T21 rotating around the second inner joint J22 acts on the second drive-side connecting rod L22, causing the second drive-side connecting rod L22 to tilt towards the object S. Furthermore, through the contact between the first inner connecting rod L13 and the object S, the force T22 rotating around the second inner joint J22 acts on the second inner connecting rod L23, causing the second inner connecting rod L23 to tilt towards the object S. Thus, the second inner connecting rod L23 comes into contact with the object S.

[0073] The object S is in contact with the second inner connecting rod L23, such as... Figure 9 As shown, a force T31, rotating around the third inner joint J32, acts on the third drive-side connecting rod L32, causing the third drive-side connecting rod L32 to tilt towards the object S. Furthermore, through the contact between the second inner connecting rod L23 and the object S, the force T32, rotating around the third inner joint J32, acts on the third inner connecting rod L33, causing the third inner connecting rod L33 to tilt towards the object S. Thus, the third inner connecting rod L33 comes into contact with the object S.

[0074] Contact with object S via the third inner link L33, such as Figure 9 As shown, a force T41, rotating around the fourth inner joint J42, acts on the third top-side connecting rod L34, causing it to tilt towards the object S. Furthermore, through the contact between the third inner connecting rod L33 and the object S, a force T42, rotating around the fourth outer joint J41, acts on the top connecting rod P, causing it to tilt towards the object S. Thus, the top connecting rod P comes into contact with the object S.

[0075] In the linkage device 200A, the force generated by the four-bar linkage 210 located on the drive unit 220 side contacting the object S acts sequentially on the four-bar linkage 210 connected to the top end. This allows the top-end four-bar linkage 210 to sequentially contact the object S. By sequentially contacting the object S from the four-bar linkage 210 on the drive unit 220 side, the multiple four-bar linkages 210 form a shape that mimics the shape of the object S. Thus, in the linkage device 200A, the multiple four-bar linkages 210 can be driven in a manner that mimics the shape of the object S. In other words, in this embodiment, a linkage device 200A can be provided in which a drive unit 220, fewer than three four-bar linkages 210, can drive the multiple four-bar linkages 210 in a manner that mimics the shape of the object S.

[0076] The effects of the linkage mechanism device 200A other than those described above are the same as those of the linkage mechanism device in the first embodiment.

[0077] [Variation Example] Hereinafter, various variations of the linkage mechanism device of the embodiment will be described.

[0078] <First Variation> Figure 10 This is a schematic diagram illustrating an example of the configuration of the linkage mechanism device 200B in the first modified example. The linkage mechanism device 200B differs from the embodiment described above in that the drive unit 220 is connected to the first inner engagement part J12 and moves the first inner engagement part J12 toward the drive unit 220.

[0079] With the above configuration, the drive unit 220 can drive the first four-bar linkage 211 in a manner that allows the relative position of the first outer joint J11 and the first inner joint J12 to be variable. Figure 10 In the example shown, the drive unit 220 moves the first inner joint J12 toward the drive unit 220 by applying a force F2 toward the drive unit 220. By driving the first four-bar linkage 211 in this way, the first inner link L13 in the first four-bar linkage 211 can come into contact with the object S.

[0080] The effect of the linkage mechanism device 200B is the same as that of the linkage mechanism device in the first embodiment.

[0081] <Second Variation> Figure 11 This is a schematic diagram illustrating an example of the configuration of the linkage mechanism device 200C in the second variation. The linkage mechanism device 200C differs from the embodiments and variations described above in that the drive unit 220 is connected to both the first outer engagement part J11 and the first inner engagement part J12, causing the first outer engagement part J11 to move to the side opposite to the drive unit 220 side, and causing the first inner engagement part J12 to move towards the drive unit 220 side.

[0082] With the above configuration, the drive unit 220 can drive the first four-bar linkage 211 in a manner that allows the relative positions of the first outer joint J11 and the first inner joint J12 to be variable. Through this drive, the first four-bar linkage 211 can bring its first inner link L13 into contact with the object S.

[0083] The effect of the linkage mechanism device 200C is the same as that of the linkage mechanism device in the first embodiment.

[0084] <Third Variation> Figure 12This is a schematic diagram illustrating an example of the configuration of the linkage mechanism device 200D in the third variation. The linkage mechanism device 200D differs from the embodiments and variations described above in that it satisfies each of the conditions A1 + B1 > C1 + D1 and A1 < B1 and C1 < D1. Even in the linkage mechanism device 200C, the same operational effect as in the first embodiment can be obtained.

[0085] <Fourth Variation> Figure 13 This is a schematic diagram illustrating an example of the configuration of the linkage device 200E in the fourth variation. The linkage device 200E differs from the embodiments and variations described above in that it has six four-bar linkages 210 and three drive units 220. The number of drive units 220 is less than the number of four-bar linkages 210.

[0086] exist Figure 13 In the example shown, the multiple four-bar linkages 210 include a first four-bar linkage 211, a second four-bar linkage 212, a third four-bar linkage 213, a fourth four-bar linkage 214, a fifth four-bar linkage 215, and a sixth four-bar linkage 216. The drive unit 220 includes a first drive unit 221, a second drive unit 222, and a third drive unit 223.

[0087] exist Figure 13 In the example shown, the first drive unit 221 is connected to the first four-bar linkage 211. The second four-bar linkage 212 is connected to the top side of the first four-bar linkage 211. The second drive unit 222 is connected to the top side of the second four-bar linkage 212. The second drive unit 222 is connected to the third four-bar linkage 213. The fourth four-bar linkage 214 is connected to the top side of the third four-bar linkage 213. The third drive unit 223 is connected to the top side of the fourth four-bar linkage 214. The third drive unit 223 is connected to the fifth four-bar linkage 215. The sixth four-bar linkage 216 is connected to the top side of the fifth four-bar linkage 215.

[0088] The first drive unit 221 drives the first four-bar linkage 211. The second four-bar linkage 212 is driven by the force generated in response to the contact between the first four-bar linkage 211 and the object S. The position of the second drive unit 222, connected to the top end of the second four-bar linkage 212, is variable in response to the driving of the second four-bar linkage 212. The second drive unit 222 drives the third four-bar linkage 213. The fourth four-bar linkage 214 is driven by the force generated in response to the contact between the third four-bar linkage 213 and the object S. The position of the third drive unit 223, connected to the top end of the third four-bar linkage 213, is variable in response to the driving of the fourth four-bar linkage 214. The third drive unit 223 drives the fifth four-bar linkage 215. The sixth four-bar linkage 216 is driven by the force generated in response to the contact between the fifth four-bar linkage 215 and the object S.

[0089] In the linkage mechanism device 200E, six four-bar linkages 210 can be driven in a manner that mimics the shape of the object S. From another perspective, in the linkage mechanism device 200 of this embodiment, the number of drive units 220 can be less than the number of multiple four-bar linkages 210; even with multiple drive units 220, the multiple four-bar linkages 210 can still be driven in a manner that mimics the shape of the object S. It should be noted that when the linkage mechanism device of this embodiment has multiple drive units 220, the drive unit located at the position furthest from the top of the linkage mechanism device (in...) Figure 13 In the example shown, the side where the first drive unit 221 is located corresponds to the "drive unit side".

[0090] The linkage mechanism device of the embodiment may also include a rotatable member as a drive unit. By including a rotatable drive unit, the operation of the linkage mechanism device can be extended to three dimensions.

[0091] The effects of the linkage mechanism device 200D other than those described above are the same as those of the linkage mechanism device 200 in the first embodiment.

[0092] [Third Implementation] Next, the robot of the third embodiment will be described. The robot of the third embodiment includes at least one of the linkage mechanism devices described in the first embodiment, the second embodiment, the first modification, the second modification, the third modification, and the fourth modification.

[0093] <Example of Robot Configuration in the Third Embodiment> Reference Figures 14 to 16 The configuration of the robot in the third embodiment will be described. Figure 14This is a schematic perspective view showing an example of the robot 100 according to the third embodiment. Figure 15 This is a schematic side view representing an example of robot 100. Figure 16 yes Figure 15 A schematic cross-sectional view at the XVI-XVI line.

[0094] Robot 100 is a robot with an external component 10 and capable of being driven by supplied electricity. The robot 100 illustrated in this embodiment is a humanoid interactive robot that mimics a bear. Robot 100 is manufactured to a size and weight suitable for a user to hold. Here, "user" refers to the user of robot 100. A representative example of a user includes a person living alone, an elderly person whose children are no longer independent, or a frail elderly person receiving home medical care. Alternatively, users may include not only users of robot 100 but also those who only interact with robot 100, such as the robot 100's manager.

[0095] The outer casing 10 is flexible. For example, the outer casing 10 may be made of a soft material that provides a pleasant tactile experience when touched by a user of the robot 100. For the material of the outer casing 10, materials containing organic materials such as polyurethane foam, rubber, resin, and fibers can be used. Preferably, the outer casing 10 is composed of an outer casing made of a heat-insulating polyurethane foam material and a soft fabric covering the outer surface of the outer casing.

[0096] As an example, robot 100 has a torso 1, a head 2, arms 3, and legs 4. The head 2 has a right eye 2a, a left eye 2b, a mouth 2c, a right cheek 2d, and a left cheek 2e. The arms 3 include a right arm 3a and a left arm 3b. The legs 4 include a right leg 4a and a left leg 4b. The torso 1 corresponds to the robot body. The head 2, arms 3, and legs 4 each correspond to a drive unit connected to the robot body in a manner that allows for relative displacement with respect to the robot body.

[0097] exist Figures 14-16 In the example shown, arm 3 is configured to be displaceable relative to torso 1. When robot 100 is hugged by a user, robot 100 displaces its right arm 3a and left arm 3b, causing them to come into contact with the user's head, torso, etc., in an embracing manner. Through this action, the user feels close to robot 100, thus promoting contact between the user and robot 100. It should be noted that contact with the user refers to actions such as rubbing, patting (touching), and hugging (embracing) where the user and robot 100 touch each other (the act of contact).

[0098] The torso 1, head 2, arm 3, and leg 4 are all covered by the outer casing 10. The outer casing at the torso 1 is integrated with the outer casing at the arm 3, while the outer casings at the head 2 and leg 4 are separate from those at the torso 1 and arm 3. However, this configuration is not limited to these specific arrangements; for example, only the parts of the robot 100 that are easily accessible to the user may be covered by the outer casing 10. Furthermore, at least one of the outer casings 10 at each of the torso 1, head 2, arm 3, and leg 4 may be separate from the other outer casings. Additionally, the non-displaceable parts of the head 2, arm 3, and leg 4 may not include sensors or other components on their inner sides, and may consist only of the outer casing 10.

[0099] The robot 100 has a camera 11, a tactile sensor 12, a control unit 13, a vital signs sensor 14, a battery 15, a first electrostatic capacitance sensor 21, and a second electrostatic capacitance sensor 31 on the inside of its outer casing 10. Furthermore, the robot 100 has the same camera 11, tactile sensor 12, control unit 13, vital signs sensor 14, and battery 15 on the inside of its outer casing 10 at the torso 1. Moreover, the robot 100 has a first electrostatic capacitance sensor 21 on the inside of its outer casing 10 at the head 2, and a second electrostatic capacitance sensor 31 on the inside of its outer casing 10 at the arm 3.

[0100] Furthermore, the robot 100 has a display 24, a speaker 25, and a light 26 inside the outer component 10 at the head 2. Also, the robot 100 has a display 24 inside the outer component 10 at the right eye 2a and left eye 2b. In addition, the robot 100 also has a speaker 25 inside the outer component 10 at the mouth 2c, and a light 26 inside the outer component 10 at the right cheek 2d and left cheek 2e.

[0101] More specifically, such as Figure 16As shown, the robot 100 has a torso frame 16, a torso platform 17, a right arm drive unit 220a, and a left arm drive unit 220b inside the outer component 10 at the torso 1. Furthermore, the robot 100 has a head frame 22 and a head platform 23 inside the outer component 10 at the head 2. Moreover, the robot 100 has multiple right arm four-bar linkages 210a inside the outer component 10 at the right arm 3a and multiple right arm four-bar linkages 210a inside the outer component 10 at the left arm 3b. In addition, the robot 100 also has a right leg frame 42a inside the outer component 10 at the right leg 4a and a left leg frame 42b inside the outer component 10 at the left leg 4b. The right arm drive unit 220a and the multiple right arm four-bar linkages 210a constitute a right arm linkage mechanism device 200a. In addition, the left arm drive unit 220b and multiple left arm four-bar linkages 210b constitute the left arm linkage device 200b.

[0102] The torso frame 16, head frame 22, right leg frame 42a, and left leg frame 42b are structures formed by combining multiple columnar members. The torso support platform 17 and head support platform 23 are plate-shaped members with a support surface. The torso support platform 17 is fixed to the torso frame 16, and the head support platform 23 is fixed to the head frame 22. It should be noted that the torso frame 16, head frame 22, right leg frame 42a, and left leg frame 42b can also be formed as a box shape including multiple plate-shaped members.

[0103] Multiple right arm four-bar linkages 210a are connected to the torso frame 16 via right arm drive units 220a. The right arm four-bar linkages 210a are able to be displaced relative to the torso frame 16 by being driven by the right arm drive units 220a. Displacement by the right arm four-bar linkages 210a causes relative displacement of the right arm 3a relative to the torso 1. Preferably, the right arm drive unit 220a includes, for example, a speed reducer that increases the output torque of the right arm drive unit 220a.

[0104] Multiple left arm four-bar linkages 210b are connected to the torso frame 16 via a left arm drive unit 220b. The left arm four-bar linkages 210b are able to be displaced relative to the torso frame 16 by being driven by the left arm drive unit 220b. Displacement by the left arm four-bar linkages 210b causes relative displacement of the left arm 3b relative to the torso 1. Preferably, the left arm drive unit 220b includes, for example, a speed reducer that increases the output torque of the left arm drive unit 220b.

[0105] The right arm linkage mechanism 200a can use fewer right arm drive units 220a than the number of multiple right arm four-bar linkages 210a to drive the multiple right arm four-bar linkages 210a in a manner that mimics the shape of the object S. The left arm linkage mechanism 200b can use fewer left arm drive units 220b than the number of multiple left arm four-bar linkages 210b to drive the multiple left arm four-bar linkages 210b in a manner that mimics the shape of the object S. Therefore, the right arm linkage mechanism 200a and the left arm linkage mechanism 200b can be constructed inexpensively, in a small size, and with low weight, and their configuration can be simplified. Furthermore, by having a right arm linkage mechanism 200a and a left arm linkage mechanism 200b in the arm 3, the robot 100 can be constructed inexpensively, in a small and lightweight manner, and the structure of the robot 100 can be simplified.

[0106] exist Figures 14-16 In the example shown, the object S contacted by the right arm linkage 200a and the left arm linkage 200b is the user of the robot 100 who is hugging it. For example, when the user hugs the robot 100 and the robot 100 comes into contact with the user's torso, multiple right arm four-bar linkages 210a and multiple left arm four-bar linkages 210b are driven in a manner that mimics the shape of the user's torso, which is the object S. As a result, the multiple right arm four-bar linkages 210a and multiple left arm four-bar linkages 210b surround the user's torso, thereby surrounding the right arm 3a and left arm 3b of the robot 100 around the user's torso. By having the right arm 3a and left arm 3b surrounding the torso, the user feels close to the robot 100. This facilitates communication between the user and the robot 100.

[0107] The head frame 22 is connected to the torso frame 16 via a head connection mechanism 27 and is capable of relative displacement with respect to the torso frame 16 by being driven by a head servo motor 35c. Displacement of the head frame 22 results in relative displacement of the head 2 with respect to the torso 1. Preferably, the head connection mechanism 27 includes, for example, a speed reducer that increases the output torque of the head servo motor 35c.

[0108] exist Figures 14-16 In the example shown, the head frame 22 has a neck frame F1c and a face frame F2c. The torso frame 16, the neck frame F1c, and the face frame F2c are connected to each other via a connecting mechanism.

[0109] The head servo motor 35c is a general term for multiple servo motors. For example, the head servo motor 35c includes a neck servo motor M1c and a face servo motor M2c. The neck servo motor M1c causes the neck frame F1c to rotate about a rotation axis perpendicular to the torso frame 16. The face servo motor M2c causes the face frame F2c to rotate about a rotation axis perpendicular to the rotation axis of the neck frame F1c.

[0110] By using the two-axis joints in its head 2, the robot 100 can achieve more realistic movements.

[0111] The right leg frame 42a is connected to the torso frame 16 via a right leg connecting mechanism 44a, and has a right leg wheel 41a on its bottom side. To stabilize the robot 100's posture, it is preferable that the robot 100 has two right leg wheels 41a in the longitudinal direction of the right leg frame 42a. The right leg wheels 41a are driven by a right leg servo motor 35d, thereby enabling rotation about a rotation axis perpendicular to the longitudinal direction of the right leg frame 42a. The robot 100 can move by rotating the right leg wheels 41a. Preferably, the right leg connecting mechanism 44a has, for example, a reducer that increases the output torque of the right leg servo motor 35d.

[0112] The left leg frame 42b is connected to the torso frame 16 via a left leg connecting mechanism 44b, and has a left leg wheel 41b on its bottom side. To stabilize the robot 100's posture, it is preferable that the robot 100 has two left leg wheels 41b in the longitudinal direction of the left leg frame 42b. The left leg wheels 41b are driven by a left leg servo motor 35e, thereby enabling rotation about a rotation axis perpendicular to the longitudinal direction of the left leg frame 42b. The robot 100 can move by rotating the left leg wheels 41b. Preferably, the left leg connecting mechanism 44b has, for example, a reducer that increases the output torque of the left leg servo motor 35e.

[0113] exist Figures 14-16 In the example shown, robot 100 moves forward or backward by simultaneously turning the right leg wheel 41a and the left leg wheel 41b forward or backward. By using a brake to brake either the right leg wheel 41a or the left leg wheel 41b and turning the other forward or backward, robot 100 turns right or left.

[0114] Thus, through its legs 4, robot 100 can achieve more realistic movements.

[0115] Camera 11 is fixed to torso frame 16. Touch sensor 12, control unit 13, vital sign sensor 14, and battery 15 are fixed to torso platform 17. Control unit 13 and battery 15 are fixed to the side of torso platform 17 opposite to the side where touch sensor 12 and vital sign sensor 14 are fixed. It should be noted that the configuration of control unit 13 and battery 15 is not necessarily limited to the above due to space constraints on the torso platform 17. However, when battery 15 is fixed to the side of torso platform 17 opposite to the side where touch sensor 12 and vital sign sensor 14 are fixed, the center of gravity of robot 100 is lower because battery 15 is heavier than other components. A lower center of gravity for robot 100 results in more stable position and posture, and facilitates at least one of charging and replacing battery 15, which is therefore preferable.

[0116] A first electrostatic capacitive sensor 21 is fixed to a headrest 23, and a second electrostatic capacitive sensor 31 is fixed to a right arm rest 33. The display 24 includes a right-eye display 24a and a left-eye display 24b. The right-eye display 24a, the left-eye display 24b, and a speaker 25 are fixed to a head frame 22. The lamp 26 includes a right cheek lamp 26a and a left cheek lamp 26b. The right cheek lamp 26a and the left cheek lamp 26b are fixed to the head frame 22.

[0117] It should be noted that the camera 11, tactile sensor 12, control unit 13, vital signs sensor 14, battery 15, first electrostatic capacitance sensor 21, second electrostatic capacitance sensor 31, etc., can be fixed by threaded components or adhesive components. Furthermore, the right eye display 24a, left eye display 24b, speaker 25, right cheek light 26a, left cheek light 26b, etc., can also be fixed by threaded components or adhesive components.

[0118] There are no particular limitations on the materials used for the torso frame 16, torso platform 17, head frame 22, and head platform 23; resin or metal materials can be used. However, from the viewpoint of ensuring strength during operation, it is preferable to use a metal material such as aluminum for the torso frame 16. On the other hand, if strength can be ensured, it is preferable to use resin materials for these parts in order to reduce the weight of the robot 100. There are no particular limitations on the materials used for the torso platform 17, head frame 22, and head platform 23; resin or metal materials can be used. However, from the viewpoint of reducing the weight of the robot 100, it is preferable to use resin materials.

[0119] The control unit 13 is connected to each of the camera 11, tactile sensor 12, vital signs sensor 14, first electrostatic capacitance sensor 21, second electrostatic capacitance sensor 31, and head servo motor 35c via wired or wireless communication. Furthermore, the control unit 13 is also connected to each of the right eye display 24a, left eye display 24b, speaker 25, right cheek light 26a, and left cheek light 26b via wired or wireless communication.

[0120] Camera 11 is an image sensor that outputs photographic images of the surroundings of robot 100 to control unit 13. Camera 11 includes a lens and an imaging element that captures the image formed by the lens. The imaging element can be a CCD (Charge Coupled Device) or CMOS (Complementary Metal-Oxide Semiconductor). The photographic image can be either a still image or a moving image.

[0121] Furthermore, preferably, the camera 11 is a TOF (Time of Flight) camera that outputs distance images of the robot 100's surroundings to the control unit 13. Therefore, the photographic images output from the camera 11 sometimes include not only two-dimensional images but also three-dimensional images (distance images), or may include three-dimensional images (distance images) instead of two-dimensional images. These photographic images are used for detecting the presence or proximity of a user, detecting the distance from the robot 100 to the user, user authentication, or inferring the user's emotions or actions. One example of a photographic image showing a user is this. In addition to the camera 11, the robot 100 may also be equipped with human detection sensors such as ultrasonic sensors, infrared sensors, millimeter-wave radar, or LiDAR (light detection and raging).

[0122] The tactile sensor 12 is a sensor element that detects information perceived by the touch sense of a human hand or similar organ, converts this information into a tactile signal as an electrical signal, and outputs it to the control unit 13. For example, the tactile sensor 12 uses a piezoelectric element to convert information about pressure and vibration generated by contact between a user and the robot 100 into a tactile signal and outputs it to the control unit 13. The tactile signal output from the tactile sensor 12 is used to detect user contact with the robot 100 or the presence of the user.

[0123] The vital signs sensor 14 is an example of an electromagnetic wave sensor that uses electromagnetic waves to acquire biological information about a user.

[0124] The first electrostatic capacitance sensor 21 and the second electrostatic capacitance sensor 31 are sensor elements that output an electrostatic capacitance signal to the control unit 13, indicating that a user has come into contact with or approached the robot 100 based on changes in electrostatic capacitance. From the viewpoint of stabilizing the outer component 10, it is preferable that the first electrostatic capacitance sensor 21 is a rigid sensor without flexibility. Since the arm portion 3 is a part that the user can easily touch, from the viewpoint of providing a good tactile experience, it is preferable that the second electrostatic capacitance sensor 31 is a flexible sensor including conductive wires, etc. The electrostatic capacitance signals output from the first electrostatic capacitance sensor 21 and the second electrostatic capacitance sensor 31 are used to detect the user's approach to the robot 100 or the user's presence.

[0125] The right-eye display 24a and the left-eye display 24b are display modules that display strings or images such as characters, numbers, and symbols in response to commands from the control unit 13. The right-eye display 24a and the left-eye display 24b are, for example, composed of liquid crystal display modules. The strings or images displayed on the right-eye display 24a and the left-eye display 24b are used to express the emotions of the robot 100. For example, the robot 100 can display a "smile" image on the right-eye display 24a and the left-eye display 24b to resonate with a user sitting with a happy feeling, thereby subtly inducing interaction with the user. Speaker 25 is a speaker unit that amplifies and outputs sound signals from control unit 13. The sound output from speaker 25 is the voice or call of robot 100, which is used to express the emotions of robot 100. For example, robot 100 can output a "sound of concern" from speaker 25 to a user who is doing housework with a sad emotion, thereby inducing contact with the user.

[0126] The right cheek light 26a and the left cheek light 26b are light modules that flash or change color in response to an on / off signal from the control unit 13. The right cheek light 26a and the left cheek light 26b are, for example, LED (Light Emitting Diode) light modules. The flashing or color change of the right cheek light 26a and the left cheek light 26b is used to express the emotions of the robot 100. For example, the robot 100 can express empathy by flashing the right cheek light 26a and the left cheek light 26b in blue to a user sitting with a sad emotion, thereby inducing contact with the user.

[0127] Battery 15 supplies power to each of the following components: camera 11, tactile sensor 12, control unit 13, vital signs sensor 14, first electrostatic capacitance sensor 21, second electrostatic capacitance sensor 31, right arm drive unit 220a, and left arm drive unit 220b. Furthermore, battery 15 supplies power to each of the following components: head servo motor 35c, right leg servo motor 35d, and left leg servo motor 35e. Additionally, battery 15 supplies power to each of the following components: right eye display 24a, left eye display 24b, speaker 25, right cheek light 26a, and left cheek light 26b. Various rechargeable batteries, such as lithium-ion batteries and lithium polymer batteries, can be used for battery 15.

[0128] It should be noted that the various sensors, such as the first electrostatic capacitance sensor 21 and the second electrostatic capacitance sensor 31, in the robot 100 are not essential components. The robot 100 only needs to have a camera 11, a vital signs sensor 14, and a tactile sensor 12. The placement of the camera 11, vital signs sensor 14, and tactile sensor 12 can also be appropriately changed. Moreover, the various sensors, such as the camera 11, vital signs sensor 14, and tactile sensor 12, can also be configured on the outside of the robot 100, transmitting the required information wirelessly to the robot 100 or an external device. For example, a PC (Personal Computer) is an example of an external device.

[0129] Furthermore, the robot 100 may not necessarily have a control unit 13 inside the outer casing 10; the control unit 13 may also communicate wirelessly with each device from the outside of the outer casing 10. The battery 15 may also supply power to each component from the outside of the outer casing 10.

[0130] In this embodiment, an example is shown where the head 2, arm 3, and leg 4 are capable of displacement, but this is not a limitation; at least one of the head 2, arm 3, and leg 4 may be capable of displacement. Preferably, the arm 3 can be connected to an end effector such as a hand. Furthermore, the leg 4 is configured as a wheel, but it can also be configured as a tracked or footed assembly.

[0131] The composition and shape of Robot 100 are not limited to Figures 14-16 The configuration and shape illustrated can be appropriately changed according to user preferences and how the robot 100 is used. For example, the robot 100 may not be in the form of a bear, but rather in the form of a robotic arm such as an industrial robot, or even in the form of a humanoid shape. In addition, the robot 100 may also be in the form of a mobile device such as a drone or a vehicle, which has at least one of an arm, a display, a speaker, and a light.

[0132] The preferred embodiments have been described in detail above, but are not limited to the embodiments described above. Various modifications and substitutions can be made to the embodiments described above without departing from the scope of the claims.

[0133] Furthermore, the ordinal numbers, quantities, and other figures used in the above description of the embodiments are illustrative examples for the purpose of specifically illustrating the technology of the present invention, and the present invention is not limited to the illustrative figures. Furthermore, the connection relationships between the constituent elements are illustrative examples for the purpose of specifically illustrating the technology of the present invention, and the connection relationships for realizing the functions of the present invention are not limited thereto.

[0134] The linkage mechanism device of the embodiment can be appropriately used in robots, conveying mechanisms, or conveying devices. The linkage mechanism device of the embodiment can use fewer drive units than multiple four-bar linkages to drive multiple four-bar linkages in a way that mimics the shape of an object. Therefore, robots, conveying mechanisms, or conveying devices can be constructed inexpensively, in a small size, and in a lightweight manner, and the structure of robots, conveying mechanisms, or conveying devices can be simplified.

[0135] Furthermore, the robot described in this embodiment is particularly suitable for purposes such as promoting oxytocin secretion and providing healing (a sense of security or self-affirmation) to individuals who live independently, elderly people whose children have become independent, and frail elderly people who are recipients of home medical care. However, it is not limited to this purpose; the robot described in this embodiment can also be appropriately used in industrial robots and the like.

[0136] The solutions disclosed herein are as follows, for example.

[0137] <1> A linkage mechanism device comprising: a plurality of four-bar linkages interconnected with each other; and a drive unit for driving the four-bar linkages, the plurality of four-bar linkages including: a first four-bar linkage connected to the drive unit; and a second four-bar linkage connected to the first four-bar linkage, the first four-bar linkage including: a first outer link located on the side opposite to the object side when the first four-bar linkage contacts an object; a first drive side link located on the drive unit side; a first inner link located on the object side when the first four-bar linkage contacts the object; and a first top side link located on the side opposite to the drive unit side; the second four-bar linkage including: a second outer link located on the side opposite to the object side when the second four-bar linkage contacts the object; and a second drive side link located on the drive unit side. The second inner link is located on the object side when the second four-bar linkage contacts the object; and the second top-side link is located on the side opposite to the drive unit side. The drive unit is connected to at least one of the first outer joint and the first inner joint, and drives the first four-bar linkage in such a way that the relative positions of the first outer joint and the first inner joint are variable. The first outer joint engages the end of the first outer link with the end of the first drive-side link, and the first inner joint engages the end of the first drive-side link with the end of the first inner link. When the length of the second outer link is set to A1, the length of the second drive-side link is set to B1, the length of the second inner link is set to C1, and the length of the second top-side link is set to D1, A1 + B1 > C1 + D1 is satisfied.

[0138] <2> According to the linkage mechanism device described in <1> above, the drive unit is connected to the first outer engagement unit, causing the first outer engagement unit to move to the side opposite to the drive unit side.

[0139] <3> According to the linkage mechanism device described in <1> above, the driving part is connected to the first inner joint part, so that the first inner joint part moves toward the driving part.

[0140] <4> The linkage device according to any one of <1> to <3> above, wherein each of the four links included in each of the plurality of four-bar linkages is composed of a plate-shaped member.

[0141] <5> According to the linkage mechanism device described in <4> above, the thickness of the plate-shaped member constituting one of the four links is less than or equal to 10% of the length of the shortest link among the three links connected to the one link.

[0142] <6> According to the linkage mechanism device described in <4> or <5> above, the flexibility of the plate member under stress of a deflection of 1.5 mm during three-point bending is greater than or equal to 0.08 N.

[0143] <7> The linkage mechanism device according to any one of <4> to <6> above, wherein the plate-shaped member is composed of at least one of resin, carbon fiber, titanium, magnesium and aluminum.

[0144] <8> The linkage mechanism device according to any one of <1> to <7> above, wherein the plurality of four-bar linkages includes a third four-bar linkage connected to the second four-bar linkage, the third four-bar linkage including: a third outer link, located on the side opposite to the object side when the third four-bar linkage contacts the object; a third drive side link, located on the drive part side; a third inner link, located on the object side when the third four-bar linkage contacts the object; and a third top side link, located on the side opposite to the drive part side, wherein when the length of the third outer link is set to A2, the length of the third drive side link is set to B2, the length of the third inner link is set to C2, and the length of the third top side link is set to D2, A2 + B2 > C2 + D2 is satisfied.

[0145] <9> A robot having a linkage mechanism as described in any one of <1> to <8> above.

[0146] This application is based on and claims priority to Japanese Patent Application No. 2023-169704, filed with the Japan Patent Office on September 29, 2023, and contains the entire contents of that Japanese Patent Application.

[0147] Explanation of reference numerals in the attached figures 1: Torso; 2: Head; 2a: Right eye; 2b: Left eye; 2c: Mouth; 2d: Right cheek; 2e: Left cheek; 3: Arm; 3a: Right arm; 3b: Left arm; 4: Leg; 4a: Right leg; 4b: Left leg; 10: External component; 11: Camera; 12: Tactile sensor; 13: Control unit; 14: Vital signs sensor; 15: Battery; 16: Torso frame; 17: Torso platform; 21: First electrostatic capacitance sensor; 22: Head frame; 23: Head platform; 24: Display; 24a: Right eye display; 24b: Left eye display; 25: Speaker; 26: Lamp; 26a: Right cheek lamp; 26b: 1: Left cheek light; 27: Head connection mechanism; 31: Second electrostatic capacitive sensor; 35c: Head servo motor; 35d: Right leg servo motor; 35e: Left leg servo motor; 41a: Right leg wheel; 41b: Left leg wheel; 42a: Right leg frame; 42b: Left leg frame; 44a: Right leg connection mechanism; 44b: Left leg connection mechanism; 100: Robot; 200, 200A, 200B, 200C, 200D, 200E: Linkage mechanism; 200a: Right arm linkage mechanism; 200b: Left arm linkage mechanism; 210: Four-bar linkage; 211: First four-bar linkage; 212: Second four-bar linkage. Mechanism; 213: Third four-bar linkage; 214: Fourth four-bar linkage; 215: Fifth four-bar linkage; 216: Sixth four-bar linkage; 210a: Right arm four-bar linkage; 210b: Left arm four-bar linkage; 220: Drive unit; 220a: Right arm drive unit; 220b: Left arm drive unit; 221: First drive unit; 222: Second drive unit; 223: Third drive unit; F1c: Neck frame; F2c: Face frame; M1c: Neck servo motor; M2c: Face servo motor; F1, F2, F3, F4, T11, T12, T21, T22, T31, T32: Force; J11: First outer joint; J1 2: First inner joint; J21: Second outer joint; J22: Second inner joint; J31: Third outer joint; J32: Third inner joint; J41: Fourth outer joint; J42: Fourth inner joint; L11: First outer connecting rod; L12: First drive-side connecting rod; L13: First inner connecting rod; L14: First top-side connecting rod; L21: Second outer connecting rod; L22: Second drive-side connecting rod; L23: Second inner connecting rod; L24: Second top-side connecting rod; L31: Third outer connecting rod; L32: Third drive-side connecting rod; L33: Third inner connecting rod; L34: Third top-side connecting rod; P: Top connecting rod; S: Object.

Claims

1. A linkage mechanism device, comprising: Multiple four-bar linkages that are interconnected; as well as The drive unit enables the four-bar linkage to operate. The plurality of four-bar linkages include: The first four-bar linkage is connected to the drive unit; And a second four-bar linkage, connected to the first four-bar linkage. The first four-bar linkage includes: The first outer link is located on the side opposite to the object side when the first four-bar linkage contacts the object; The first drive-side connecting rod is located on the drive unit side; The first inner link is located on the object side when the first four-bar linkage contacts the object; and The first top-side connecting rod is located on the side opposite to the drive section side. The second four-bar linkage includes: The second outer link is located on the side opposite to the object when the second four-bar linkage contacts the object; The second drive-side connecting rod is located on the drive unit side; The second inner link is located on the object side when the second four-bar linkage contacts the object; and The second top-side connecting rod is located on the side opposite to the drive section side. The drive unit is connected to at least one of the first outer engagement portion and the first inner engagement portion, and drives the first four-bar linkage in a manner that allows the relative positions of the first outer engagement portion and the first inner engagement portion to be variable. The first outer engagement portion engages the end of the first outer link with the end of the first drive-side link, and the first inner engagement portion engages the end of the first drive-side link with the end of the first inner link. When the length of the second outer connecting rod is set to A1, the length of the second driving side connecting rod is set to B1, the length of the second inner connecting rod is set to C1, and the length of the second top side connecting rod is set to D1, the condition A1 + B1 > C1 + D1 is satisfied.

2. The linkage mechanism device according to claim 1, wherein, The drive unit is connected to the first outer engagement portion, causing the first outer engagement portion to move to the side opposite to the drive unit side.

3. The linkage mechanism device according to claim 1, wherein, The driving part is connected to the first inner joint, causing the first inner joint to move toward the driving part.

4. The linkage mechanism device according to claim 1, wherein, Each of the four links in each of the plurality of four-bar linkages is composed of a plate-like member.

5. The linkage mechanism device according to claim 4, wherein, The thickness of the plate-like member constituting one of the four links is less than or equal to 10% of the length of the shortest of the three links connected to that link.

6. The linkage mechanism device according to claim 4, wherein, The flexibility of the plate-shaped member is greater than or equal to 0.08 N under stress when the deflection is 1.5 mm during three-point bending.

7. The linkage mechanism device according to claim 4, wherein, The plate-shaped component is composed of at least one of resin, carbon fiber, titanium, magnesium, and aluminum.

8. The linkage mechanism device according to claim 1, wherein, The plurality of four-bar linkages includes a third four-bar linkage connected to the second four-bar linkage. The third four-bar linkage includes: The third outer link is located on the side opposite to the object when the third four-bar linkage contacts the object; The third drive-side connecting rod is located on the drive unit side; The third inner link is located on the object side when the third four-bar linkage contacts the object; and The third top-side connecting rod is located on the side opposite to the drive section side. When the length of the third outer connecting rod is set to A2, the length of the third driving side connecting rod is set to B2, the length of the third inner connecting rod is set to C2, and the length of the third top side connecting rod is set to D2, A2 + B2 > C2 + D2 is satisfied.

9. A robot having a linkage mechanism as described in any one of claims 1 to 8.

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