Linkage device and robot

Abstract

A linkage device is provided, in which the linkage device is driven by a number of driving sections that is less than the number of a plurality of multi-joint linkages, and is capable of being driven in a manner that mimics the shape of an object. The linkage device has a continuum including a main face, a plurality of multi-joint linkages coupled in at least one direction on the main face of the continuum, and a driving section that drives the multi-joint linkages. In the plurality of multi-joint linkages, when the length of a second outer side linkage located on the side opposite the object side when in contact with the object is set as A1, the length of a second driving side linkage located on the driving section side is set as B1, the length of a second portion of the continuum from a second inner side coupling portion at which the second driving side linkage is coupled to the continuum to a third inner side coupling portion at which a second tip side linkage is coupled to the continuum is set as C1, and the length of the second tip side linkage located on the side opposite the driving section side is set as D1, A1+B1>C1+D1 is satisfied, and the continuum is more flexible than the linkages that make up the multi-joint linkages.

Description

Technical Field

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

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

[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 multiple multi-joint linkages are driven to mimic the shape of the object contacted by a multi-joint linkage such as a four-joint linkage, it is sometimes necessary to mount the same number of drive units as the number of multi-joint linkages. As a result, the number of drive units increases, making the linkage device more expensive, larger and heavier, and potentially more complex in its structure.

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

[0006] Solution for solving the problem One aspect of the linkage mechanism device disclosed herein includes: a continuum including a main surface; a plurality of multi-joint linkages connected on the main surface of the continuum in at least one direction; and a drive unit for driving the multi-joint linkages, the plurality of multi-joint linkages including: a first multi-joint linkage connected to the drive unit; and a second multi-joint linkage connected to the first multi-joint linkage, the first multi-joint linkage including: a first outer linkage located on the side opposite to the object when the first multi-joint linkage contacts an object; a first drive-side linkage located on the drive unit side; a first top-side linkage located on the side opposite to the drive unit side; and a first portion of the continuum extending from a first inner connecting portion for connecting the first drive-side linkage to the continuum to a second inner connecting portion for connecting the first top-side linkage to the continuum, the second multi-joint linkage including: a second outer linkage located on the side opposite to the object when the second multi-joint linkage contacts the object. The first multi-joint linkage is driven by a second drive-side link located on the opposite side of the object side; a second top-side link located on the opposite side of the drive-side link; and a second portion of the continuous body extending from a second inner connecting portion for connecting the second drive-side link to the continuous body to a third inner connecting portion for connecting the second top-side link to the continuous body. The drive-side link is connected to at least one of a first outer joining portion and a first inner connecting portion, and drives the first multi-joint linkage mechanism in such a way that the relative positions of the first outer joining portion and the first inner connecting portion are variable. The first outer joining portion engages the end of the first outer link with the end of the first drive-side 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 portion of the continuous body is set to C1, and the length of the second top-side link is set to D1, A1 + B1 > C1 + D1 is satisfied. The continuous body has higher flexibility than the links constituting the multi-joint linkage mechanism.

[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 articulated linkages to drive multiple articulated 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 yes Figure 15 A schematic cross-sectional view of 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, substantially the same components are labeled with the same reference numerals, 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 mechanism device 200 includes: a continuum 230 including a main surface 230m; a plurality of multi-joint linkages 210 connected in at least one direction on the main surface 230m of the continuum 230; and a drive unit 220 for driving the multi-joint linkages 210. The plurality of multi-joint linkages 210 includes: a first multi-joint linkage 211 connected to the drive unit 220; and a second multi-joint linkage 212 connected to the first multi-joint linkage 211.

[0028] The first multi-joint linkage 211 includes: a first outer link L11, which is located on the side opposite to the object S when the first multi-joint linkage 211 is in contact with the object S; a first drive-side link L12, located on the drive section 220 side; a first top-side link L14, located on the side opposite to the drive section 220 side; and a first portion 231 of the continuous body 230 extending from a first inner connecting portion J12 for connecting the first drive-side link L12 to the continuous body 230 to a second inner connecting portion J22 for connecting the first top-side link L14 to the continuous body 230.

[0029] The second multi-joint linkage 212 includes: a second outer link L21, which is located on the side opposite to the object S when the second multi-joint linkage 212 is in contact with the object S; a second drive-side link L22, located on the drive portion 220 side; a second top-side link L24, located on the side opposite to the drive portion 220 side; and a second portion 232 of the continuous body 230 extending from a second inner connecting portion J22 for connecting the second drive-side link L22 to the continuous body 230 to a third inner connecting portion J32 for connecting the second top-side link L24 to the continuous body 230.

[0030] The drive unit 220 can be connected to at least one of the first outer engagement portion J11 and the first inner connecting 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 drive-side connecting rod L12. Figure 1 and Figure 2 In the example shown, the drive unit 220 is connected to the first outer joint J11. The drive unit 220 drives the first multi-joint linkage 211 in a manner that allows the relative position of the first outer joint J11 and the first inner connecting part J12 to be variable.

[0031] In the linkage mechanism 200, when the length of the second outer link L21 is set as A1, the length of the second drive-side link L22 is set as B1, the length of the second part 232 of the continuum 230 is set as C1, and the length of the second top-side link L24 is set as D1, A1 + B1 > C1 + D1 is satisfied. The continuum has higher flexibility than the links constituting the multi-joint linkage mechanism 210. It should be noted that, hereafter, "high flexibility of the continuum" refers to the higher flexibility of the continuum compared to the links constituting the multi-joint linkage mechanism.

[0032] In this specification, the term "link length" refers to the length in the direction from the joint at one end of the link to the joint at the other end when the link is connected to other links in a manner forming a joint. Furthermore, when the link is not linear, the link length refers to the straight-line distance between the joints at both ends of the link. It should be noted that when the link has high flexibility, the distance between the joints when the link is placed on a plane is considered the link length. Furthermore, regarding the length of the connecting portions in a highly flexible continuum, the distance between the connecting portions to which the link is connected when the continuum is placed on a plane is considered the link length.

[0033] The continuum 230 is a single component shared by multiple articulated linkages 210. Figure 1 and Figure 2In the example shown, the continuum 230 includes a first portion 231 and a second portion 232. The first portion 231 is connected to the second portion 232, forming the continuum 230 as a single integral component. The first portion 231 of the continuum 230 is included in a first multi-joint linkage 211. The second portion 232 of the continuum 230 includes a second multi-joint linkage 212.

[0034] The continuum 230 is made of a material that is more flexible than the material of the links included in the multi-joint linkage 210, thereby exhibiting higher flexibility compared to those links. It should be noted that, when the flexibility of the links included in the multi-joint linkage 210 varies for each link, it is preferable that the continuum 230 exhibits higher flexibility than the link with the highest flexibility among the links included in the multi-joint linkage 210.

[0035] exist Figure 1 In the example shown, a force F1 is applied from the drive unit 220 to the first outer joint J11 in a direction toward the top. The applied force F1 causes the first outer joint J11 to move toward the top. This movement of the first outer joint J11 toward the top causes a force T11 rotating about the first inner connecting part J12 to act on the first drive-side link L12, causing the first drive-side link L12 to tilt toward the object S. Furthermore, the movement of the first outer joint J11 toward the top causes the force T12 rotating about the first inner connecting part J12 to act on the first portion 231 of the continuum 230, causing the first portion 231 to tilt toward the object S. Thus, the first portion 231 comes into contact with the object S. In other words, the first multi-joint linkage 211 comes into contact with the object S.

[0036] The first part 231 of the continuum 230 comes into contact with the object S, such as... Figure 2 As shown, a force T21, rotating around the second inner connecting portion 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 portion 231 of the continuum 230 and the object S, the force T22, rotating around the second inner connecting portion J22, acts on the second portion 232 of the continuum 230, causing the second portion 232 to tilt towards the object S. Thus, the second portion 232 comes into contact with the object S. In other words, the second multi-joint linkage mechanism 212 comes into contact with the object S.

[0037] In the linkage device 200, the force generated by the multi-joint linkage 210 located on the drive unit 220 side contacting the object S acts sequentially on the multi-joint linkage 210 connected to the top end side. This allows the multi-joint linkage 210 on the top end side to sequentially contact the object S. By having the multi-joint linkage 210 contact the object S sequentially from the drive unit 220 side to the top end side, the multiple multi-joint linkages 210 form a shape that mimics the shape of the object S. Thus, the linkage device 200 can drive the multiple multi-joint linkages 210 in a manner that mimics the shape of the object S. Furthermore, in Figure 1 and Figure 2 In the example shown, there is one drive unit 220 and two multi-joint linkages 210, meaning the number of drive units 220 is less than the number of multi-joint linkages 210. Thus, in this embodiment, a linkage device 200 can be provided, wherein the linkage device 200 can use fewer drive units 220 than the number of multiple multi-joint linkages 210 to drive the multiple multi-joint linkages 210 in a manner that mimics the shape of the object S. In other views, the linkage device 200 constitutes a so-called inferior drive arm, enabling the multiple multi-joint linkages 210 to be driven in a manner that mimics the shape of the object S.

[0038] exist Figure 1 and Figure 2 In the example shown, the object S is a sphere. The linkage mechanism 200 enables the two multi-joint 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 mechanism 200 can surround the human torso by driving the two multi-joint linkages 210 in a manner that mimics the shape of the human torso, which is the object S.

[0039] Furthermore, in the linkage device 200, by making the number of drive units 220 less than the number of multi-joint linkages 210, the linkage device 200 can be constructed inexpensively, in a small size and with light weight, and the structure of the linkage device 200 can be simplified.

[0040] Furthermore, in the linkage mechanism device 200, a highly flexible continuum 230 is arranged on the object S side to form a multi-joint linkage mechanism 210. Since the highly flexible continuum 230 is easily deformable, its shape can easily change according to its contact with the object S, mimicking the shape of the object S. Therefore, multiple multi-joint linkage mechanisms 210 can appropriately mimic the shape of the object S.

[0041] Furthermore, in the linkage device 200, a single continuous body 230 is shared among the multiple articulated linkages 210. Therefore, compared to the case where multiple highly flexible members are arranged on the object S side corresponding to each of the multiple articulated linkages 210, the configuration of the multiple articulated linkages 210 can be simplified in the linkage device 200.

[0042] 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 multi-joint linkage 211 in a manner that allows the relative position of the first outer joint J11 and the first inner connecting part J12 to be variable. Driven by the first multi-joint linkage 211, the linkage device 200 can bring the first portion 231 of the continuum 230 into contact with the object S.

[0043] For the drive unit 220, a motor mechanism utilizing a stepper motor, servo motor, or the like can be used. However, the type of drive unit 220 is not limited as long as the relative position of the first outer connecting portion J11 and the first inner connecting portion J12 can be changed. For example, a piston-crank mechanism or the like can be used as the drive unit 220. Furthermore, the configuration connecting the drive unit 220 to the first outer connecting portion J11 is not limited as long as the relative position of the first outer connecting portion J11 and the first inner connecting portion J12 can be changed. 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 connecting portion J11. It should be noted that the drive unit 220 can include such a changing mechanism as a component.

[0044] 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 via the first outer joint J11. The first drive-side connecting rod L12 is connected to the continuum 230 via the first inner connecting part J12. The first outer connecting rod L11 and the first top-side connecting rod L14 are engaged via the second outer joint J21. The continuum 230 is connected to the first top-side connecting rod L14 via the second inner connecting part J22. The first outer connecting rod L11, the second outer connecting rod L21, and the second drive-side connecting rod L22 are engaged via the second outer joint J21. The continuum 230 is connected to the second drive-side connecting rod L22 via the second inner connecting part J22. The second outer connecting rod L21 and the second top-side connecting rod L24 are engaged via the third outer joint J31. The continuum 230 is connected to the second top-side connecting rod L24 via the third inner connecting part J32. It should be noted that the first top-side connecting rod L14 and the second drive-side connecting rod L22, located at the boundary between the first multi-joint linkage mechanism 211 and the second multi-joint linkage mechanism 212, are identical components. That is, the first top-side connecting rod L14 and the second drive-side connecting rod L22 can be used interchangeably.

[0045] As described above, the lengths of the three links included in the second multi-joint linkage 212 and the length of a portion of the continuum 230 satisfy A1 + B1 > C1 + D1. On the other hand, the lengths of the three links included in the first multi-joint linkage 211 and the length of a portion of the continuum 230 are not particularly limited. Furthermore, when the linkage device 200 has three or more multi-joint linkages, in order for the multiple multi-joint linkages 210 to be driven in a manner that mimics the shape of the object S, the multi-joint linkages connected to a position closer to the top than the second multi-joint linkage 212 are required to satisfy the same conditions as the second multi-joint linkage 212.

[0046] Here, when the linkage device 200 has three or more multi-joint linkages 210, the conditions for the lengths of the three links of the multi-joint linkage 210 located at the third or subsequent positions from the drive unit 220 side and the lengths of portions in the continuum 230 are generalized. For example, consider the case where the linkage device of the embodiment has n interconnected multi-joint linkages 210. n is a natural number greater than or equal to 3. 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 portion in the continuum 230 is set as Cn-1, and the length of the nth top-side link is set as Dn-1, the lengths of the three links of the multi-joint linkage 210 located at the third or subsequent positions from the drive unit 220 side and the lengths of portions in the continuum 230 satisfy (An-1) + (Bn-1) > (Cn-1) + (Dn-1). In this case, the force generated by the multi-joint linkage 210 on the drive unit 220 side contacting the object S will also act sequentially on the multi-joint linkage 210 on the top side. Therefore, the linkage device 200 having three or more multi-joint linkages 210 can drive n multi-joint linkages 210 in a manner mimicking the shape of the object S. It should be noted that the formula generalizing the relationship between the lengths of the three links and the lengths of portions in the continuum 230 is not limited to the linkage device 200 having three or more multi-joint linkages 210, but can also be applied to reference... Figures 7-9 The linkage device 200, described later, has two multi-joint linkages 210.

[0047] exist Figure 1 and Figure 2 In the example shown, the lengths of the three links included in the second multi-joint linkage 212 and the length of a portion of the continuum 230 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 three links included in the second multi-joint linkage 212 and the length of a portion of the continuum 230 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 three links included in the second multi-joint linkage 212 and the length of a portion of the continuum 230 satisfy A1 + B1 > C1 + D1, and also satisfy each of the conditions A1 < B1 and C1 < D1.

[0048] Furthermore, in the linkage device 200, each of the three links included in each of the plurality of multi-joint linkage mechanisms 210 can be constructed from plate-shaped members. By constructing the links from plate-shaped members, the multi-joint linkage mechanism 210 can be constructed with lighter weight and superior flexibility compared to the case where the links are constructed from columnar members. As a result, the linkage device 200 can be made lighter, and the plurality of multi-joint linkage mechanisms 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.

[0049] The material of the links included in each of the plurality of multi-joint 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 multi-joint linkages 210 can be the same or different from each other.

[0050] Alternatively, the links included in each of the multiple articulated linkages 210, positioned at the boundary positions of adjacent articulated linkages 210, can be made of a flexible material, such as the first top-side link L14 in the first articulated linkage 211. By making the links positioned at the boundary positions of adjacent articulated linkages 210 of a flexible material, the multiple articulated linkages 210 can appropriately mimic the shape of the object S.

[0051] The joint only needs to connect two adjacent links at a variable angle; its configuration is not limited. For example, a hinge can be used for the joint, or a shaft-like member can be used to connect two adjacent links respectively, allowing them to rotate about a rotation axis. The two adjacent links are not limited to... Figure 1 and Figure 2 The configuration shown in the example, which is joined by one joint, can also be a configuration joined by two or more joints.

[0052] In the connecting parts such as the first inner connecting part J12 and the second inner connecting part J22, the connecting rod and the continuous body 230 can be joined by an adhesive member, for example. However, it is not limited to this, the connecting rod and the continuous body 230 can also be joined by an adhesive member such as double-sided tape.

[0053] Furthermore, in the linkage mechanism device 200, the thickness of the plate-like member constituting one of the three links in the multi-joint linkage mechanism 210 can be less than or equal to 10% of the length of the shortest link among the two links connected to that link. This allows the multi-joint linkage mechanism 210 to be constructed lightweight and with excellent flexibility, making the linkage mechanism device 200 lightweight, and enabling multiple multi-joint linkage mechanisms 210 to appropriately mimic the shape of the object S. Preferably, the thickness of the plate-like member constituting one of the three links in the multi-joint linkage mechanism 210 is less than or equal to 8% of the length of the shortest link among the two links connected to that link, more preferably less than or equal to 6% of the length of the shortest link among the two links connected to that link.

[0054] Furthermore, in the linkage device 200, the flexibility of the plate-like member constituting the link in the multi-joint linkage 210 can be set to be greater than or equal to 1.0 N under stress when the deflection is 1.5 mm during three-point bending. Therefore, the multi-joint linkage 210 can be constructed with excellent flexibility, allowing multiple multi-joint linkages 210 to appropriately mimic the shape of the object S. Preferably, the flexibility of the plate-like member is greater than or equal to 1.25 N under stress when the deflection is 1.5 mm during three-point bending, and more preferably greater than or equal to 1.5 N under stress when the deflection is 1.5 mm during three-point bending.

[0055] Furthermore, in the linkage device 200, a plate-like member can be constructed from at least one of resin, carbon fiber, titanium, magnesium, and aluminum to form the links in the plurality of articulated linkages 210. This allows for a lightweight and highly flexible articulated linkage mechanism. As a result, the linkage device 200 can be made lightweight, and the plurality of articulated linkages 210 can appropriately mimic the shape of the object S.

[0056] Furthermore, in the linkage mechanism 200, the flexibility of the continuum 230 can be set to be less than or equal to 1.0 N under stress when the deflection is 1.5 mm during three-point bending. Preferably, the flexibility of the continuum 230 is less than or equal to 1.0 N under stress when the deflection is 1.5 mm during three-point bending; more preferably, it is less than or equal to 0.75 N under stress when the deflection is 1.5 mm during three-point bending; and even more preferably, it is less than or equal to 0.5 N under stress when the deflection is 1.5 mm during three-point bending.

[0057] Furthermore, in the linkage mechanism device 200, the components that form the continuum 230 can be made of a material that is softer than the material of the links included in the multi-joint linkage mechanism 210. Resin is preferably the material constituting the continuum 230.

[0058] (Example of manufacturing method for linkage mechanism device 200) Here, the manufacturing method of the linkage mechanism device 200 will be described using the case where a hinge is used for the connecting member as an example.

[0059] (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).

[0060] (2) Next, holes for mounting hinges are formed in the connecting rod.

[0061] (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 multi-joint linkage mechanisms 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 members or adhesive members can be used.

[0062] (4) Next, if a top link is to be provided on the top side of the multi-joint 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 multi-joint linkage 210.

[0063] (5) Next, the drive unit 220 is connected to the first multi-joint linkage mechanism 211.

[0064] Using the above manufacturing method, a linkage mechanism device 200 can be manufactured.

[0065] <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.

[0066] The linkage mechanism device 200X has multiple multi-joint linkages 210X. Each multi-joint linkage 210X includes a first multi-joint linkage 211X and a second multi-joint linkage 212X. The first multi-joint linkage 211X includes a first outer linkage L11, a first drive-side linkage L12, a first inner linkage L13, and a first top-side linkage L14. The second multi-joint linkage 212X includes a second outer linkage L21, a second drive-side linkage L22, a second inner linkage L23, and a second top-side linkage L24. A first inner engagement portion J12X engages the first drive-side linkage L12 with the first inner linkage L13. A second inner engagement portion J22X engages the second drive-side linkage L22, the first inner linkage L13, and the second inner linkage L23. A third inner engagement portion J32X engages the second top-side linkage L24 with the second inner linkage L23. The lengths of the four links included in the second multi-joint linkage 212X satisfy A1 + B1 = C1 + D1. In the linkage device 200X, these points differ from those in the linkage device 200 of the first embodiment described above.

[0067] It should be noted that, in the comparative example linkage device 200X, for ease of understanding, the reference numerals for components having substantially the same functions 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. Length A1 is the length of the second outer link L21 in the linkage device 200X. Length B1 is the length of the second drive-side link L22 in the linkage device 200X. Length C1 is the length of the second inner link L23 in the linkage device 200X. Length D1 is the length of the second top-side link L24 in the linkage device 200X. These points are also the same in the other comparative examples shown later.

[0068] 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 about the first inner joint J12X. However, the first inner link L13 does not rotate about the first inner joint J12X 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 multi-joint linkage 212 is not driven, thus the second multi-joint linkage 212 cannot contact 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 multi-joint linkages 210 to drive the multiple multi-joint linkages 210 in a manner that mimics the shape of the object S.

[0069] (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.

[0070] The linkage mechanism device 200Y has multiple multi-joint linkage mechanisms 210Y. Each multi-joint linkage mechanism 210Y includes a first multi-joint linkage mechanism 211Y and a second multi-joint linkage mechanism 212Y. The first multi-joint linkage mechanism 211Y includes a first outer linkage L11, a first drive-side linkage L12, a first inner linkage L13, and a first top-side linkage L14. The second multi-joint linkage mechanism 212Y includes a second outer linkage L21, a second drive-side linkage L22, a second inner linkage L23, and a second top-side linkage L24. A first inner engagement portion J12Y engages the first drive-side linkage L12 with the first inner linkage L13. A second inner engagement portion J22Y engages the second drive-side linkage L22, the first inner linkage L13, and the second inner linkage L23. A third inner engagement portion J32Y engages the second top-side linkage L24 with the second inner linkage L23. The lengths of the four links included in the second multi-joint linkage 212Y satisfy A1 + B1 < C1 + D1. In the linkage device 200Y, these points differ from those in the linkage device 200 of the first embodiment described above.

[0071] like Figure 5 and Figure 6 As 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 about the first inner joint J12Y. However, the first inner link L13 does not rotate about the first inner joint J12Y 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 multi-joint 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 multi-joint linkages 210 to drive the multiple multi-joint linkages 210 in a manner that mimics the shape of the object S.

[0072] [Second Implementation] Next, refer to Figures 7-9The 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.

[0073] 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.

[0074] The linkage mechanism device 200A differs from the linkage mechanism device 200 of the first embodiment mainly in that it also has a third multi-joint linkage 213 connected to the top end of the second multi-joint linkage 212 in addition to the multiple multi-joint linkages 210.

[0075] exist Figures 7-9 In the example shown, the third multi-joint linkage 213 includes: a third outer link L31, located on the side opposite to the object S when the third multi-joint linkage 213 contacts the object S; a third drive-side link L32, located on the drive section 220 side; a third top-side link L34, located on the side opposite to the drive section 220 side; and a third portion 233 of the continuous body 230 extending from a third inner connecting portion J32 for connecting the third drive-side link L32 to the continuous body 230, to a fourth inner connecting portion J42 for connecting the third top-side link L34 to the continuous body 230. 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 portion of the continuous body 230 is set to C2, and the length of the third top-side link L34 is set to D2, A2 + B2 > C2 + D2 is satisfied.

[0076] exist Figures 7-9In 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 third drive-side link L32 is joined to the continuum 230 by the third inner connecting part J32. The third outer link L31 is joined to the third top-side link L34 by the fourth outer joint J41. The continuum 230 is joined to the third top-side link L34 by the fourth inner connecting part 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 multi-joint linkage mechanism 212 and the third multi-joint linkage mechanism 213, are identical components. That is, the second top-side link L24 and the third drive-side link L32 can be used interchangeably.

[0077] exist Figure 7 In the example shown, a force F1 is applied from the drive unit 220 to the first outer joint J11 in a direction toward the top. The applied force F1 causes the first outer joint J11 to move toward the top. This movement of the first outer joint J11 causes a force T11 rotating about the first inner connecting part J12 to act on the first drive-side link L12, thereby tilting the first drive-side link L12 toward the object S. Furthermore, the movement of the first outer joint J11 causes the force T12 rotating about the first inner connecting part J12 to act on the first portion 231 of the continuum 230, thereby tilting the first portion 231 toward the object S. Thus, the first portion 231 comes into contact with the object S. In other words, the first multi-joint linkage 211 comes into contact with the object S.

[0078] The first part 231 of the continuum 230 comes into contact with the object S, such as... Figure 8 As shown, a force T21, rotating around the second inner connecting portion 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 portion 231 and the object S, the force T22, rotating around the second inner connecting portion J22, acts on the second portion 232 of the continuum 230, causing the second portion 232 to tilt towards the object S. Thus, the second portion 232 comes into contact with the object S. In other words, the second multi-joint linkage 212 comes into contact with the object S.

[0079] The object S comes into contact with the second part 232 of the continuum 230, such as... Figure 9As shown, a force T31, rotating around the third inner connecting part 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 part 232 and the object S, the force T32, rotating around the third inner connecting part J32, acts on the third part 233 of the continuum 230, causing the third part 233 to tilt towards the object S. Thus, the third part 233 comes into contact with the object S. In other words, the third multi-joint linkage 213 comes into contact with the object S.

[0080] The object S comes into contact with the third part 233 of the continuum 230, such as... Figure 9 As shown, a force T41, rotating around the fourth inner connecting part J42, acts on the third top-side connecting rod L34, causing the third top-side connecting rod L34 to tilt towards the object S. Furthermore, through the contact between the third part 233 and the object S, a force T42, rotating around the fourth outer connecting part J41, acts on the top connecting rod P, causing the top connecting rod P to tilt towards the object S. Thus, the top connecting rod P comes into contact with the object S.

[0081] In the linkage device 200A, the force generated by the multi-joint linkage 210 located on the drive unit 220 side contacting the object S acts sequentially on the multi-joint linkage 210 connected to the top end side. This allows the multi-joint linkage 210 on the top end side to sequentially contact the object S. By sequentially contacting the object S from the multi-joint linkage 210 on the drive unit 220 side, the multiple multi-joint linkages 210 form a shape that mimics the shape of the object S. Thus, in the linkage device 200A, the multiple multi-joint 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 multi-joint linkages 210, can be used to drive the multiple multi-joint linkages 210 in a manner that mimics the shape of the object S.

[0082] 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.

[0083] [Variation Example] Hereinafter, various variations of the linkage mechanism device of the embodiment will be described.

[0084] <First Variation> Figure 10This 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 first embodiment described above mainly in that the drive unit 220 is connected to the first inner connecting part J12 and the first inner connecting part J12 moves toward the drive unit 220.

[0085] With the above configuration, the drive unit 220 can drive the first multi-joint linkage 211 in a manner that allows the relative position of the first outer connecting portion J11 and the first inner connecting portion J12 to be variable. Figure 10 In the example shown, the drive unit 220 moves the first inner connecting part J12 toward the drive unit 220 by applying a force F2 to the first inner connecting part J12 toward the drive unit 220 side. By driving the first multi-joint linkage 211 in this way, the first part 231 of the first multi-joint linkage 211 can come into contact with the object S.

[0086] The effect of the linkage mechanism device 200B is the same as that of the linkage mechanism device in the first embodiment.

[0087] <Second Variation> Figure 11 This is a schematic diagram illustrating an example of the configuration of the linkage mechanism device 200C in the second modified example. The linkage mechanism device 200C differs from the first embodiment described above mainly in that the drive unit 220 is connected to both the first outer connecting part J11 and the first inner connecting part J12, allowing the first outer connecting part J11 to move to the side opposite to the drive unit 220 side, and the first inner connecting part J12 to move towards the drive unit 220 side.

[0088] With the above configuration, the drive unit 220 can drive the first multi-joint linkage 211 in a manner that allows the relative position of the first outer connecting portion J11 and the first inner connecting portion J12 to be variable. Through this drive, the first multi-joint linkage 211 can bring the first inner connecting rod L13 in the first multi-joint linkage 211 into contact with the object S.

[0089] The effect of the linkage mechanism device 200C is the same as that of the linkage mechanism device in the first embodiment.

[0090] <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 first embodiment described above primarily 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 effects as in the first embodiment can be obtained.

[0091] <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 first embodiment described above primarily in that it has six multi-joint linkages and three drive units 220. In the linkage device 200E, the number of drive units 220 is less than the number of multi-joint linkages 210.

[0092] exist Figure 13 In the example shown, the six multi-joint linkages 210 include a first multi-joint linkage 211, a second multi-joint linkage 212, a third multi-joint linkage 213, a fourth multi-joint linkage 214, a fifth multi-joint linkage 215, and a sixth multi-joint linkage 216. The three drive units 220 include a first drive unit 221, a second drive unit 222, and a third drive unit 223.

[0093] exist Figure 13 In the example shown, the first drive unit 221 is connected to the first multi-joint linkage 211. The second multi-joint linkage 212 is connected to the top end of the first multi-joint linkage 211. The second drive unit 222 is connected to the top end of the second multi-joint linkage 212. The second drive unit 222 is connected to the third multi-joint linkage 213. The fourth multi-joint linkage 214 is connected to the top end of the third multi-joint linkage 213. The third drive unit 223 is connected to the top end of the fourth multi-joint linkage 214. The third drive unit 223 is connected to the fifth multi-joint linkage 215. The sixth multi-joint linkage 216 is connected to the top end of the fifth multi-joint linkage 215.

[0094] The first drive unit 221 drives the first multi-joint linkage 211. The second multi-joint linkage 212 is driven by the force generated in response to the contact between the first multi-joint linkage 211 and the object S. The position of the second drive unit 222 connected to the top end of the second multi-joint linkage 212 is variable in response to the driving of the second multi-joint linkage 212. The second drive unit 222 drives the third multi-joint linkage 213. The fourth multi-joint linkage 214 is driven by the force generated in response to the contact between the third multi-joint linkage 213 and the object S. The position of the third drive unit 223 connected to the top end of the third multi-joint linkage 213 is variable in response to the driving of the fourth multi-joint linkage 214. The third drive unit 223 drives the fifth multi-joint linkage 215. The sixth multi-joint linkage 216 is driven by the force generated in response to the contact between the fifth multi-joint linkage 215 and the object S.

[0095] In the linkage mechanism device 200E, six multi-joint 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 multi-joint linkages 210; even with multiple drive units 220, multiple multi-joint 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".

[0096] 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.

[0097] 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.

[0098] [Third Implementation] Next, the robot of the third embodiment will be described. The robot of the third embodiment can possess at least one of the linkage mechanism devices involved in the first embodiment, the second embodiment, the first modification, the second modification, the third modification, and the fourth modification described above.

[0099] <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 14 This 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 of the XVI-XVI line.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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).

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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 multi-joint linkage mechanisms 210a inside the outer component 10 at the right arm 3a, and multiple left arm multi-joint linkage mechanisms 210b 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 multi-joint linkage mechanisms 210a constitute a right arm linkage mechanism device 200a. In addition, the left arm drive unit 220b and multiple left arm multi-joint linkage mechanisms 210b constitute the left arm linkage mechanism device 200b.

[0108] 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.

[0109] Multiple right arm multi-joint linkages 210a are connected to the torso frame 16 via right arm drive units 220a. The right arm multi-joint 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 multi-joint 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.

[0110] Multiple left arm multi-joint linkages 210b are connected to the torso frame 16 via a left arm drive unit 220b. The left arm multi-joint 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 multi-joint 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.

[0111] The right arm linkage mechanism 200a can use fewer right arm drive units 220a than the number of multiple right arm multi-joint linkages 210a to drive the multiple right arm multi-joint linkages 210a in a manner that mimics the shape of object S. The left arm linkage mechanism 200b can use fewer left arm drive units 220b than the number of multiple left arm multi-joint linkages 210b to drive the multiple left arm multi-joint linkages 210b in a manner that mimics the shape of 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.

[0112] 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 multi-joint linkages 210a and multiple left arm multi-joint linkages 210b are driven in a manner that mimics the shape of the user's torso, which is the object S. Thus, the multiple right arm multi-joint linkages 210a and multiple left arm multi-joint linkages 210b surround the user's torso, thereby surrounding the right arm 3a and left arm 3b of the robot 100. Because the right arm 3a and left arm 3b surround the torso, the user feels close to the robot 100. This facilitates communication between the user and the robot 100.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] By using the two-axis joints in its head 2, the robot 100 can achieve more realistic movements.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] Thus, through its legs 4, robot 100 can achieve more realistic movements.

[0121] 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.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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.

[0126] 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.

[0127] 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 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).

[0128] 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.

[0129] The vital signs sensor 14 is an example of an electromagnetic wave sensor that uses electromagnetic waves to acquire biological information about a user.

[0130] 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 with low 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 highly 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.

[0131] 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.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] 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.

[0137] 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.

[0138] 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.

[0139] 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.

[0140] The linkage mechanism device described in this embodiment can be appropriately used in robots, conveying mechanisms, or conveying devices. The linkage mechanism device described in this embodiment can use fewer drive units than multiple articulated linkages to drive multiple articulated linkages in a manner that mimics the shape of an object. Therefore, robots, conveying mechanisms, or conveying devices can be constructed inexpensively, in a small size, and with minimal weight, and the configuration of robots, conveying mechanisms, or conveying devices can be simplified.

[0141] 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.

[0142] The solutions disclosed herein are as follows, for example.

[0143] <1> A linkage mechanism device comprising: a continuum including a main surface; a plurality of multi-joint linkages connected in at least one direction on the main surface of the continuum; and a drive unit for driving the multi-joint linkages, the plurality of multi-joint linkages including: a first multi-joint linkage connected to the drive unit; and a second multi-joint linkage connected to the first multi-joint linkage, the first multi-joint linkage including: a first outer linkage located on the side opposite to the object side when the first multi-joint linkage contacts an object; a first drive-side linkage located on the drive unit side; a first top-side linkage located on the side opposite to the drive unit side; and a first portion of the continuum extending from a first inner connecting portion for connecting the first drive-side linkage to the continuum to a second inner connecting portion for connecting the first top-side linkage to the continuum, the second multi-joint linkage including: a second outer linkage located on the side opposite to the object when the second multi-joint linkage contacts the object. The first multi-joint linkage is driven by a second drive-side link located on the opposite side of the drive section; a second top-side link located on the opposite side of the drive section; and a second portion of the continuous body extending from a second inner connecting portion for connecting the second drive-side link to the continuous body to a third inner connecting portion for connecting the second top-side link to the continuous body. The drive section is connected to at least one of a first outer joint and a first inner connecting portion, and drives the first multi-joint linkage in such a way that the relative positions of the first outer joint and the first inner connecting portion are variable. The first outer joint engages the end of the first outer link with the end of the first drive-side 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 first portion of the continuous body is set to C1, and the length of the second top-side link is set to D1, A1 + B1 > C1 + D1 is satisfied. The continuous body is more flexible than the links constituting the multi-joint linkage.

[0144] <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.

[0145] <3> According to the linkage mechanism device described in <1> above, the driving part is connected to the first inner connecting part, so that the first inner connecting part moves toward the driving part.

[0146] <4> The linkage device according to any one of <1> to <3> above, wherein each of the three links included in each of the plurality of multi-joint linkages is composed of a plate-like member.

[0147] <5> According to the linkage mechanism device described in <4> above, the thickness of the plate-shaped member constituting one of the three links is less than or equal to 10% of the length of the shortest link among the two links connected to the one link.

[0148] <6> According to the linkage mechanism device described in <4> or <5> above, the flexibility of the plate member is greater than or equal to 1.5N under stress when the deflection is 1.5mm during three-point bending.

[0149] <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.

[0150] <8> The linkage mechanism device according to any one of <1> to <7> above, wherein the stress of the continuous body under a deflection of 1.5 mm at three-point bending is less than or equal to 1.0 N.

[0151] <9> The linkage mechanism device according to any one of <1> to <8> above, wherein the continuous body is made of resin.

[0152] <10> The linkage mechanism device according to any one of <1> to <7> above, wherein the plurality of multi-joint linkage mechanisms includes a third multi-joint linkage mechanism connected to the second multi-joint linkage mechanism, the third multi-joint linkage mechanism including: a third outer link located on the side opposite to the object side when the third multi-joint linkage mechanism contacts the object; a third drive-side link located on the drive part side; a third top-side link located on the side opposite to the drive part side; and a third portion of the continuous body extending from a third inner connecting portion for connecting the third drive-side link to the continuous body to a fourth inner connecting portion for connecting the third top-side link to the continuous body, 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 portion of the continuous body is set to C2, and the length of the third top-side link is set to D2, A2 + B2 > C2 + D2 is satisfied.

[0153] <11> A robot having a linkage mechanism as described in any one of <1> to <10> above.

[0154] This application is based on and claims priority to Japanese Patent Application No. 2023-197237, filed with the Japan Patent Office on November 21, 2023, and contains the entire contents of that Japanese Patent Application.

[0155] 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: Left cheek lamp; 2 7: 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: Multi-joint linkage mechanism; 211: First multi-joint linkage mechanism; 212: Second multi-joint linkage mechanism; 213: The... 214: Fourth multi-joint linkage mechanism; 215: Fifth multi-joint linkage mechanism; 216: Sixth multi-joint linkage mechanism; 210a: Right arm multi-joint linkage mechanism; 210b: Left arm multi-joint linkage mechanism; 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; 230: Continuum; 230m: Main surface; 231: First part; 232: Second part; 233: Third part; 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; J12: First inner connection; J21: Second outer joint; J22: Second inner connection; J31: Third outer joint; J32: Third inner connection; J41: Fourth outer joint; J42: Fourth inner connection; L11: First outer connecting rod; L12: First drive-side connecting rod; L14: First top-side connecting rod; L21: Second outer connecting rod; L22: Second drive-side connecting rod; L24: Second top-side connecting rod; L31: Third outer connecting rod; L32: Third drive-side connecting rod; L34: Third top-side connecting rod; P: Top connecting rod; S: Object.

Claims

1. A linkage mechanism device, comprising: A continuum, including its principal surfaces; a plurality of multi-joint link mechanisms, coupled in at least one direction on the main face of the continuum; as well as The drive unit drives the multi-joint linkage mechanism. The plurality of multi-joint linkage mechanisms include: a first multi-joint linkage mechanism connected to the drive unit; and a second multi-joint linkage mechanism connected to the first multi-joint linkage mechanism. The first multi-joint linkage mechanism includes: The first outer link is located on the side opposite to the object side when the first multi-joint link mechanism is in contact with the object; The first drive-side connecting rod is located on the drive unit side; The first top-end connecting rod is located on the side opposite to the drive section side; and The first portion of the continuous body extends from the first inner connecting portion for connecting the first drive-side connecting rod to the continuous body to the second inner connecting portion for connecting the first top-side connecting rod to the continuous body. The second multi-joint linkage mechanism includes: The second outer link is located on the side opposite to the object when the second multi-joint link mechanism contacts the object; The second drive-side connecting rod is located on the drive unit side; The second top-end connecting rod is located on the side opposite to the drive section side; and The second portion of the continuous body extends from the second inner connecting portion, which connects the second drive-side connecting rod to the continuous body, to the third inner connecting portion, which connects the second top-side connecting rod to the continuous body. The drive unit is connected to at least one of the first outer engagement portion and the first inner connecting portion, and drives the first multi-joint linkage mechanism in a manner that allows the relative positions of the first outer engagement portion and the first inner connecting portion to be variable, wherein the first outer engagement portion engages the end of the first outer link with the end of the first drive-side 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 part of the continuum is set to C1, and the length of the second top side connecting rod is set to D1, the following condition is satisfied: A1 + B1 > C1 + D1. The continuum is more flexible than the links that constitute the multi-joint linkage mechanism.

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 connecting part, causing the first inner connecting part to move toward the driving part.

4. The linkage mechanism device according to claim 1, wherein, Each of the three links included in each of the plurality of articulated 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 three links is less than or equal to 10% of the length of the shortest of the two links connected to the one link.

6. The linkage mechanism device according to claim 4, wherein, The flexibility of the plate-shaped member is greater than or equal to 1.0 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 stress of the continuum when the deflection is 1.5 mm during three-point bending is less than or equal to 1.0 N.

9. The linkage mechanism device according to claim 1, wherein, The continuum is made of resin.

10. The linkage mechanism device according to claim 1, wherein, The plurality of multi-joint linkage mechanisms include a third multi-joint linkage mechanism connected to the second multi-joint linkage mechanism. The third multi-joint linkage mechanism includes: The third outer link is located on the side opposite to the object when the third multi-joint link mechanism contacts the object; The third drive-side connecting rod is located on the drive unit side; The third top-end connecting rod is located on the side opposite to the drive section side; and The third portion of the continuous body extends from the third inner connecting portion, which connects the third drive-side connecting rod to the continuous body, to the fourth inner connecting portion, which connects the third top-side connecting rod to the continuous body. 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 part of the continuum is set to C2, and the length of the third top side connecting rod is set to D2, A2 + B2 > C2 + D2 is satisfied.

11. A robot having a linkage mechanism as described in any one of claims 1 to 10.

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