Robot support tool and robot performance system

Abstract

To provide a robot support tool which supports a robot so that it does not fall, increases the degree of freedom of the robot's motions at a part supporting components, and enables the robot to perform natural motions even when the robot is made to make a big action.SOLUTION: A robot support tool includes: a pedestal 1a; a first displacement member 1b supported by the pedestal 1a and displaceable within a prescribed range in a first direction (direction D1 or direction D2) relative to the pedestal 1a; and a second displacement member 1c supported by the first displacement member 1b and displaceable within a prescribed range in a second direction (direction D3 or direction D4) different from the first direction relative to the first displacement member 1b. The second displacement member 1c is configured to be removable from a first part of a robot.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a robot support for supporting an operating robot so as not to fall over, and a robot production system composed of the robot support and a robot.

Background Art

[0002] In events, promotions of products, etc., exhibitions, etc., there are known cases where campaigns are carried out or products are advertised using robots. Such performances by robots are expected to attract the interest of customers, etc., and promote the sales of products, etc., and improve the brand awareness. In order to arouse the interest of customers, it is desirable to give the robot various performances, and from this point of view, it is considered effective to make the robot perform large body movements (actions). However, installing a sophisticated balance system in the robot to execute large actions is a factor that increases costs.

[0003] On the other hand, as a method for realizing large actions at low cost, for example, a method of suspending a robot with a wire or a cable, a method of gripping and fixing parts such as the feet of a robot with so-called grip tape or a suction cup, etc. can be considered. However, in the former case, the wire or the like may be visible, which may give a sense of discomfort to customers, etc., and further, since the feet are not in contact with the floor surface, the robot sways and the movement becomes unnatural. In the latter case, since the parts are fixed to the floor surface, the movement of the robot is greatly restricted.

[0004] As a technology for realizing large actions of a robot and preventing it from falling over, for example, in a bipedal walking robot having a body part, left and right leg parts respectively provided on the body part, and left and right foot parts provided at the lower ends of the left and right leg parts, and walking forward or backward on the floor surface by alternately stepping the leg parts forward or backward, (a) leg driving means for driving the left and right leg parts so that the left and right foot parts draw a substantially elliptical or substantially circular trajectory when viewed from the side, and the left foot part and the right foot part rotate in substantially opposite phases to each other; (b) Adsorbing means for adsorbing the grounding surfaces on the back of both left and right feet to the bed surface respectively, (c) In conjunction with the driving of both legs by the leg driving means, when at least the feet are below the rotation locus and their grounding surfaces are in contact with the walking surface, an adsorption operation is performed on the foot side, and when the feet are above the rotation locus, the adsorption operation is stopped on the foot side, and a control means for controlling the adsorption means to alternately repeat such operations according to the rotational movements of both left and right legs is known. (Patent Document 1)

[0005] According to Patent Document 1, the bipedal walking robot can maintain the posture of the robot when one leg is lifted and perform complete bipedal walking without falling, by the rotational movements of both legs and the adsorption force between the grounding surfaces of both feet and the walking surface.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Disclosure of the Invention

Problems to be Solved by the Invention

[0007] However, the technology disclosed in Patent Document 1 includes electromagnets or air suction means as adsorbing means on the grounding surfaces of both feet, and further requires a control unit for controlling these, which becomes a factor in increasing costs. Furthermore, since electromagnets and air suction means generally consume a large amount of power, when such adsorbing means are mounted on a robot, there is a problem that the operating time becomes short, especially when the robot is battery-driven.

[0008] The present invention has been devised to solve such problems of the prior art, and its object is to support the robot so that it does not fall even when the robot makes a large movement, and to relax the restriction on the movement at the part that supports the robot and enable the robot to make natural movements.

Means for Solving the Problems

[0009] The present invention made to solve the above problems includes a pedestal, a first displacement member supported by the pedestal and displaceable within a predetermined range in a first direction with respect to the pedestal, and a second displacement member supported by the first displacement member and displaceable within a predetermined range in a second direction different from the first direction with respect to the first displacement member, and is a robot support configured such that the second displacement member is detachably attached to a first part of the robot. Thereby, even when the robot makes a large movement, the robot is supported so as not to fall, the restriction on the movement at the part that supports the robot is relaxed, and natural movement can be performed.

[0010] Further, in the present invention, a first surface region and a second surface region are provided on the pedestal, the first displacement member and the second displacement member are stacked and placed in this order on the surface of the second surface region, and the exposed surface of the second displacement member and the first surface region are configured to be substantially at the same height. Thereby, the robot is placed vertically with respect to the pedestal, maintains an upright posture as an initial state, and can shift to a predetermined action.

[0011] Further, in the present invention, the first displacement member and the second displacement member are placed on a second surface region provided on the pedestal, the first displacement member is supported by the pedestal so as to be rotatable along the second surface region, the second displacement member is rotatably supported by the first displacement member on the outer peripheral side of the rotating first displacement member 1b, and the free end of the second displacement member is displaced in a direction of approaching and separating from the first displacement member. Thereby, it becomes possible to give the degree of freedom of displacement to the foot of the robot connected to the second displacement member.

[0012] Further, in the present invention, the first displacement member and the second displacement member are placed on a second surface area provided on the pedestal, the first displacement member is supported by the pedestal so as to be linearly displaceable along the second surface area, the second displacement member is rotatably supported by the first displacement member on a side facing an outer edge of the pedestal along a direction in which the first displacement member is displaced, and a free end of the second displacement member is displaced in a direction of approaching and separating from the first displacement member. Thereby, it becomes possible to impart a degree of freedom of displacement to a leg portion of a robot connected to the second displacement member.

[0013] Further, in the present invention, an adsorption portion that adsorbs to each other is provided between the second surface area of the pedestal and the first displacement member. Thereby, when placing a robot on the robot support, it becomes possible to position the leg portion of the robot at a predetermined position on the pedestal.

[0014] Further, in the present invention, the first displacement member and the second displacement member are placed on a second surface area provided on the pedestal, the second displacement member is supported on a free end side of the first displacement member so as to be rotatable along a surface of the first displacement member, the other end of the first displacement member is rotatably supported by the pedestal on an outer peripheral side of the rotating second displacement member, and a free end of the first displacement member is displaced in a direction of approaching and separating from the pedestal. Thereby, it becomes possible to impart a degree of freedom of displacement to a leg portion of a robot connected to the second displacement member.

[0015] Further, in the present invention, the first displacement member and the second displacement member are placed on a second surface area provided on the pedestal, the second displacement member is supported by the first displacement member so as to be linearly displaceable along a surface of the first displacement member, the first displacement member is rotatably supported by the pedestal on a side facing an outer edge of the pedestal along a direction in which the second displacement member is displaced, and a free end of the first displacement member is displaced in a direction of approaching and separating from the pedestal. Thereby, it becomes possible to impart a degree of freedom of displacement to a leg portion of a robot connected to the second displacement member.

[0016] Further, in the present invention, the first displacement member and the second displacement member are provided with adsorption portions that adsorb to each other. As a result, when the robot 2 is placed on the robot support 1, the feet 2F of the robot 2 can be positioned at a predetermined position on the pedestal 1a.

[0017] Also, in the present invention, the first part is the foot of the robot. As a result, even when the arm that easily appeals the performance by body movement or the foot (leg) on the side not connected to the second displacement member is largely displaced, it is possible to surely prevent the robot from falling.

[0018] Further, in the present invention, at least one of the pedestal or the second displacement member is provided with a power transmission coil, and power is wirelessly supplied to the robot through the second part or the first part of the robot provided with a power reception coil. As a result, as long as the robot 2 is receiving power supply, it can continue to operate without stopping.

[0019] Also, in the present invention, the second part is the foot of the robot different from the first part. As a result, since a relatively large power transmission coil can be arranged below the first surface area where the foot of the robot on the pedestal is non-fixed and supported, it is possible to increase the amount of power transmitted.

[0020] Further, the present invention includes a pedestal, a first displacement member supported by the pedestal and displaceable within a predetermined range in a first direction with respect to the pedestal, and a second displacement member supported by the first displacement member and displaceable within a predetermined range in a second direction different from the first direction with respect to the first displacement member. The displacement member group is composed of a plurality of such displacement members. The second displacement members of the displacement member group each include suction means for sucking a predetermined part of a robot. The control unit is a robot support that controls each of the suction means included in the plurality of displacement member groups according to the driving status of the robot. By doing so, while imparting a certain degree of displacement freedom to the foot (for example, the right foot) connected to the second displacement member by the suction means, the foot is reliably supported to prevent the robot from falling, and it becomes possible to make the robot perform large body movements using the foot not connected to the second displacement member.

[0021] Further, in the present invention, the suction means is constituted by an electromagnet. This makes it possible to connect and disconnect the second displacement member and the bottom of the foot with a simple configuration.

[0022] Further, the present invention includes a connection detection unit that detects whether or not the second displacement member is connected to a first part of the robot, and a communication unit that transmits predetermined information to the robot. Based on the output of the connection detection unit, information regarding the control of the robot is transmitted to the robot via the communication unit. By doing so, with a simple operation such as connecting the robot to the robot support, it becomes possible to make the robot's body movements larger than in the unconnected state and perform various effects.

[0023] In addition, the present invention includes a robot support, and a connection detection unit provided on the robot for detecting whether the second displacement member and the first part of the robot are connected. The robot is a robot performance system that changes its operation based on the output of the connection detection unit. By this, with a simple operation such as connecting the robot 2 to the robot support 1, it becomes possible to make the gestures of the robot larger and perform various performances than in the unconnected state.

[0024] In addition, in the present invention, when the second displacement member and the first part of the robot are connected, the robot is controlled to make larger gestures compared to the case where the second displacement member and the first part of the robot are not connected. By this, it becomes possible to make the robot perform various performances.

[0025] In addition, the present invention includes a support mounting portion for fixing the pedestal to a predetermined object to be mounted. By this, when the object to be mounted vibrates or displaces, it becomes possible to support the robot support so that it does not fall off from the object to be mounted.

Advantages of the Invention

[0026] As described above, according to the present invention, even when the robot performs a large action, it is possible to support the robot so that it does not fall over, increase the degree of freedom of movement of the robot at the part that supports the parts, and make the robot perform natural movements.

Brief Description of the Drawings

[0027]

Figure 1

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Embodiments for Carrying Out the Invention

[0028] (First Embodiment) Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. FIGS. 1(A) and 1(B) are perspective views showing the configuration of the robot support 1 according to the first embodiment of the present invention. In the following description, when the robot 2 (see FIG. 2; the same applies hereinafter) is placed on the pedestal 1a, the direction from the pedestal 1a toward the robot 2 is the Z direction or upward, the opposite direction is downward, the direction from the front surface to the back surface of the robot 2 is the Y direction or backward, the opposite direction is forward, and the direction of the left arm portion 2AL of the robot 2 may be referred to as the X direction or left, and the opposite direction as right. Also, in the pedestal 1a, the surface visible in FIG. 1 may be referred to as the main surface, and the surface on the back of the main surface may be referred to as the back surface.

[0029] The robot support 1 is composed of a pedestal 1a, a first displacement member 1b, and a second displacement member 1c. These members are made of, for example, resin or wood. When the weight of the robot 2 is large or the height is high, at least one component of the pedestal 1a may be made of a metal such as iron or aluminum with a large weight to enhance the anti-tipping effect. Also, these metals may be embedded in the pedestal 1a or attached to the back surface of the pedestal 1a. Further, the size of the robot support 1 can be arbitrarily configured. Specifically, in any posture in which the robot 2 can be controlled, the size and shape may be such that the vertical line drawn downward from the center of gravity of the robot 2 intersects the region where the pedestal 1a and the floor surface are in contact. By doing so, it is possible to prevent both the robot support 1 and the robot 2 from tipping over regardless of the posture of the robot 2.

[0030] As shown in FIGS. 1(A) and 1(B), on the main surface of the pedestal 1a, a first surface region 1e and a second surface region 1f are provided adjacent to each other on a part of the upper surface of a flat cylinder. As will be described later, since the foot portion 2F (see FIG. 2 etc.) of the robot 2 is not fixed to the first surface region 1e, the surface shape of the first surface region 1e is not limited as long as it does not prevent the displacement of the foot portion 2F. However, from the viewpoint of making the robot 2 appear to be standing on the pedestal 1a, the surface of the first surface region 1e is preferably a flat surface. In each drawing including FIG. 1, the second surface region 1f is depicted as the bottom of the concave portion. However, the second surface region 1f may be formed, for example, by cutting out a part of the pedestal 1a to form a region with a thickness in the Z direction thinner than that of the first surface region 1e. On the second surface region 1f, a first displacement member 1b and a second displacement member 1c are placed (stored) so as to overlap in order in the Z direction (upward direction) from the surface of the second surface region 1f.

[0031] In the pedestal 1a, a first support portion 1h is provided at a substantially central portion of the main surface. In the first support portion 1h, a fitting hole 1x (see FIG. 2) is provided in the pedestal 1a, and a convex portion 1y (see FIG. 2) corresponding to the fitting hole 1x is provided on the first displacement member 1b. By inserting the convex portion 1y into the fitting hole 1x, as shown in FIG. 1(B), the first displacement member 1b is rotatable about the axis Ax along the outer periphery of the pedestal 1a and along the surface formed by the second surface region 1f (along the bottom surface of the concave portion) in directions D1 and D2. A gap may be provided between the first displacement member 1b and the second surface region 1f. Also, the second surface region 1f may be a smooth surface or a rough surface, and the first displacement member 1b and the second surface region 1f may slide as long as the rotation of the first displacement member 1b is not hindered. Note that the surface of the second surface region 1f may be a flat surface, or may be a curved surface (concave surface) with a variable thickness in the Z direction depending on the position in the Y direction and the thinnest at the site where the second support portion 1j (described later) is provided.

[0032] On the side of the first displacement member 1b facing the edge of the pedestal 1a (the outer peripheral side of the rotatable first displacement member 1b), a second support portion 1j is provided in a manner extending in the Y direction (front-rear direction), and one end of the second displacement member 1c is supported (pivotally supported) by the first displacement member 1b via the second support portion 1j. One end of the second displacement member 1c is a free end on the side of the boundary between the first surface region 1e and the second surface region 1f. The second displacement member 1c rotates about the second support portion 1j, and the free end of the second displacement member 1c is displaced in the directions D3 and D4. In the following description, the first displacement member 1b and the second displacement member 1c may be collectively referred to as a displacement member group.

[0033] As described above, in the robot support 1 of the first embodiment, the first displacement member 1b and the second displacement member 1c are placed on the second surface region 1f provided on the pedestal 1a. The first displacement member 1b is supported by the pedestal 1a so as to be rotatable within the plane formed by the second surface region 1f. The second displacement member 1c is rotatably supported by the first displacement member 1b on the outer peripheral side of the rotating first displacement member 1b. The free end of the second displacement member 1c is displaced in a direction away from and approaching the first displacement member 1b. As a result, it becomes possible to impart a degree of freedom of displacement to the leg portion 2F of the robot 2 connected to the second displacement member 1c. Further, by making the side of the boundary between the first surface region 1e and the second surface region 1f of the second displacement member 1c the free end, the robot 2 can be largely inclined in the outer edge direction (X direction) of the pedestal 1a, so that the operation of the robot 2 can be visually made more prominent.

[0034] FIG. 2 is an explanatory diagram showing a state in which the robot 2 is placed on the robot support 1. In FIG. 2, for the robot support 1, a cross-section taken along line I-I shown in FIG. 1 is shown. Here, a state is shown in which the bottom of the left leg portion 2FL of the leg portion 2F of the robot 2 is connected to the second displacement member 1c. Of course, the robot 2 may be inverted front and back, and the bottom of the right leg portion 2FR may be connected to the second displacement member 1c.

[0035] The foot part 2F and the second displacement member 1c may be connected, for example, by attaching the bottom of the foot part 2F and the surface of the second displacement member 1c facing it with a double-sided tape. Alternatively, they may be connected by a surface fastener. A permanent magnet (e.g., a neodymium magnet) may be disposed at least in a portion of the second displacement member 1c that faces the bottom of the foot part 2F, and at least the bottom of the foot part 2F may be made of a ferromagnetic material such as iron, and the two may be connected by magnetic force. That is, the bottom of the foot part 2F and the second displacement member 1c only need to be detachable by applying an external force, and the specific configuration of the detaching mechanism is not limited. Note that the foot part 2F not connected to the second displacement member 1c is supported without being fixed to the first surface region 1e, and the displacement of the leg part 2L corresponding to the foot part 2F is not restricted at all. That is, the first surface region 1e supports the foot part 2F on the side where the displacement is not restricted.

[0036] As shown in the figure, the surface (exposed surface) of the second displacement member 1c placed on the second surface region 1f of the pedestal 1a and the first surface region 1e are configured to have substantially the same height in the Z direction. That is, in the robot support 1 of the first embodiment, the pedestal 1a is provided with the first surface region 1e and the second surface region 1f, and the first displacement member 1b and the second displacement member 1c are stacked and placed in order from the bottom of the second surface region 1f as the first displacement member 1b and the second displacement member 1c, and the exposed surface of the second displacement member 1c and the first surface region 1e are configured to have substantially the same height. Thereby, the robot 2 is placed vertically with respect to the pedestal 1a, maintains an upright posture as an initial state, and can shift to a predetermined action.

[0037] Note that the second displacement member 1c may include a detaching mechanism. For example, when a member having a thickness that cannot be ignored, such as a surface fastener, is adopted as the detaching mechanism, the thickness of the second displacement member 1c is reduced according to the thickness of the detaching mechanism, or a recess (not shown) for accommodating the detaching mechanism is provided in a part of the second displacement member 1c, and the detaching mechanism is accommodated therein, and the exposed surface of the detaching mechanism and the first surface region 1e are configured to have substantially the same height, so that the robot 2 is placed on the pedestal 1a in an upright posture.

[0038] In the second surface area 1f, a first magnet 1m is fitted near the outer edge of the pedestal 1a. On the other hand, a second magnet 1n is provided on the surface (lower surface) of the first displacement member 1b facing the second surface area 1f. The first magnet 1m and the second magnet 1n are arranged such that the magnetic poles attracting each other face each other. The positions of the magnets are set such that when the first magnet 1m and the second magnet 1n are attracted to each other and are closest to each other, the pedestal 1a and the first displacement member 1b have the positional relationship shown in Fig. 1(A) (that is, when the robot support 1 is viewed from the main surface side, all of the pedestal 1a, the first displacement member 1b, and the second displacement member 1c are symmetric with respect to the line I-I). As is clear from Figs. 1(A) and 1(B), at this time, the displacement ranges in the directions D1 and D2 of the first displacement member 1b in the second surface area 1f formed as a recess are equal, and the displacement amount in a specific direction is prevented from being restricted.

[0039] The person (user) who places the robot 2 on the robot support 1 first inserts the convex portion 1y of the first displacement member 1b into the fitting hole 1x of the pedestal 1a, and then appropriately rotates the displacement member group composed of the first displacement member 1b and the second displacement member 1c in the directions D1 and D2 shown in Fig. 1(B). As a result, the displacement member group is positioned at a position where the first magnet 1m and the second magnet 1n are closest to each other in the second surface area 1f. That is, this positioned position becomes the home position of the displacement member group on the pedestal 1a. The user connects the leg portion 2F of the robot 2 to the displacement member group that has returned to the home position. Here, the attracting force between the first magnet 1m and the second magnet 1n is set to be smaller than the force for peeling off the leg portion 2F and the second displacement member 1c, and further, it does not prevent the movement of the leg portion 2L (left leg portion 2LL) in the Y direction (front-rear direction). That is, the attracting force between the first magnet 1m and the second magnet 1n does not affect the operation of the robot 2.

[0040] As described above, in the first embodiment, the second surface region 1f of the pedestal 1a and the first displacement member 1b are provided with suction portions that adsorb to each other. As a result, when the robot 2 is placed on the robot support 1, the foot portion 2F of the robot 2 is positioned at a predetermined position on the pedestal 1a, and the range within which the second displacement member 1c connected to the foot portion 2F of the robot 2 can rotate is symmetric about the line I-I. While supporting the foot portion 2F, it becomes possible to substantially maximize the range within which the leg portion 2L can be displaced. Further, when causing a robot group composed of a plurality of robots 2 to perform, it becomes possible to reduce the variation in the initial positions of the respective robots 2.

[0041] The robot 2 includes a main body body 2BD, a head portion 2HD, an arm portion 2A, leg portions 2L (right leg portion 2LR, left leg portion 2LL), foot portions 2F (right foot portion 2FR, left foot portion 2FL), and a switch portion 2v. A drive source 45 (see FIG. 3) is provided in the vicinity of an engagement portion (the base 2s of the leg portion 2L) with the leg portion 2L on the main body body 2BD, and the leg portion 2L rotates within a predetermined range about the base 2s of the main body body 2BD. As a result, the leg portion 2L is displaced back and forth. Similarly, a drive source 45 is provided in the vicinity of an engagement portion (shoulder 2p) with the arm portion 2A on the main body body 2BD, and the arm portion 2A rotates within a predetermined range about the shoulder 2p. Note that the arm portion 2A is capable of rotating 360° [deg] about the shoulder 2p as the rotation center. Note that the size of the robot 2 is not particularly limited, and for example, the height when standing upright may be a dozen or so cm, or may exceed 1 m.

[0042] FIG. 3 is a block diagram showing the configuration of the robot control unit 40. The robot 2 includes a robot control unit 40. The robot control unit 40 includes a first arithmetic unit 41 composed of a CPU (Central Processing Unit) or the like, a first storage unit 42 composed of a ROM (Read Only Memory), a RAM (Random Access Memory), or the like, and a drive unit 44 composed of a motor driver or the like. A battery (not shown) is mounted on the robot 2, and each component of the robot control unit 40 and the drive source 45 operate based on the power supplied by the battery. The robot 2 is activated, for example, when the switch unit 2v is pressed. The robot control unit 40 controls the drive source 45 according to the program stored in the first storage unit 42, and the robot 2 executes a predetermined operation.

[0043] Note that the robot 2 may further include a first communication unit 43. The first communication unit 43 includes a communication module (not shown) compliant with a short-range wireless standard such as BLE (Bluetooth (registered trademark) Low Energy). The robot control unit 40 may control the drive source 45 or the like based on a command input from the outside via the first communication unit 43. Conversely, the robot control unit 40 may transmit information regarding the operation of the robot 2 (for example, information regarding a gesture scheduled to be executed after a predetermined period) to the outside via the first communication unit 43.

[0044] Hereinafter, the description will continue with reference to FIG. 2. The leg portion 2L and the foot portion 2F are displaceably connected by a connecting member 2u. On the other hand, the connecting member 2u and the leg portion 2L are fixed. The foot portion 2F is provided with a drive source 45, a joint (not shown), etc., and the foot portion 2F is displaceable in at least two axial directions with respect to the connecting member 2u. Specifically, the foot portion 2F rotates within a predetermined range in the directions D7 and D8 (see FIG. 4) with respect to the connecting member 2u (that is, the leg portion 2L), and further, with the connecting member 2u as the center, a line (not shown) connecting the toe and the heel of the foot portion 2F is rotatable within a predetermined range. As described above, the robot 2 of the first embodiment includes a moving mechanism composed of the leg portion 2L, the connecting member 2u, the foot portion 2F, the drive source 45, etc., and is capable of bipedal walking.

[0045] As described above, one of the feet 2F of the robot 2 (here, the left foot 2FL) is connected to the second displacement member 1c, and the other, the right foot 2FR, is not fixed to the first surface area 1e. Here, for example, if only the left foot 2LL is rotated about the base 2s without operating the right foot 2LR, the first displacement member 1b rotates in the direction D1 or the direction D2 in the second surface area 1f, and further, the second displacement member 1c rotates in the direction D3 or the direction D4. When the left foot 2LL is displaced in this way, due to the presence of the displacement member group, the left foot 2FL is displaced in all directions in the X, Y, and Z directions.

[0046] At this time, the bottom of the right foot 2FR that is not fixed to the pedestal 1a (the first surface area 1e) slides and moves on the first surface area 1e as the left foot 2FL is displaced (or separates from the first surface area 1e when the displacement in the Z direction is large). As a result, even when the movement of the leg 2L on the side connected to the second displacement member 1c is increased, stress accumulation between the right foot 2LR and the left foot 2LL is prevented, and the connection between the bottom of the left foot 2FL and the second displacement member 1c is not released. In this regard, it is preferable that the first surface area 1e is a smooth surface, and a film made of a material with a low coefficient of friction such as fluororesin or nylon may be attached to the first surface area 1e.

[0047] FIG. 4 is an explanatory diagram showing an example of the operation of the robot 2 attached to the robot support 1. In FIG. 4, a state is shown in which the right foot 2FR of the robot 2 is rotated in the direction D9 with respect to the connecting member 2u, and further, the left foot 2FL is rotated in the direction D7 with respect to the connecting member 2u (the first operation). As described above, the bottom of the left foot 2FL is connected to the second displacement member 1c, and as the left foot 2FL rotates in the direction D7, the free end of the second displacement member 1c is displaced in the direction D3. On the other hand, the displacement of the right foot 2FR is not restricted at all.

[0048] Subsequent to this operation, when the right foot part 2FR is rotated in the direction D10 with respect to the connecting member 2u and further the left foot part 2FL is rotated in the direction D8 with respect to the connecting member 2u, the bottom of the right foot part 2FR comes into contact with the first surface region 1e. On the other hand, the second displacement member 1c connected to the left foot part 2FL rotates in the direction D4 and returns to the state shown in FIG. 2 (second operation). Thus, within the range in which the second displacement member 1c rotates, the movements of the left and right foot parts 2F are made equivalent, and by repeating the first operation and the second operation, the robot 2 can be made to perform an operation of stepping a so-called rhythm tap. Within the range in which the second displacement member 1c rotates in this way, the robot 2 can perform smoothly without any restrictions on the operation.

[0049] Furthermore, since the left foot part 2FL is connected to the second displacement member 1c, for example, when large actions such as protruding the right leg part 2LR greatly forward and swinging the left and right arm parts 2A upward are performed, or when the main body body 2BD is greatly inclined forward with respect to the leg part 2L and both arm parts 2A are further protruded forward, that is, when the perpendicular line dropped from the center of gravity of the robot 2 is located in front of the bottom of the foot part 2F and the robot 2 is made to take a posture such that it would clearly fall over under normal circumstances, the robot 2 is supported by the robot support 1 and the fall is surely prevented.

[0050] As described above, the robot support 1 of the first embodiment includes a pedestal 1a, a first displacement member 1b supported by the pedestal 1a and displaceable within a predetermined range in a first direction (direction D1 or direction D2) with respect to the pedestal 1a, and a second displacement member 1c supported by the first displacement member 1b and displaceable within a predetermined range in a second direction (direction D3 or direction D4) different from the first direction with respect to the first displacement member 1b, and the second displacement member 1c is configured to be detachable from the first part (foot part 2F) of the robot 2. Thereby, even when the robot 2 makes large movements, it is supported so as not to fall over, and the restriction on the movement at the part (foot part 2F) that supports the robot 2 is relaxed, enabling natural movement.

[0051] In the first embodiment, the left foot part 2FL is exemplified as the first part of the robot 2 that can be attached to and detached from the second displacement member 1c. By making one of the foot parts 2F detachable from the second displacement member 1c, for example, even when the arm part 2A that is easy to appeal for performance by body language or the foot part 2F on the side not connected to the second displacement member 1c is largely displaced, it is possible to surely prevent the robot 2 from falling. Here, in the arrangement of the robot support 1, the X direction and the Z direction shown in FIG. 1 are interchanged, and further, as the first part, for example, the robot 2 may be provided with a palm (not shown), and the palm may be connected to the second displacement member 1c. Further, the robot 2 does not have to be bipedal. For example, it may be quadrupedal imitating an animal, and one of the four legs may be used as the first part and connected to the second displacement member 1c. Even in such a configuration, it is possible to relax the restriction on the displacement of the first part connected to the second displacement member 1c and prevent the robot 2 from falling.

[0052] (Second Embodiment) FIG. 5 is an explanatory view showing a state in which the robot 2 is placed on the robot support 1 according to the second embodiment of the present invention. In the robot support 1 of the second embodiment, the pedestal 1a of the robot support 1 described in the first embodiment is supported by the rotation stage 30. The rotation stage 30 includes a motor 1k at a substantially central portion in a top view, and the rotation axis of the motor 1k is engaged with the back surface of the pedestal 1a. The motor 1k may be driven by a battery, or may be connected to an external power source and driven by the power supplied by the power source. Further, a speed reduction mechanism may be incorporated in the motor 1k.

[0053] A switch member (not shown) is provided on the rotation stage 30. By turning on the switch member, the motor 1k rotates, and accordingly, the robot support 1 rotates about the axis Ax. As described in the first embodiment, since the robot 2 can be battery-driven, it is possible to execute a predetermined performance while rotating the entire robot 2 without performing any wiring or the like between the rotation stage 30 and the robot 2.

[0054] (Third Embodiment) FIG. 6 is an explanatory view showing a state in which the robot 2 is placed on the robot support 1 according to the third embodiment of the present invention. In the third embodiment, a power transmission coil 1p is provided on the robot support 1, and a power reception coil 1q is further provided on the foot portion 2F of the robot 2, and wireless power supply is performed for the robot 2 using the power transmission coil 1p and the power reception coil 1q. Specifically, as shown in the figure, the power transmission coil 1p is disposed in a relatively large empty space provided below the first surface region 1e of the pedestal 1a, and correspondingly, a power reception coil 1q is provided on the foot portion 2F (the right foot portion 2FR not connected to the second displacement member 1c) in contact with the first surface region 1e.

[0055] That is, here, the second part (right foot portion 2FR) including the power reception coil 1q is used as the foot portion 2F of the robot 2 different from the first part (left foot portion 2FL) connected to the second displacement member 1c. In this configuration, wireless power supply is performed by controlling the bottom of the second part of the robot 2 including the power reception coil 1q to be close to the power transmission coil 1p. Since there is a relatively large space in the lower part of the first surface region 1e of the pedestal 1a and the power transmission coil 1p can be disposed here, it is possible to increase the amount of power to be transmitted.

[0056] As the wireless power supply method, an electromagnetic induction method composed of a power transmission coil 1p (primary coil) and a power reception coil 1q (secondary coil) may be adopted. Further, a one-turn coil may be provided on each of the power transmission coil 1p and the power reception coil 1q, and a so-called magnetic field resonance type electromagnetic induction method in which the resonance frequencies of the primary coil and the secondary coil are made the same may be adopted, or an electrolytic coupling method using electrostatic capacitance coupling may be adopted. Note that an alternating current of a predetermined frequency is supplied to the power transmission coil 1p from the outside of the robot support 1.

[0057] Also, for example, a flexible flat cable with a coil pattern formed as the power transmission coil 1p may be attached to the exposed surface of the second displacement member 1c, and on the other hand, a power reception coil 1q may be provided on the foot portion 2F (here, the left foot portion 2FL) of the robot 2 connected to the second displacement member 1c. This enables constant power supply to the robot 2. In this case, for example, in a mode where the second displacement member 1c and the bottom of the foot portion 2F are connected by a double-sided tape, since the distance between the two can be made extremely close, high power supply efficiency can be obtained even with an electromagnetic induction method that is not a magnetic field resonance type. Thus, in the third embodiment, wireless power supply is performed between the pedestal 1a or the second displacement member 1c and the foot portion 2F. However, for example, in the case of the robot support 1 configured to connect the palm (not shown) of the robot 2 to the second displacement member 1c, wireless power supply can be performed between the second displacement member 1c and the palm.

[0058] As described above, the robot support 1 of the third embodiment includes a power transmission coil 1p on at least one of the pedestal 1a or the second displacement member 1c, and supplies power wirelessly to the robot 2 via a second part or a first part (here, the right foot portion 2FR or the left foot portion 2FL) of the robot 2 provided with the power reception coil 1q. As a result, as long as the robot 2 is receiving power supply, it can continue to operate without stopping.

[0059] Note that the second embodiment and the third embodiment may be combined. Specifically, a configuration may be adopted in which the robot support 1 including the power transmission coil 1p described in the third embodiment is superimposed on the rotary stage 30 (see FIG. 5) described in the second embodiment. In this case, the AC power source input to the power transmission coil 1p may be supplied via the rotary stage 30, and for example, a slip ring (not shown) is disposed between the rotary stage 30 and the robot support 1 to maintain an electrical connection even when the robot support 1 rotates.

[0060] (Fourth Embodiment) FIG. 7 is an explanatory view showing a state in which a robot 2 is placed on a robot support 1 according to a fourth embodiment of the present invention. In the fourth embodiment, two displacement member groups (a first displacement member group 1s and a second displacement member group 1t) corresponding to the left and right feet 2F are provided on a pedestal 1a. Each of these displacement member groups is composed of a first displacement member 1b and a second displacement member 1c described in the first embodiment. A first electromagnet 1rL is provided on the second displacement member 1c constituting the first displacement member group 1s, and a second electromagnet 1rR is provided on the second displacement member 1c constituting the second displacement member group 1t. The bottom of the foot 2F is made of a ferromagnetic material such as iron that is attracted by a magnet. Thus, in the fourth embodiment, the attracting means is constituted by an electromagnet, whereby it is possible to connect and disconnect the second displacement member 1c and the bottom of the foot 2F with a simple configuration.

[0061] Here, the thicknesses of the first displacement member 1b and the second displacement member 1c may be determined as appropriate, and the second displacement member 1c may be configured to be sufficiently thick compared to, for example, the thickness from the back surface of the pedestal 1a to the surface of the second surface region 1f or the thickness of the first displacement member 1b. By configuring the second displacement member 1c to be thick, the number of turns of a coil (not shown) constituting the electromagnet is increased, and an attracting force acting between the electromagnet and the bottom of the foot 2F is ensured. By energizing the coil of each electromagnet, the foot 2F is connected (fixed) to the second displacement member 1c.

[0062] The first electromagnet 1rL and the second electromagnet 1rR are connected to a control unit 9. FIG. 8 is a block configuration diagram showing the configuration of the control unit 9 in the fourth embodiment. Hereinafter, the description will continue with reference to FIGS. 1, 3, 7, and 8. The control unit 9 is composed of a second arithmetic unit 10, a second storage unit 11, an electromagnet drive unit 14, and a second communication unit 15. The second arithmetic unit 10 is composed of a CPU or the like and operates according to a control program stored in the second storage unit 11 composed of a ROM, a RAM, or the like. The second arithmetic unit 10 is connected to other components via a bus 20 or the like, and the second arithmetic unit 10 controls other components via the bus 20 or the like.

[0063] The second memory unit 11 includes a non-volatile memory (such as an EEPROM (Electrically Erasable Programmable Read-Only Memory)). In this non-volatile memory, an operation pattern used for generating a control signal for controlling the operation of the robot 2 and a power supply pattern for the coil of the electromagnet are stored. The power supply pattern is determined in advance based on the operation pattern. The second arithmetic unit 10 extracts the operation pattern of the robot 2 and the power supply pattern corresponding to the operation pattern from the non-volatile memory. Then, a control signal is generated based on the operation pattern, and the control signal is transmitted to the robot 2 via the second communication unit 15. The control signal received via the first communication unit 43 (see FIG. 3) of the robot 2 is passed to the first arithmetic unit 41 (see FIG. 3), and the robot 2 operates according to the control signal. On the other hand, the second arithmetic unit 10 controls the electromagnet driving unit 14 according to the power supply pattern to drive the first electromagnet 1rL and the second electromagnet 1rR mounted on the robot support 1. Note that the control unit 9 is connected to an external power supply (not shown) and operates with the power supplied from the power supply. Therefore, the power stored in the battery of the robot 2 is not consumed even when the electromagnet is driven.

[0064] As described above, the robot support 1 of the fourth embodiment includes a pedestal 1a, a first displacement member 1b supported by the pedestal 1a and displaceable within a predetermined range in a first direction (direction D1 or direction D2 (see FIG. 1(B))) with respect to the pedestal 1a, and a second displacement member 1c supported by the first displacement member 1b and displaceable within a predetermined range in a second direction (direction D3 or direction D4 (see FIG. 1(B))) different from the first direction with respect to the first displacement member 1b. The displacement member group (the first displacement member group 1s, the second displacement member group 1t) is configured, and includes a control unit 9. The displacement member group includes a plurality (here, two) of members. The second displacement members 1c of the displacement member group each include an adsorption means (the first electromagnet 1rL, the second electromagnet 1rR) for adsorbing a predetermined part (the left foot part 2FL, the right foot part 2FR) of the robot 2. The control unit 9 controls each adsorption means included in the plurality of displacement member groups according to the driving state of the robot 2.

[0065] As a result, while imparting a certain degree of displacement freedom to the leg portion 2F (e.g., the right leg portion 2FR) connected to the second displacement member 1c by the adsorption means (while relaxing the restriction on the movement of the leg portion 2F connected to the second displacement member 1c), it is reliably supported to prevent the robot 2 from falling, and it is possible to make the robot 2 perform large gestures using the leg portion 2F (e.g., the left leg portion 2FL) not connected to the second displacement member 1c.

[0066] (Fifth Embodiment) FIG. 9 is an explanatory view showing a state in which the robot 2 is placed on the robot support 1 according to the fifth embodiment of the present invention. In the fifth embodiment, the second displacement member 1c is configured as a so-called pan-tilt head. The second support portion 1j is composed of a ball member 1jb and a protruding portion 1jx protruding from the ball member 1jb. A part of the ball member 1jb (including the lower hemisphere) is embedded in the first displacement member 1b and is supported so as to be rotatable in an arbitrary direction. The protruding portion 1jx is engaged with the second displacement member 1c, and the second displacement member 1c is inclined in an arbitrary direction including the direction D3 and the direction D4 with respect to the first displacement member 1b. Note that the displacement of the second displacement member 1c is restricted by the edge of the second displacement member 1c coming into contact with the first displacement member 1b. That is, the second displacement member 1c can be displaced within a range where it does not contact the first displacement member 1b.

[0067] Thus, the robot support 1 according to the fifth embodiment also includes a pedestal 1a, a first displacement member 1b supported by the pedestal 1a and displaceable within a predetermined range in a first direction (direction D1 or direction D2 (see FIG. 1(B))) with respect to the pedestal 1a, and a second displacement member 1c supported by the first displacement member 1b and displaceable within a predetermined range in a second direction different from the first direction (an arbitrary inclination direction including the direction D3 and the direction D4 (see FIG. 1(B))) with respect to the first displacement member 1b, and the second displacement member 1c is configured to be detachable from the first part (leg portion 2F) of the robot 2.

[0068] (Sixth Embodiment) FIG. 10 is an explanatory view showing a state in which a robot 2 is placed on a robot support 1 according to a sixth embodiment of the present invention. Now, in any of the robot supports 1 of the first to fifth embodiments, the first displacement member 1b and the second displacement member 1c are both placed on a second surface area 1f provided on the pedestal 1a. The first displacement member 1b is supported by the pedestal 1a so as to be rotatable along the second surface area 1f. The second displacement member 1c is rotatably supported (axially supported) by the first displacement member 1b on the side facing (opposite to) the outer edge of the pedestal 1a. The free end of the second displacement member 1c is configured to be displaced in a direction of approaching and separating from the first displacement member 1b.

[0069] Similar to the first embodiment and the like, in the robot support 1 of the sixth embodiment, in the second surface area 1f, the first displacement member 1b and the second displacement member 1c are sequentially stacked and stored in the Z direction from the surface of the second surface area 1f. On the other hand, in the sixth embodiment, on the pedestal 1a, a second support portion 1j is provided on the side facing the outer edge of the pedestal 1a and extending along the outer edge (in the front-rear direction of the robot 2). The first displacement member 1b is supported (axially supported) by the pedestal 1a via the second support portion 1j. The side of the first displacement member 1b at the boundary between the first surface area 1e and the second surface area 1f is the free end.

[0070] And, a fitting hole 1x as a first support portion 1h is provided on the side of the boundary between the first surface area 1e and the second surface area 1f of the first displacement member 1b. Also, a convex portion 1y is provided on the second displacement member 1c at a position corresponding to the fitting hole 1x. By inserting the convex portion 1y into the fitting hole 1x, the second displacement member 1c is configured to be rotatable within the plane formed by the first displacement member 1b along the outer periphery of the pedestal 1a about the axis Ax.

[0071] As described above, in the robot support 1 of the sixth embodiment, the first displacement member 1b and the second displacement member 1c are placed on the second surface area 1f provided on the pedestal 1a. The second displacement member 1c is supported on the free end side of the first displacement member 1b so as to be rotatable along the surface of the first displacement member 1b. The other end of the first displacement member 1b is rotatably supported (axially supported) by the pedestal 1a on the outer peripheral side of the rotating second displacement member 1c. The free end of the first displacement member 1b is displaced in a direction of approaching and separating from the pedestal 1a. This configuration can be rephrased as follows: the first displacement member 1b is rotatably supported (axially supported) by the pedestal 1a on the side facing the outer edge of the pedestal 1a, the free end of the first displacement member 1b is displaced in a direction of approaching and separating from the pedestal 1a, and the second displacement member 1c is supported on the free end side of the first displacement member 1b so as to be rotatable along the surface of the first displacement member 1b.

[0072] This enables the degree of freedom of displacement to be imparted to the leg portion 2F of the robot 2 connected to the second displacement member 1c. Also, by making the free end the side of the boundary between the first surface area 1e and the second surface area 1f of the first displacement member 1b, the robot 2 can be greatly inclined in the outer edge direction (X direction) of the pedestal 1a, so that the operation of the robot 2 can be made visually prominent.

[0073] Also in the sixth embodiment, the leg portion 2F of the robot 2 (here, the left leg portion 2FL) is detachable from the second displacement member 1c via a detaching and attaching mechanism such as a double-sided tape or a hook-and-loop fastener. Further, on the surface (upper surface) of the first displacement member 1b facing the second displacement member 1c, a first magnet 1m is fitted in the vicinity of the second support portion 1j. On the other hand, a second magnet 1n is provided on the surface (lower surface) of the second displacement member 1c facing the first displacement member 1b. The first magnet 1m and the second magnet 1n are arranged such that the magnetic poles attracting each other face each other. The positions of the respective magnets are set such that when the first magnet 1m and the second magnet 1n are attracted to each other and are closest to each other, and when the robot support 1 is viewed visually from the main surface side, the pedestal 1a, the first displacement member 1b, and the second displacement member 1c are all in a positional relationship symmetric about the line I-I (referring to FIG. 1(A)).

[0074] Thus, in the sixth embodiment, the first displacement member 1b and the second displacement member 1c are provided with adsorption portions that adsorb to each other. As a result, when the robot 2 is placed on the robot support 1, the foot portion 2F of the robot 2 is positioned at a predetermined position on the pedestal 1a, and the range within which the second displacement member 1c connected to the foot portion 2F of the robot 2 can rotate is symmetric about the line I-I (i.e., eliminating bias), and it becomes possible to substantially maximize the range within which the foot portion 2F can be displaced.

[0075] (Seventh Embodiment) FIGS. 11(A) and 11(B) are perspective views showing the configuration of the robot support 1 according to the seventh embodiment of the present invention. In the first to sixth embodiments described above, the displacement member group is configured to rotate with respect to the pedestal 1a in the second surface region 1f of the pedestal 1a. However, in the robot support 1 of the seventh embodiment, the displacement member group linearly displaces within the second surface region 1f.

[0076] As shown in FIGS. 11(A) and 11(B), the pedestal 1a includes a second surface region 1f in the shape of a substantially rectangular concave portion in a top view in a partial region of the upper surface of a flat quadrangular prism, and the region other than the second surface region 1f is the first surface region 1e. On the surface of the second surface region 1f, two rail-shaped guide members 1u extend in the Y direction (front-rear direction). In the first displacement member 1b, a groove portion 1w is provided at a position corresponding to the guide member 1u on the surface facing the surface of the second surface region 1f. The groove portion 1w of the first displacement member 1b is supported by the guide member 1u, and the first displacement member 1b is displaceable linearly along the guide member 1u in the directions D5 and D6. Of course, instead of this configuration, the groove portion 1w may be extended in the second surface region 1f, and the guide member 1u may be provided to project from the first displacement member 1b.

[0077] Of the first displacement member 1b, on the side facing the outer edge of the pedestal 1a along the direction in which the guide member 1u extends, a second support portion 1j is provided in a manner extending in the Y direction (front-rear direction), and the second displacement member 1c is supported by the first displacement member 1b via the second support portion 1j. The second displacement member 1c has a free end on the side of the boundary between the first surface region 1e and the second surface region 1f where the leg portion 2F on the side not restricted by displacement is supported. The second displacement member 1c rotates about the second support portion 1j, and the free end of the second displacement member 1c is displaced in the directions D3 and D4.

[0078] As described above, in the robot support 1 of the seventh embodiment, the first displacement member 1b and the second displacement member 1c are placed on the second surface region 1f provided on the pedestal 1a. The first displacement member 1b is supported by the pedestal 1a so as to be linearly displaceable along the second surface region 1f (in the direction in which the leg portion 2L is displaced). The second displacement member 1c is rotatably supported (pivotally supported) by the first displacement member 1b on the side facing the outer edge of the pedestal 1a along the direction in which the first displacement member 1b is displaced (the outer edge of the pedestal 1a on the side to which the first part (leg portion 2F) is connected). The free end of the second displacement member 1c is displaced in the direction of approaching and separating from the first displacement member 1b. Thereby, it becomes possible to impart a degree of freedom of displacement to the leg portion 2F of the robot 2 connected to the second displacement member 1c. Further, by making the side of the boundary between the first surface region 1e and the second surface region 1f where the leg portion 2F on the side not restricted by displacement of the second displacement member 1c is supported as the free end, the robot 2 can be largely inclined in the direction of the outer edge of the pedestal 1a (X direction), so that it becomes possible to visually show a large movement of the robot 2.

[0079] Note that the configuration of the seventh embodiment and the configuration described in the sixth embodiment may be combined. In this case, for the robot support 1, the first displacement member 1b and the second displacement member 1c are placed on the second surface area 1f provided on the pedestal 1a. The second displacement member 1c is supported by the first displacement member 1b so as to be linearly displaceable along the surface of the first displacement member 1b. The first displacement member 1b is rotatably supported by the pedestal 1a on the side facing the outer edge of the pedestal 1a along the direction in which the second displacement member 1c displaces. The free end of the first displacement member 1b is configured to displace in the direction of approaching and separating from the pedestal 1a. Also with this configuration, it is possible to impart a degree of freedom of displacement to the leg portion 2F of the robot 2 connected to the second displacement member 1c.

[0080] (Eighth Embodiment) FIG. 12 is an explanatory diagram showing a state in which the robot 2 is placed on the robot support 1 according to the eighth embodiment of the present invention. Also in the eighth embodiment, the leg portion 2F of the robot 2 and the second displacement member 1c may be connected, for example, by attaching the bottom of the leg portion 2F and the surface of the second displacement member 1c facing it with double-sided tape. Alternatively, the two may be connected with a hook-and-loop fastener. Here, a detection magnet 2w is provided near the bottom of the leg portion 2F. And a connection detection unit 46 is provided on the second displacement member 1c. In a state where the leg portion 2F is connected to the second displacement member 1c, the connection detection unit 46 faces the detection magnet 2w. Note that in the eighth embodiment, the bottom of the leg portion 2F may be formed of a permanent magnet (for example, a neodymium magnet), and the second displacement member 1c may be formed of a ferromagnetic material such as iron, and the two may be connected by magnetic force. In this case, it is not necessary to provide the detection magnet 2w.

[0081] FIG. 13 is a block configuration diagram showing the configuration of the control unit 9 in the eighth embodiment. Hereinafter, the description will continue with reference to FIGS. 12 and 13 in combination with FIG. 3. The configurations of the second arithmetic unit 10, the second storage unit 11, and the second communication unit 15 included in the control unit 9 are the same as those in the fourth embodiment, so the description thereof will be omitted. The connection detection unit 46 is composed of a magnetic sensor such as a Hall element, an MR (Magneto Resistive) element, or a magnetic impedance element. Then, the connection detection unit 46 detects the magnetism of the detection magnet 2w and outputs the detected value to the second arithmetic unit 10. When the detected magnetic flux density is greater than a predetermined value, the second arithmetic unit 10 determines that the foot portion 2F is in a state of being connected to the second displacement member 1c. Hereinafter, the state in which the foot portion 2F is connected to the second displacement member 1c may be referred to as the "connected state", and the state in which the foot portion 2F is not connected to the second displacement member 1c may be referred to as the "non-connected state".

[0082] Note that, instead of the detection magnet 2w, an LED (Light Emitting Diode) may be provided, and the connection detection unit 46 composed of a photosensor may detect the emitted light of the LED to determine the connected state and the non-connected state. Alternatively, instead of the detection magnet 2w, a marker may be provided, and the connection detection unit 46 may be composed of a reflection type sensor (photo interrupter), and the connected state and the non-connected state may be determined based on the reflected light from the marker (the same applies to the ninth embodiment).

[0083] The second arithmetic unit 10 extracts the operation pattern of the robot 2 from the non-volatile memory of the second storage unit 11. Then, a control signal is generated based on the operation pattern, and the control signal is transmitted to the robot 2 via the second communication unit 15. The control signal received via the first communication unit 43 (see FIG. 3) of the robot 2 is passed to the first arithmetic unit 41 (see FIG. 3), and the robot 2 operates according to the control signal. Here, the robot 2 may change its operation depending on the connected state and the non-connected state. In the non-connected state, if the line vertically lowered from the center of gravity of the robot 2 deviates from the area where the foot portion 2F is in contact with the floor surface, the robot 2 will fall, so its movement is greatly restricted. On the other hand, in the connected state, since falling is prevented, the gestures of the robot 2 are more greatly controlled.

[0084] Here, the operation pattern of the robot 2 may be stored in the first storage unit 42 (see FIG. 3) of the robot 2. In this case, the second arithmetic unit 10 notifies the robot 2 (the first communication unit 43) via the second communication unit 15 whether the robot 2 is in a connected state or a disconnected state. Then, the first arithmetic unit 41 (see FIG. 3) may change the operation of the robot 2 depending on whether it is in a connected state or a disconnected state.

[0085] As described above, the robot support 1 according to the eighth embodiment includes a connection detection unit 46 that detects whether or not the second displacement member 1c and the first part (here, the foot part 2F) of the robot 2 are connected, and a communication unit (the second communication unit 15) that transmits predetermined information to the robot 2. Based on the output of the connection detection unit 46, information regarding the control of the robot 2 (operation pattern or information indicating a connected state / disconnected state) is transmitted to the robot 2 via the communication unit. As a result, by a simple operation of connecting the robot 2 to the robot support 1, it is possible to make the gestures of the robot 2 larger than in the disconnected state and perform various effects.

[0086] (Ninth Embodiment) FIG. 14 is an explanatory diagram showing the configuration of a robot effect system S1 according to the ninth embodiment of the present invention. Also in the ninth embodiment, the foot part 2F of the robot 2 and the second displacement member 1c are connected by a double-sided tape or a hook-and-loop fastener. Here, a detection magnet 2w is provided on the second displacement member 1c. On the other hand, a connection detection unit 46 is provided on the foot part 2F. In a state where the foot part 2F is connected to the second displacement member 1c, the connection detection unit 46 faces the detection magnet 2w. In the ninth embodiment, the part of the second displacement member 1c facing the foot part 2F may be configured by a permanent magnet (for example, a neodymium magnet), and a part of the foot part 2F may be configured by a ferromagnetic material such as iron and the two may be connected by magnetic force. In this case, it is not necessary to provide the detection magnet 2w.

[0087] FIG. 15 is a block diagram showing the configuration of the robot control unit 40 in the robot performance system S1. Hereinafter, the description will continue with reference to FIGS. 14 and 15. The configurations of the first arithmetic unit 41, the first storage unit 42, and the first communication unit 43 included in the robot control unit 40 are the same as those in the first embodiment, and thus the description thereof will be omitted. The connection detection unit 46 is composed of a magnetic sensor such as a Hall element, an MR (Magneto Resistive) element, or a magnetic impedance element, as in the eighth embodiment. Then, the connection detection unit 46 detects the magnetism of the detection magnet 2w and outputs the detected value to the first arithmetic unit 41. When the detected magnetic flux density is greater than a predetermined value, the first arithmetic unit 41 determines that the foot portion 2F is in a state of being connected to the second displacement member 1c.

[0088] The first arithmetic unit 41 extracts the operation pattern of the robot 2 from the first storage unit 42. Then, a control signal is generated based on the operation pattern, and the control signal is output to the drive unit 44 based on the control signal. The robot 2 changes its operation between the connected state and the non-connected state. In the connected state, the body movement of the robot 2 is more greatly controlled, as in the eighth embodiment.

[0089] As described above, the robot performance system S1 of the ninth embodiment includes the robot support 1 and the connection detection unit 46 provided on the robot 2 for detecting whether or not the second displacement member 1c and the first part (here, the foot portion 2F) of the robot 2 are connected. The robot 2 changes its operation based on the output of the connection detection unit 46. Thus, by a simple operation of connecting the first part of the robot 2 to the robot support 1, it is possible to increase the body movement of the robot 2 more than in the non-connected state and perform various performances.

[0090] In addition, when the robot 2 is connected to the robot support 1, the robot performance system S1 of the ninth embodiment is controlled to increase the body movements as compared with the case where it is not connected to the robot support 1. Further, if the robot 2 is not connected to the robot support 1, it may be controlled to be in a posture such that the robot 2 falls, that is, a posture in which a perpendicular line drawn downward from the center of gravity of the robot 2 is outside the region where the foot portion 2F contacts the floor surface. This makes it possible to cause the robot 2 to perform various performances.

[0091] (Tenth Embodiment) FIG. 16 is an explanatory diagram showing a state in which the robot support 1 on which the robot 2 is placed is fixed to the object to be worn 47. As shown in the figure, a support mounting portion 1lx is provided at the bottom of the pedestal 1a of the robot support 1. As the support mounting portion 1lx, for example, double-sided tape or an adhesive is used. In the tenth embodiment, a robot 2 of a relatively small size (for example, a height of 10 cm to 30 cm) is assumed, and examples of the object to be worn 47 include a dashboard provided in a lower space of a front glass of an automotive (automobile), a carry case, and a moving body such as a person (for example, a shoulder). The support mounting portion 1lx supports the robot support 1 so as not to fall off from the object to be worn 47 particularly when the object to be worn 47 vibrates or displaces. In such a mode, the robot 2 can function as an assistant that supports a user (such as a driver or a passenger) in a moving body such as a moving person or an automobile.

[0092] The support mounting portion 1lx may be configured by a hook-and-loop fastener instead of double-sided tape. Further, when the object to be worn 47 is made of a ferromagnetic material such as iron, a permanent magnet may be used. Further, the support mounting portion 1lx may be in the form of a holder having a gripping portion such as a hook or a clip. The robot support 1 may be detachable from the object to be worn 47, and further, both the robot 2 and the robot support 1 may have portability.

[0093] As described above, the robot support 1 according to the present invention has been described in detail based on specific embodiments. However, these embodiments are merely examples, and the present invention is not limited by these embodiments. For example, for the robot support 1 of the first to fifth embodiments, the configuration described in the sixth embodiment may also be adopted, that is, the first displacement member 1b is pivotally supported on the pedestal 1a on the side facing the edge of the pedestal 1a, and the second displacement member 1c is supported on the first displacement member 1b so as to be rotatable along the surface of the first displacement member 1b. Further, the eighth, ninth, and tenth embodiments may be combined with other embodiments.

Industrial Applicability

[0094] The robot support 1 and the robot production system S1 according to the present invention can support the robot 2 so that it does not fall even when the robot 2 makes a large movement, and can relax the restriction on the movement at the part that supports the robot 2 and allow the robot 2 to make a natural movement. Therefore, it can be widely used in promotions using the robot 2, such as events, product promotions, and exhibitions, and in product advertisements.

Explanation of Reference Numerals

[0095] 1 Robot support 1a Pedestal 1b First displacement member 1c Second displacement member 1e First surface area 1f Second surface area 1h First support part 1j Second support part 1m First magnet 1n Second magnet 1s First displacement member group 1t Second displacement member group 2 Robot 2F Foot part 2FR Right foot part 2FL Left foot part 9 Control part 40 Robot control part 1lx Support fitting part Magnet for 2w detection 46 Connection detection unit 47 Worn object Ax axis

Claims

1. With a pedestal, a first displacement member supported by the base and displaceable within a predetermined range in a first direction relative to the base; a second displacement member supported by the first displacement member and displaceable within a predetermined range in a second direction different from the first direction relative to the first displacement member; Equipped with A robot support device, characterized in that the second displacement member is configured to be detachable from a first part of the robot.

2. The base is provided with a first surface area and a second surface area, the first displacement member and the second displacement member are placed on the surface of the second surface area in an overlapping manner, the first displacement member and the second displacement member being placed on the surface of the second surface area in this order, 2. The robot support according to claim 1, wherein the exposed surface of the second displacement member and the first surface area are configured to be at substantially the same height.

3. the first displacement member and the second displacement member are placed on a second surface area provided on the base, the first displacement member is supported by the base so as to be rotatable along the second surface area, the second displacement member is rotatably supported by the first displacement member on an outer circumferential side of the first displacement member, 2. The robot support according to claim 1, wherein the free end of the second displacement member is displaced in a direction to move toward and away from the first displacement member.

4. the first displacement member and the second displacement member are placed on a second surface area provided on the base, the first displacement member is supported by the base so as to be linearly displaceable along the second surface area, the second displacement member is rotatably supported by the first displacement member on a side facing an outer edge of the base along a direction in which the first displacement member is displaced, 2. The robot support according to claim 1, wherein the free end of the second displacement member is displaced in a direction to move toward and away from the first displacement member.

5. 5. The robot support according to claim 3, wherein the second surface area of ​​the base and the first displacement member are provided with an adhesion portion for adhesion to each other.

6. the first displacement member and the second displacement member are placed on a second surface area provided on the base, the second displacement member is supported on a free end side of the first displacement member so as to be rotatable along a surface of the first displacement member, The other end of the first displacement member is rotatably supported by the base on an outer circumferential side of the rotating second displacement member, 2. The robot support according to claim 1, wherein the free end of the first displacement member is displaced in a direction to move toward and away from the base.

7. the first displacement member and the second displacement member are placed on a second surface area provided on the base, the second displacement member is supported by the first displacement member so as to be linearly displaceable along a surface of the first displacement member, the first displacement member is rotatably supported by the base on a side opposite to an outer edge of the base along a direction in which the second displacement member is displaced; 2. The robot support according to claim 1, wherein the free end of the first displacement member is displaced in a direction to move toward and away from the base.

8. 8. The robot support according to claim 6, wherein the first and second displacement members are provided with suction portions for adhering to each other.

9. The robot support according to any one of claims 1 to 4, 6 and 7, wherein the first part is a foot of the robot.

10. a power transmission coil is provided on at least one of the base and the second displacement member, The robot support tool according to any one of claims 1 to 4, 6 and 7, characterized in that power is supplied to the robot wirelessly via a second part or the first part of the robot that is equipped with a receiving coil.

11. 11. The robot support of claim 10, wherein the second part is a foot of the robot that is different from the first part.

12. With a pedestal, a displacement member group including a first displacement member supported by the base and displaceable within a predetermined range in a first direction relative to the base, and a second displacement member supported by the first displacement member and displaceable within a predetermined range in a second direction different from the first direction relative to the first displacement member; A control unit; Equipped with The displacement member group is a plurality of groups, the second displacement members of the displacement member group each include an adsorption means for adsorbing a predetermined part of a robot; The robot support device according to the present invention, wherein the control unit controls each of the suction means included in the plurality of displacement member groups in accordance with a driving status of the robot.

13. 13. The robot support according to claim 12, wherein the suction means is an electromagnet.

14. a connection detection unit that detects whether the second displacement member and a first part of the robot are connected; A communication unit that transmits predetermined information to the robot; Equipped with 2. The robot support according to claim 1, wherein information relating to control of the robot is transmitted to the robot via the communication unit based on an output of the connection detection unit.

15. The robot support according to claim 1 ; a connection detection unit provided in the robot and configured to detect whether the second displacement member and a first part of the robot are connected; Equipped with A robot performance system, characterized in that the robot changes its movement based on the output of the connection detection unit.

16. The robot performance system according to claim 15, characterized in that the robot is controlled to make larger gestures when the second displacement member and the first part of the robot are connected, compared to when the second displacement member and the first part of the robot are not connected.

17. The robot support according to claim 1, further comprising a support mounting portion for fixing the base to a predetermined object to be mounted.

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