Robot

Abstract

To provide a robot having a simple structure including a trunk part and an arm part.SOLUTION: A robot according to an embodiment includes: a first trunk part (11) supported to a surface of a base so as to be movable in parallel to the surface; and a second trunk part (12) rotatably supported to the first trunk part (11) and supporting one or more arms.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The disclosed embodiments relate to a robot. [Background technology]

[0002] 2. Description of the Related Art Conventionally, robots equipped with a torso portion corresponding to the upper body of a human being and two arms are known (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-206058 A Summary of the Invention [Problem to be solved by the invention]

[0004] Conventional robots equipped with a torso and arms have a problem in that the area for performing work with the arms may be insufficient. For example, in order for the robot described in Patent Document 1 to perform work with its arms, a workbench needs to be prepared.

[0005] The present invention has been made in consideration of the above, and has an object to provide a robot capable of securing an area in which work can be performed by an arm portion. [Means for solving the problem]

[0006] A robot according to one aspect of the embodiment has a first body supported on a surface of a base so as to be movable parallel to the surface, and a second body rotatably supported on the first body and supporting one or more arms. Effect of the Invention

[0007] According to one aspect of the embodiment, a robot capable of securing an area for performing work by an arm portion can be provided. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view of a robot according to an embodiment. [Diagram 2] FIG. 2 is a front view of a first body and an arm of the robot according to the embodiment. [Diagram 3] FIG. 3 is a diagram illustrating the translational movement of the robot. [Figure 4] FIG. 4 is a diagram illustrating the translational movement of the robot. [Diagram 5] FIG. 5 is a diagram illustrating the translational movement of the robot. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of a robot disclosed in the present application will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the embodiment described below.

[0010] In the embodiments, the terms "parallel," "perpendicular," and "vertical" do not necessarily mean that these conditions are strictly met. These terms allow for deviations due to the influence of manufacturing precision and the like.

[0011] 1 is a perspective view of a robot according to an embodiment of the present invention. As shown in FIG 1, the robot 1 has a first body 11, a second body 12, an arm 13, and an arm .

[0012] For the sake of explanation, Fig. 1 and Fig. 2 show an orthogonal coordinate system including an x-axis, a y-axis, and a z-axis. The positive direction of the y-axis is vertically upward. The x-axis and the z-axis are both perpendicular to the y-axis. In addition, the x-axis and the z-axis are perpendicular to each other.

[0013] The first body 11 is supported at a position different from the center of the surface of the base 20. Here, the first body 11 is supported on a rectangular surface (hereinafter, the support surface) on the upper side (the side in the positive y direction) of the base 20, which is a rectangular parallelepiped.

[0014] As shown in FIG. 1, the end portion of the first body 11 is supported not at the center of the support surface (the intersection of the diagonals of the rectangle), but at a position shifted in the negative direction of the z-axis from the center of the support surface.

[0015] Here, the support surface is assumed to be a rectangle with two sides parallel to the x-axis and two sides parallel to the z-axis. Of the two sides parallel to the x-axis, the side on the positive side of the z-axis is assumed to be the first side. Also, of the two sides parallel to the x-axis, the side on the negative side of the z-axis is assumed to be the second side.

[0016] The distance between the first side and a line that passes through the center of the support surface and is parallel to the x-axis is d1. The distance between the second side and a line that passes through the center of the support surface and is parallel to the x-axis is d2. In this case, d1 = d2.

[0017] The distance between a line passing through the end where the first body 11 is supported and parallel to the x-axis and a line passing through the center of the support surface and parallel to the x-axis is d3. The distance between the line passing through the end where the first body 11 is supported and parallel to the x-axis and the second side is d4.

[0018] 1, a working area of ​​length d1+d3 is secured on the support surface in the direction (positive direction of the z-axis) in which the second body 12, arm 13, and arm 14 are located when viewed from the first body 11. The surface of this working area and the space above it (positive direction of the y-axis) are the movable range of arm 13 or arm 14.

[0019] When the end portion at which the first body 11 is supported is at the center of the support surface, the length of the working area is d1.

[0020] Furthermore, the first body 11 may be rotatably supported with respect to the base 20. For example, the first body 11 rotates around the y-axis. This allows for an operation in which, when a wide working area is required, the first body 11 is rotated so that the arms 13 and 14 are on the positive side of the z-axis, and, when work is required to the side (positive or negative direction of the x-axis) or rear (negative direction of the z-axis), the first body 11 is rotated so that the arms 13 and 14 are in the respective directions.

[0021] The base 20 may also include a moving means. For example, the moving means is wheels or legs. This allows the robot 1 to move together with the base 20. In FIG. 1, the base 20 is provided with four wheels including a wheel 211 and a wheel 221. If the positive direction of the z-axis is the forward direction, the wheel 211 and the wheel 221 are the left front and left rear wheels, respectively. The right front and right rear wheels are not shown.

[0022] Also, the second body 12 extends from the end supported by the base 20 in a first direction away from the base 20, and curves in a direction perpendicular to the first direction, from the end toward the center of the support surface (positive direction of the z-axis). In the example of Fig. 1, the second body 12 extends in the positive direction of the y-axis and curves in the positive direction of the z-axis. This ensures a working area of ​​length d1+d3 described above.

[0023] The second body 12 is rotatably supported by the first body 11. The second body 12 also has an arm 13 and an arm 14. The arm 13 and the arm 14 each have one or more joints and gripping parts. The arm 13 and the arm 14 can, for example, grip and move an object on a base 30.

[0024] The second body 12 further has an extension that extends in a direction different from both the first body 11 and the arm. A sensor is provided at a tip 121 of the extension. The sensor is, for example, a camera. The extension also functions as a balancer.

[0025] For example, there is a case where the gripping portions (tips of the arms) of the arms 13 and 14 move further toward the negative side of the z axis than the first body 11 to grip an object. In that case, the extensions function as a balancer to prevent the robot 1 from tipping over toward the negative side of the z axis.

[0026] The first torso 11 and the second torso 12 are fixed. That is, the first torso 11 and the second torso 12 do not have joints. This simplifies (or rather complicates) the structure of the robot 1 and improves its robustness.

[0027] On the other hand, the second body 12 is supported rotatably relative to the first body 11. This allows flexible movement of the second body 12 and the arm.

[0028] Fig. 2 is a front view of the second torso and arm of the robot according to the embodiment, in which the second torso 12 and arm 14 are viewed from the positive direction to the negative direction of the z axis.

[0029] The first axis 111 is an axis about which the second body portion 12 rotates relative to the first body portion 11. The first axis is parallel to the z-axis. That is, the second body portion 12 rotates around the first axis 111 that is parallel to the z-axis.

[0030] The arm 14 includes one or more joints that rotate about an axis perpendicular to the first axis 111, and one or more joints that rotate about an axis parallel to the first axis.

[0031] Joint 141 and joint 144 rotate around an axis parallel to first axis 111. Joint 142, joint 143, and joint 145 rotate around an axis perpendicular to first axis 111. However, the parallel or perpendicular relationship between the axis of each joint and first axis 111 described here applies when arm 14 is in the state shown in FIG. 2. Also, gripper 146 grips an object on base 30.

[0032] The configuration of arm 13 is the same as that of arm 14 shown in Fig. 2. However, arm 13 has a structure that is symmetrical to arm 13 with respect to a plane that is parallel to the yz plane and passes through first axis 111. If arm 14 is modeled after a human left arm, arm 13 can be said to be modeled after a human right arm. The first torso 11 and second torso 12 can be said to be modeled after a human lower body and upper body, respectively.

[0033] As described above, the robot 1 according to one aspect of the embodiment has a first torso 11 and a second torso 12. The first torso 11 is supported at a position different from the center of the surface (support surface) of the base 20. The second torso 12 is rotatably supported by the first torso 11 and supports one or more arms. This allows the arms to be moved flexibly even if the first torso 11 and the second torso 12 do not have joints. As a result, a robot with a simple structure including a torso and arms can be provided. Also, the robot can secure an area on the support surface for the arms to perform work.

[0034] The second body 12 extends in a first direction away from the base 20, starting from an end supported by the base 20, and curves in a direction perpendicular to the first direction from the end toward the center of the support surface (the positive direction of the z-axis). This makes it possible to expand the range of motion of the second body 12, the arm 13, and the arm 14 while maintaining the stability of the entire robot 1, and to ensure a working area.

[0035] The first body 11 is rotatably supported with respect to the base 20. This makes it possible to further expand the movable range of the arm.

[0036] The second body 12 further has an extension that extends in a different direction from both the first body 11 and the arm, thereby enabling the robot 1 to have a balancer.

[0037] The extension may also include a sensor at the tip 121. This ensures that the sensor is not affected by the movement of the arm, for example, while the second body 12 is not rotating.

[0038] The arm has one or more joints that rotate around an axis perpendicular to a first axis about which the second body 12 rotates relative to the first body 11, and one or more joints that rotate around an axis parallel to the first axis.

[0039] For example, each joint of the arm 14 is connected to a straight section. The straight section is the section between the joints. The straight section may be called a bone in contrast to the joint. By providing the robot 1 with multiple joints with different rotation axes, the straight section can be made as long as possible, and the movable range of the arm 14 can be expanded with a simple structure.

[0040] [About parallel translation] The robot 1 can move parallel to the support surface of the base 20. For example, the first torso 11 moves in the positive and negative directions of the z-axis. An area 23 indicates a range in which the first torso 11 can move. Note that the movement of the first torso 11 is the same as the movement of the robot 1.

[0041] The first body 11 of the robot 1 is provided with rollers at the end on the support surface side. Also, rails are provided in the area 23 of the support surface. The first body 11 moves on the rails by the rollers. The rollers are driven by, for example, a motor. Also, the first body 11 of the robot 1 may be moved by driving the rail side.

[0042] The first torso 11 may move not only in a direction along one axis, but also along multiple axes. The robot 1 may be capable of moving freely within a predetermined area on the support surface.

[0043] The translation of the robot 1 (first body 11) will be described with reference to Figs. 3, 4, and 5. Figs. 3, 4, and 5 are diagrams for explaining the translation of the robot. In the following description, z=z 0The position of the robot 1 is expressed based on this. The position of the robot 1 is the center position of the support surface side of the first trunk portion 11.

[0044] In the example in Figure 3, the position of robot 1 is z=z 0 +d13. At this time, the robot 1 can grasp the object 40 using the arm 13 (not shown) and the arm 14. The movable range (length) of the robot 1 is d11. Furthermore, d11=d12+d13.

[0045] Here, the further forward the robot 1 moves (in the positive direction of the z-axis), the wider the working area of ​​the arms 13 and 14. The wider working area enables the arms 13 and 14 to grasp objects that are in front of the object 40 and objects that are larger than the object 40.

[0046] In addition, as arms 13 and 14 move forward (in the positive direction of the z-axis) and object 40 is grasped by arms 13 and 14, a moment about the x-axis is generated in wheel 211 and the front right wheel (not shown).

[0047] 4, if the moment becomes too large, the base 20 tilts and the robot 1 falls over. For this reason, the movement range of the robot 1 may be controlled to prevent the robot 1 from falling over. The z'-axis is an axis obtained by tilting the z-axis in accordance with the tilt of the base 20.

[0048] For example, as shown in Figure 3, the position of robot 1 is z=z 0 Assume that when the object 40 is grasped by the arms 13 and 14 at z'=z+d13, the robot 1 moves forward and the position of the robot 1 becomes z'=z'. 0 Robot 1 stops moving just before d11 becomes +d15 (where d15>d13). Also, d11=d14+d15.

[0049] For example, when the weight measured by the weight sensor provided on the wheel 221 (rear wheel) approaches 0 (below a threshold), the robot 1 may stop moving forward. In this case, it is considered that the moment around the wheel 211 is large and the base 20 is about to tilt. In addition, the position of the robot 1 in this case is, for example, z=z 0 +d15-ε (where d15-ε≧d13).

[0050] In addition, the control to stop the forward movement of the robot 1 may be performed based on the sensor value of a weight sensor provided on the rear wheel, based on the sensor value of a weight sensor provided on the front wheel (wheel 211), or based on the sensor value of a moment sensor provided on the wheel or a predetermined position on the base 20.

[0051] That is, the first torso 11 stops moving on the base 20 when the sensor value of the sensor satisfies a condition related to the moment of a predetermined position of the base 20. This prevents the robot 1 and the base 20 from falling over. Furthermore, the movement and stopping of the first torso 11 is controlled by a control processor (e.g., a microcomputer) provided in the robot 1, the base 20, or the like.

[0052] 5, when the robot 1 is in operation, the first body 11 moves backward (in the negative direction of the z-axis) to reduce the space it occupies. This makes it possible to store the robot 1 in a limited area.

[0053] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It is clear to those skilled in the art that various modifications or improvements can be made to the above embodiments. It is clear from the claims that such modifications or improvements can also be included in the technical scope of the present invention. [Explanation of symbols]

[0054] 1. Robot 11 First Body 12 Second Body 13, 14 Arm 111 First Axis 121 Tip 141, 142, 143, 144, 145 Joints 146 Gripping part

Claims

1. a first body supported on a surface of a base so as to be movable parallel to said surface; a second body rotatably supported on the first body and supporting one or more arms; A robot having the above configuration.

2. 2. The robot according to claim 1, further comprising a control unit that stops movement of the first torso when a sensor value of a sensor provided on the robot or the base satisfies a condition regarding a moment of a predetermined position on the base.

Images