Robot

Abstract

To provide a robot that can improve calibration accuracy of a rotation sensor for detecting movement of an actuator of the robot.SOLUTION: A robot has a connection frame (63) which supports a rolling actuator. The connection frame (63) has a first fitted part (63g) which is fitted to a rotary output part (12c) of the actuator (12), and a remainder (a first arm part (63b), a support part (63a), a second arm part (63c)) that is connected to the first fitted part (63g). a sensor rotation part (16a) of a rotation sensor (16) is fitted to the first fitted part (63g). In the state that the first fitted part (63g) is fitted to the rotation output part (12c) and the remainder of the connection frame (63) is removed from the first fitted part (63g), the first fitted part (63g) and the rotation output part (12c) can rotate through an angle greater than 360 degrees.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present disclosure relates to robots. [Background technology]

[0002] Robots capable of walking on two legs and robots capable of walking on four legs have been developed (for example, see Patent Document 1). The robot is equipped with multiple actuators to move various parts of its body. The actuator may be connected to another part (for example, another actuator) via a U-shaped connecting frame. One end of the connecting frame is attached to a rotation output part (a part that rotates using the power of an electric motor) at the end of the actuator. The other end of the connecting frame is attached to a bearing that is located on the opposite side of the actuator from the rotation output part. Because the connecting frame is supported by the rotation output part of the actuator and the bearing, the rigidity of the connecting frame is ensured, allowing the robot to move smoothly. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-117858 Summary of the Invention [Problem to be solved by the invention]

[0004] Calibration of the sensor that detects the rotation of the actuator (rotation of the connecting frame) is sometimes performed while the sensor is attached to the connecting frame. However, in this state, the range in which the actuator can be moved for calibration (the range in which the electric motor can be rotated) is limited to a narrow range where the connecting frame does not interfere with other parts. This can reduce the accuracy of the calibration or even hinder the calibration. [Means for solving the problem]

[0005] An example of a robot proposed in the present disclosure includes an actuator having an electric motor and a rotation output part that receives rotation of the electric motor, a connecting frame having a first attached part attached to the rotation output part and a remaining part connected to the first attached part, a connected part attached to the remaining part of the connecting frame, and a rotation sensor having a sensor rotating part attached to the first attached part and a sensor fixing part facing the rotating part and outputting a signal in accordance with relative rotation of the sensor rotating part with respect to the sensor fixing part. When the first attached part is attached to the rotation output part and the remaining part is detached from the first attached part, the first attached part and the rotation output part can rotate through an angle greater than 360 degrees.

[0006] With this robot, the rotation sensor can be calibrated while it is attached to the first attachment portion of the connecting frame. Furthermore, when the remaining portion of the connecting frame is detached from the first attachment portion, the first attachment portion and the rotation output portion can rotate through an angle greater than 360 degrees, so by performing the calibration in this state, the calibration can be performed accurately. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a schematic diagram showing the layout of actuators possessed by a robot proposed in the present disclosure. [Figure 2A] FIG. 2 is a perspective view showing components that constitute the fuselage. [Figure 2B] FIG. 2B is an exploded perspective view of the components shown in FIG. 2A. [Figure 3A] FIG. 2 is a perspective view showing components that constitute the fuselage. [Figure 3B] FIG. 3B is an exploded perspective view of the components shown in FIG. 3A. [Figure 4A] FIG. 2B is a front view of the actuator and frame shown in FIG. 2A. [Figure 4B] FIG. 10 is a front view showing the relative positions of the actuators. [Figure 5A] FIG. 2B is a right side view of the component shown in FIG. 2A. [Figure 5B] FIG. 10 is a right side view showing the relative positions of the actuators. [Figure 6] FIG. 2 is a diagram showing the internal structure of the actuator. [Figure 7A] FIG. 2 is a perspective view of a pitching actuator to which a connecting frame is attached, and a frame. [Figure 7B] FIG. 7B is a perspective view of the component shown in FIG. 7A viewed from another angle. [Figure 7C] FIG. 7B is a plan view of the component shown in FIG. 7A. [Figure 7D] FIG. 7B is a side view of the component shown in FIG. 7A. [Figure 8] FIG. 2 is a schematic diagram of a connecting frame, a pitching actuator, and a frame. [Figure 9A] FIG. 10 is a schematic diagram showing a connecting frame and a rotation sensor during calibration. [Figure 9B] 10A and 10B are diagrams for explaining the assembly work of the connecting frame that is performed after calibration. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In this specification, as an example of an embodiment, a robot 1 shown in FIG. 1 etc. will be described. In addition, in the following description, the directions indicated by X1 and X2 in FIG. 1 etc. will be referred to as left and right, respectively, the directions indicated by Z1 and Z2 in the same figure will be referred to as up and down, respectively, and the directions indicated by Y1 and Y2 in the same figure will be referred to as forward and backward, respectively.

[0009] [Overall configuration] The robot 1 is a bipedal robot and, as shown in FIG. 1 , has a right leg 20R and a left leg 20L. Each of the legs 20R and 20L is provided with a plurality of actuators for moving the leg 20R, 20L. For example, each of the legs 20R, 20L has actuators 26, 27 at its ankle joint, an actuator 25 at its knee joint, and actuators 22, 23, 24 at its hip joint. The robot 1 also has a right arm 30R and a left arm 30L. Each of the arms 30R, 30L is provided with a plurality of actuators for moving the leg 30R, 30L. For example, each of the arms 30R, 30L has an actuator 35 at its elbow joint, an actuator 34 at its upper arm, and actuators 32, 33 at its shoulder joint. The robot 1 also has a plurality of actuators 42, 43, 44 for moving its head 40.

[0010] The layout of the actuators in the robot 1 is not limited to that shown in Fig. 1. For example, the robot 1 does not necessarily have to have the actuators 42, 43, and 44 provided in the head. Also, the number of actuators provided in the arms 30R and 30L may be less than four. Similarly, the number of actuators provided in the legs 20R and 20L may be less than six.

[0011] [Fuselage actuator] The robot 1 has a plurality of actuators 11, 12, and 13 for moving the trunk 10. Specifically, the robot 1 has a yawing actuator 11 that enables the trunk 10 to yaw, a pitching actuator 12 that enables the trunk 10 to pitch, and a roll actuator 13 that enables the trunk 10 to roll. "Yawing" refers to the movement of the trunk 10 about an axis that runs along the up-down direction, "pitching" refers to the movement of the trunk 10 about an axis that runs along the left-right direction, and "rolling" refers to the movement of the trunk 10 about an axis that runs along the front-to-back direction.

[0012] The three actuators 11, 12, and 13 are disposed in the lower part (or the waist) of the torso 10. In the upper part of the torso 10, an actuator 32 that moves the arms 30R and 30L and is located at the top of the arms 30R and 30L, and an actuator 42 that is located at the bottom of three actuators 42, 43, and 44 that move the head 40 are disposed.

[0013] The actuators 11, 12, and 13 that move the body 10 each have an electric motor, a reduction mechanism, and a rotation output unit that receives the rotation of the electric motor via the reduction mechanism. The electric motor may be, for example, a stepping motor. The rotation output unit is located at the end of the torque transmission path in the actuator, and is connected to other parts of the robot 1 (moving parts of the robot 1). The reduction mechanism may be composed of, for example, multiple external gears, a worm gear, or a planetary gear.

[0014] For example, as shown in FIG. 6, the yaw actuator 11 includes an electric motor 11a, a reduction gear mechanism 11b, and a rotation output unit 11c that receives rotation from the electric motor via the reduction gear mechanism 11b. The reduction gear mechanism 11b is composed of multiple external gears. The reduction gear mechanism 11b is housed in a case 11d. The case 11d may hold the electric motor 11a. The electric motor 11a is driven around a rotation center line B11 that runs along the up-down direction. The rotation output unit 11c of the yaw actuator 11 rotates around a rotation center line A11 that is parallel to the rotation center line B11. The rotation output unit 12c of the pitch actuator 12 (see FIG. 4B) rotates around a rotation center line A12 that runs along the left-right direction. The rotation output unit 13c of the roll actuator 13 (see FIG. 5B) rotates relative to the electric motor 13a around a rotation center line A13 that runs along the front-rear direction. Note that one or more of the actuators 11, 12, and 13 may not have a reduction gear mechanism. In this case, the rotary output part may be the rotary shaft of the electric motor.

[0015] [Yawing Actuator] As shown in FIG. 1, the legs 20R and 20L each have an actuator 22 at their top that moves the legs 20R and 20L. (Hereinafter, the actuator 22 will be referred to as the "leg actuator.") As shown in FIG. 4B, the yaw actuator 11 is located between the actuator 22 of the right leg 20R and the leg actuator 22 of the left leg 20L when viewed from the front of the robot 1. When viewed from the front of the robot 1, the lower end 11e of the yaw actuator 11 is located lower than the upper ends 22e of the left and right leg actuators 22. The remaining actuators that move the trunk 10 (i.e., the pitch actuator 12 and the roll actuator 13) are located above the yaw actuator 11. This location of the yaw actuator 11 allows the actuators 11, 12, and 13 that move the trunk 10 to be lowered overall, thereby lowering the center of gravity of the robot 1 and improving the stability of the robot's movement.

[0016] The left and right leg actuators 22 have the same structure as that of the yawing actuator 11. That is, the left and right leg actuators 22 each have an electric motor 22a (see FIG. 2B), a speed reduction mechanism, and a rotation output unit 22c (see FIG. 3A) that receives the rotation of the electric motor 22a via the speed reduction mechanism. The rotation output unit 22c of the left and right leg actuators 22 can rotate, for example, around a rotation center line A22 (see FIG. 3A) that runs along the vertical direction, and the left and right leg actuators 22 change the orientation of the left leg 20L and the right leg 20R, respectively. The electric motor 22a is also driven around the rotation center line that runs along the vertical direction. The structure of the leg actuators 22 is not limited to the example of the robot 1. For example, the rotation of the electric motor 22a may be transmitted to the rotation output unit 22c through a speed reduction mechanism formed by a worm gear or a speed reduction mechanism formed by a planetary gear.

[0017] 4B, the entire yaw actuator 11 may be lower than the left and right leg actuators 22. In other words, the position of the upper end 11f of the yaw actuator 11 may be lower than the upper ends 22e of the left and right leg actuators 22. In the example of the robot 1, the position of the upper surface of the rotation output part 11c of the yaw actuator 11 is lower than the upper ends 22e of the electric motors 22a of the leg actuators 22. This arrangement of the yaw actuator 11 allows the positions of the other actuators 12 and 13 that move the torso 10 to be further lowered, which leads to improved stability in the movement of the robot 1.

[0018] 4B, the position of the lower end 11e of the yaw actuator 11 may be lower than the lower end 22f of the leg actuator 22. In the example of the robot 1, the position of the lower end 11e of the electric motor 11a of the yaw actuator 11 is lower than the lower surface of the rotation output part 22c of the leg actuator 22. This lowers the overall position of the yaw actuator 11, which leads to improved stability in the movement of the robot 1.

[0019] 4A, the left and right leg actuators 22 and the yaw actuator 11 are attached to a common frame 61. The electric motors 22a of the left and right leg actuators 22 are disposed on the upper side of the frame 61. The lowermost portion of the electric motor 11a of the yaw actuator 11 protrudes downward from the frame 61.

[0020] As shown in FIG. 6, in the yaw actuator 11, the rotation output unit 11c is spaced radially from the rotation center line B11 (the rotation shaft of the electric motor 11a) of the electric motor 11a. The reduction mechanism 11b is disposed between the rotation shaft of the electric motor 11a and the rotation output unit 11c, and reduces the rotation of the electric motor 11a before transmitting it to the rotation output unit 11c. By using an actuator whose rotation output unit is spaced apart from the rotation center line of the electric motor as the yaw actuator 11 in this way, the height of the yaw actuator 11 can be reduced. As a result, the positions of the other actuators 12 and 13 that move the torso 10 can be lowered. In the robot 1, the leg actuators 22 have the same structure as the yaw actuator 11. Therefore, the rotation output units 22c of the leg actuators 22 are also spaced radially from the rotation center line of the electric motors 22a of the leg actuators 22.

[0021] 5B, at least a portion of the yawing actuator 11 may overlap the left and right leg actuators 22 in a side view of the robot 1. This arrangement of the actuators 11 and 22 can prevent the robot 1 from becoming too large in size in the front-to-rear direction.

[0022] As shown in FIG. 5B, in the example of the robot 1, the rotation center line A11 of the rotation output unit 11c of the yaw actuator 11 is spaced forward from the electric motor 11a of the yaw actuator 11. On the other hand, the rotation center line A22 of the rotation output unit 22c of the leg actuator 22 is spaced rearward from the electric motor 22a of the leg actuator 22. In other words, the direction in which the rotation output unit 11c of the yaw actuator 11 is positioned relative to the electric motor 11a (forward) is opposite to the direction in which the rotation output unit 22c of the leg actuator 22 is positioned relative to the electric motor 22a (rearward). This separates the electric motors 11a and 22a, which have large weights, from the front and rear of the robot 1, reducing the imbalance in the front-to-rear direction of the center of gravity.

[0023] 5B, the electric motors 11a and 22a of the two actuators 11 and 22 do not overlap in a side view of the robot 1. In other words, the front surface 11g of the electric motor 11a of the yaw actuator 11 is spaced apart in the front-to-rear direction from the rear surface 22g of the electric motor 22a of the leg actuator 22. The case 11d of the yaw actuator 11 overlaps with the case 22d of the leg actuator 22 in a side view.

[0024] As shown in Figures 4B and 5B, the three actuators 11 and 22 are aligned in the left-right direction and are arranged so that their rotational center lines A11, B11, A22, and B22 face up and down. The rotational center lines A11 and A22 of the rotational output units 11c and 22c and the rotational center lines B11 and B22 of the electric motors 11a and 22a are spaced apart in the front-to-rear direction. This arrangement of the three actuators 11 and 22 prevents the unit from becoming too large in the left-to-right direction.

[0025] The layout of the yaw actuator 11 and the leg actuators 22 is not limited to the example of the robot 1. For example, the rotation output unit 11c of the yaw actuator 11 may be located rearward and away from the electric motor 11a of the yaw actuator 11, while the rotation output unit 22c of the leg actuator 22 may be located forward and away from the electric motor 22a of the leg actuator 22. As another example, the rotation output units 11c and 22c of the actuators 11 and 22 may be arranged coaxially with the electric motors 11a and 22a.

[0026] As yet another example, in the yaw actuator 11, the rotation center line B11 of the electric motor 11a and the rotation center line A11 of the rotation output unit 11c may be perpendicular. In this case, the reduction mechanism 11b may include a worm gear or a helical gear. Similarly, in the leg actuator 22, the rotation center line B22 of the electric motor 22a and the rotation center line A22 of the rotation output unit 22c may be perpendicular. In this case, the reduction mechanism may include a worm gear or a helical gear. Even in such a case, the direction in which the rotation output unit 11c of the yaw actuator 11 is positioned relative to the electric motor 11a may be opposite to the direction in which the rotation output unit 22c of the leg actuator 22 is positioned relative to the electric motor 22a.

[0027] As yet another example, the position of the upper end 11f of the yaw actuator 11 may be higher than the upper ends 22e of the left and right leg actuators 22. Also, the position of the lower end 11e of the yaw actuator 11 may be higher than the lower ends 22f of the left and right leg actuators 22.

[0028] [Pitching Actuator] 4A and 4B, the pitching actuator 12 is disposed above the yaw actuator 11. The pitching actuator 12 is supported by the yaw actuator 11. More specifically, a frame 62 that holds the pitching actuator 12 is attached to the rotation output section 11c of the yaw actuator 11. The pitching actuator 12 and the parts supported by the pitching actuator 12 (specifically, the rolling actuator 13 and the upper part of the fuselage 10) rotate (yawing) around a rotation center line A11 that runs in the up-down direction as a result of the driving of the yaw actuator 11.

[0029] As shown in FIGS. 4B and 5B, the pitching actuator 12 is located higher than the upper ends 22e of the left and right leg actuators 22. In addition, the position of a frame 62 (see FIG. 4A) that holds the pitching actuator 12 is also higher than the upper ends 22e of the left and right leg actuators 22. This arrangement makes it possible to prevent the frame 62 and the pitching actuator 12 from interfering with the leg actuators 22, regardless of the size of the pitching actuator 12 in the left-right direction. As a result, a sufficient range of motion of the yaw actuator 11 can be ensured. As shown in FIG. 4A, the right and left portions of the frame 62 are located above the right leg actuator 22 (more specifically, the electric motor 22a) and the left leg actuator 22 (more specifically, the electric motor 22a), respectively, and partially overlap the leg actuators 22 in a plan view.

[0030] As shown in Fig. 4B, the pitching actuator 12 has an electric motor 12a, a reduction mechanism, and a rotation output unit 12c that receives the rotation of the electric motor 12a through the reduction mechanism. The rotation output unit 12c is located on the rotation center line A12 of the electric motor 12a. A reduction mechanism is disposed between the rotation output unit 12c and the electric motor 12a. For example, a planetary gear can be used as such a reduction mechanism.

[0031] [Rolling actuator] As shown in FIG. 5B, the roll actuator 13 is disposed behind the pitch actuator 12. The roll actuator 13 is also located above the electric motor 11a of the yaw actuator 11. The roll actuator 13 and the upper part of the fuselage 10 are supported by the pitch actuator 12, and when driven by the pitch actuator 12, the fuselage 10 moves (pitches) around a rotation center line A12 of the pitch actuator 12 that runs in the left-right direction. In other words, when driven by the pitch actuator 12, the fuselage 10 can tilt forward.

[0032] 2B and 3B, a connecting frame 63 is attached to the rotation output unit 12c of the pitch actuator 12. The rolling actuator 13 is attached to this connecting frame 63. The connecting frame 63 has, for example, a support unit 63a arranged along the rotation center line A12 (see FIG. 4B) of the pitch actuator 12, a first arm unit 63b extending from one end of the support unit 63a toward the rotation output unit 12c and attached to the rotation output unit 12c via a first attached unit 63g (described later), and a second arm unit 63c extending from the opposite end of the support unit 63a toward the rotation center line A12. The second arm unit 63c is supported by a bearing 14 (see FIG. 2B) located on the opposite side of the rotation center line A12 from the rotation output unit 12c.

[0033] As shown in FIGS. 2B and 3B, the rolling actuator 13 has an electric motor 13a, a reduction gear mechanism, and a rotation output unit 13c that receives the rotation of the electric motor 13a via the reduction gear mechanism. The structure of the rolling actuator 13 may be the same as that of the yaw actuator 11. As shown in FIG. 2B, the rotation output unit 13c of the rolling actuator 13 is attached to a support unit 63a of a connecting frame 63. Meanwhile, the upper part of the fuselage 10 is supported by the remaining part of the rolling actuator 13. More specifically, frames 64A and 64B that support the main board 15, shoulder actuator 32, and head actuator 42 are attached to a case 13d (see FIG. 3B) that houses the reduction gear mechanism of the rolling actuator 13. The frame 64A has a pair of mounting walls 64b (see FIG. 3B) extending downward. The case 13d is disposed between the mounting walls 64b and attached to the mounting walls 64b.

[0034] When the rolling actuator 13 is driven, the electric motor 13a and the case 13d housing the reduction mechanism rotate around the rotation center line A13 (see Figure 2B) of the rotation output part 13c, resulting in the upper part of the body 10 tilting to the right or left (rolling).

[0035] As shown in FIG. 5B, the electric motor 13a is spaced upward from the rotation center line A13 of the rotation output part 13c. The upper part of the torso 10 (the part that holds the shoulder actuators 32 and the head actuator 42) is located above the electric motor 13a. This ensures a sufficient distance from the rotation center line A13 of the rolling actuator 13 to the upper part of the torso 10. As a result, the movement of the upper part of the torso 10 (tilting left and right) can be increased. The case 13d is located below the electric motor 13a. The upper part of the torso 10 is fixed to this case 13d via the mounting wall part 64b. Unlike the example of the robot 1, the upper part of the torso 10 may be attached to the electric motor 13a instead of the case 13d.

[0036] [3-actuator layout] As described above, the pitch actuator 12 is disposed above the yaw actuator 11, and the roll actuator 13 is disposed behind the pitch actuator 12. The upper part of the fuselage 10 (where the shoulder actuator 32 and head actuator 42 are disposed) is disposed above and supported by the roll actuator 13. This arrangement of the three actuators 11, 12, and 13 ensures that the pitch actuator 12 and the roll actuator 13 do not interfere with other components when the pitch actuator 12 is driven (when the fuselage 10 tilts forward). As a result, a sufficient range of forward tilt for the fuselage 10 can be secured. In addition, because space S1 (see FIG. 4A ) is secured below the right and left sections of the fuselage 10, the upper part of the fuselage 10 does not interfere with other components when the roll actuator 13 is driven (when the fuselage 10 tilts right and left). As a result, a sufficient range of right and left tilt for the fuselage 10 can be secured.

[0037] As shown in Figures 4B and 5B, the rotation center line A11 of the yaw actuator 11 and the rotation center line A12 of the pitch actuator 12 may form a single plane. That is, the rotation center line A11 and the rotation center line A12 may intersect in both the side view and the front view of the robot 1. This arrangement of the actuators 11 and 12 simplifies the calculation of the attitude of the torso 10. Furthermore, this arrangement of the actuators 11 and 12 reduces the moment of inertia of the pitch actuator 12 around the rotation center line A11 of the yaw actuator 11. As a result, the torque required of the yaw actuator 11 can be reduced.

[0038] 4B and 5B, the rotation center line A12 of the pitching actuator 12 and the rotation center line A13 of the rolling actuator 13 may form a single plane. That is, the rotation center line A12 of the pitching actuator 12 and the rotation center line A13 of the rolling actuator 13 may intersect in both the side view and the front view. This arrangement of the actuators 12 and 13 simplifies the calculation of the attitude of the fuselage 10.

[0039] Two types of actuators are used as the three actuators 11, 12, and 13. Specifically, parallel actuators are used as the yaw actuator 11 and roll actuator 13, and a serial actuator is used as the pitch actuator 12. A parallel actuator is an actuator in which the rotation center lines of the electric motor and the rotation output part connected via a reduction mechanism are separated in the radial direction of the electric motor. A serial actuator is an actuator in which the rotation center lines of the electric motor and the rotation output part connected via a reduction mechanism are the same.

[0040] In a parallel actuator, the rotation centerline of the rotation output section is radially spaced from the rotation centerline of the electric motor, so the size of the parallel actuator in the direction along the rotation centerline is smaller than that of a serial actuator. Conversely, the size of the serial actuator in the direction perpendicular to the rotation centerline is smaller than that of a parallel actuator. In the robot 1, a serial actuator is used as the pitching actuator 12, and a parallel actuator is used as the rolling actuator 13. This reduces the overall size of the two actuators 12 and 13 in the forward / backward direction. As a result, the moment of inertia of these two actuators 12 and 13 generated around the rotation centerline A11 of the yaw actuator 11 can be reduced. In addition, in the robot 1, a parallel actuator is used as the yaw actuator 11. This allows the position of the rotation output section 11c of the yaw actuator 11 to be lowered, thereby lowering the center of gravity of the robot 1.

[0041] The electric motor 11a and rotation output unit 11c of the yaw actuator 11 correspond to the "supported part" and the "movable part" in the claims, respectively. The electric motor 12a and rotation output unit 12c of the pitch actuator 12 correspond to the "supported part" and the "movable part" in the claims, respectively. As for the roll actuator 13, its rotation output unit 13c is supported by the pitch actuator 12 via the connecting frame 63, so the electric motor 13a and rotation output unit 13c of the roll actuator 13 correspond to the "movable part" and the "supported part" in the claims, respectively.

[0042] [Upper torso] As described above, the upper part of the torso 10 is supported by the rolling actuator 13. As shown in FIG. 2A, the left and right shoulder actuators 32, the head actuator 42, and the main board 15 are arranged on the upper part of the torso 10. In the example of the robot 1, the main board 15 is composed of two circuit boards 15a and 15b (see FIG. 2B) stacked in the vertical direction. This allows for effective use of a small space. Unlike the example of the robot 1, the main board 15 may be composed of a single circuit board. Parallel actuators, for example, are used as the shoulder actuators 32 and the head actuator 42.

[0043] As shown in FIG. 5B, the shoulder actuator 32 is disposed forward of the rolling actuator 13. This increases the degree of freedom of the shoulder actuator 32 in the vertical position. In the robot 1, the lower end 32e of the shoulder actuator 32 is lower than the upper end 13e of the rolling actuator 13 (in the example of the robot 1, this is the upper surface of the electric motor 13a). This positioning of the shoulder actuator 32 allows the center of gravity of the robot 1 to be lowered, thereby improving the stability of the movement of the robot 1. In the example of the robot 1, the shoulder actuator 32 is disposed so that a horizontal plane P1 (see FIG. 5A) passing through the upper end 13e of the rolling actuator 13 intersects with the rotation output part 32c of the shoulder actuator 32.

[0044] As shown in FIG. 4B, the head actuator 42 is located between the left and right shoulder actuators 32, and, like the shoulder actuators 32, is located forward of the rolling actuator 13. This increases the degree of freedom of the head actuator 42 in the vertical position. In the robot 1, the bottom end 42e of the head actuator 42 may be lower than the top end 13e of the rolling actuator 13 (the top surface of the electric motor 13a in the example of the robot 1; see FIG. 5B). This arrangement of the head actuator 42 allows the center of gravity of the robot 1 to be lowered, thereby improving the stability of the robot 1's movements.

[0045] In a side view of the robot 1, the shoulder actuator 32 and the head actuator 42 are located above the pitching actuator 12. As shown in Fig. 4A, a space S1 is provided below the shoulder actuator 32 and the head actuator 42 to allow the torso 10 to roll.

[0046] The rotation center line A32 of the rotation output part 32c of the shoulder actuator 32 is aligned in the left-right direction, and the shoulder actuator 32 moves the arms 30R and 30L back and forth. The rotation center line A42 (see FIG. 2A) of the rotation output part 42c of the head actuator 42 is aligned in the up-down direction, and rotates the orientation of the head 40 left and right.

[0047] The movements of the shoulder actuator 32 and the head actuator 42 are not limited to the example of the robot 1. For example, the rotation center line A32 of the shoulder actuator 32 arranged on the upper part of the torso 10 may be along the front-to-back direction or the up-down direction. Similarly, the rotation center line A42 of the head actuator 42 arranged on the upper part of the torso 10 may be along the front-to-back direction or the left-to-right direction.

[0048] Furthermore, the layout of the shoulder actuator 32 and the head actuator 42 is not limited to the example of the robot 1. For example, only one of the shoulder actuator 32 and the head actuator 42 may be located forward of the rolling actuator 13, with its lower end positioned lower than the upper end 13e of the rolling actuator 13. In yet another example, both the shoulder actuator 32 and the head actuator 42 may be positioned higher than the upper end 13e of the rolling actuator 13.

[0049] As shown in FIG. 5A, the main board 15 is located behind the shoulder actuator 32 and the head actuator 42 and above the rolling actuator 13. The main board 15 is arranged horizontally. The shoulder actuator 32 and the head actuator 42 are lower than the main board 15. That is, as shown in FIG. 5B, the lower end 32e of the shoulder actuator 32 and the lower end 42e of the head actuator 42 (see FIG. 4B) are lower than the main board 15 (the lower circuit board 15b in the example of the robot 1). In particular, the rotation center line A32 of the shoulder actuator 32 is also lower than the main board 15 (the lower circuit board 15b in the example of the robot 1).

[0050] As shown in FIGS. 2B and 3B, the shoulder actuator 32, the head actuator 42, and the main board 15 are attached to frames 64A and 64B. Specifically, the main board 15 is attached to the frame 64A, and the shoulder actuator 32 and the head actuator 42 are held by the frame 64B. These two frames 64A and 64B are combined in the front-to-rear direction. Specifically, the frame 64A is located rearward of the frame 64B and is fixed to the frame 64B with fasteners such as screws. The rolling actuator 13 is fixed to the frame 64A via a mounting wall 64b. Note that the structure of the frames 64A and 64B is not limited to that of the robot 1. They may also be integrally formed members. That is, the frames 64A and 64B may not be fixed to each other with fasteners such as screws, but may be continuous members formed by a single casting process or metal processing.

[0051] [Circuit board and electrical cables] The main board 15 has circuits for connecting to external devices (e.g., a computer that controls the robot 1 and a power supply). Each of the actuators 11, 12, 13, and 22 is provided with a servo board S11, S12, S13, or S22. (In the following description, the servo boards are referred to as S when they are not distinguished from one another.) The servo board S supplies power to the actuators so that they perform movements according to commands received from the main board 15. The servo board S is attached to a frame that supports the actuators controlled by the servo board S. For example, the servo board S11 (see FIG. 3A) that controls the yaw actuator 11 and the servo board S22 (see FIG. 3A) that controls the leg actuator 22 are attached to a frame 61 that supports the actuators 11 and 22. The servo board S12 (see FIG. 2B) that controls the pitch actuator 12 is attached to a frame 62 that supports the pitch actuator 12. Furthermore, a servo board S13 (see FIG. 3B) that controls the rolling actuator 13 and a servo board S32 (see FIG. 2B) that controls the shoulder actuator 32 are attached to a frame 64B that supports the actuators 13 and 32.

[0052] In the robot 1, multiple servo boards S are connected in series. For example, the servo boards S of the three actuators 11, 12, and 13 that move the body 10 and the servo boards S of the three actuators 11, 12, and 13 (see FIG. 1) provided in the head 40 are connected in series. This allows the number of wires to be reduced. The number of servo boards S connected in series may be more than three. For example, the servo boards of the actuators 42, 43, and 44 that move the head 40 may also be connected in series with the servo boards S11, S12, and S13.

[0053] The robot 1 has a plurality of electric cables P7 (see FIG. 3A) extending from the main board 15 and connected to the plurality of servo boards S. The plurality of electric cables P7 include a cable that supplies power from the main board 15 to the servo boards S, a cable that sends control signals from the main board 15 to the servo boards S, and the like.

[0054] As shown in FIG. 3A, the electric cable P7 is arranged along the outer surface (lower surface) of the rolling actuator 13 and then extends forward toward the pitching actuator 12 as shown in FIGS. 2A and 5A. A clamp member 64a (see FIG. 3A) that secures the electric cable P7 is attached to a frame 64A that holds the rolling actuator 13. Clamp members 63d and 63e (see FIG. 5A) are also attached to a connecting frame 63 (see FIG. 3B) that connects the pitching actuator 12 and the rolling actuator 13. After passing through these three clamp members 64a, 63d, and 63e, the electric cable P7 passes through the side of the pitching actuator 12 and extends further downward. As shown in FIG. 5A, the electric cable P7 extends downward, intersecting with the rotation center line A12 of the pitching actuator 12, in other words, the rotation center line of the connecting frame 63. The frame 62 has a cable guide 62a (see FIG. 2A) formed below the pitch actuator 12. The electric cable P7 passes through the rotation center line A12 of the pitch actuator 12 and extends toward the cable guide 62a. The position of the electric cable P7 is determined by the cable guide 62a and the clamp member 63e. By laying out the electric cable P7 in this manner, it is possible to reduce the load acting on the electric cable P7 when the pitch actuator 12 is driven.

[0055] Connected Frame The connecting frame 63 attached to the pitch actuator 12 will be described with reference to FIGS. 7A to 9B. Note that the structure of the connecting frame 63 described below may be applied to actuators other than the pitch actuator 12. Referring to FIG. 1, for example, the structure of the connecting frame 63 described below may be applied to the actuator 43 disposed in the head 40, the actuator 23 located on the upper parts of the legs 20R and 20L, or the actuators 33 and 35 of the arms 30R and 30L. In other words, when a connected component (e.g., a second actuator located adjacent to the first actuator) is positioned in a direction perpendicular to the rotation center line of the first actuator, the structure of the connecting frame 63 may be applied to a connecting frame attached to the rotation output part of the first actuator. In the following description related to the connecting frame 63, the pitch actuator 12 will be simply referred to as the actuator.

[0056] 7A and 7B, the connecting frame 63 is substantially U-shaped and is disposed so as to sandwich the actuator 12 along the rotation center line A12 of the actuator 12. The connecting frame 63 has a first mounted portion 63g (see FIGS. 2B and 7C) attached to the rotation output portion 12c (see FIG. 4A) of the actuator 12. The first mounted portion 63g faces the rotation output portion 12c in the direction along the rotation center line A12. The first mounted portion 63g is attached to the rotation output portion 12c by, for example, a plurality of screws 63h (e.g., three screws 63h).

[0057] As shown in FIG. 7B, the bearing 14 is disposed on the opposite side of the actuator 12 from the rotation output portion 12c. The connecting frame 63 has a second mounting portion 63i, which is mounted on the bearing 14, on the opposite side from the first mounting portion 63g. The second mounting portion 63i is an annular portion formed at the base of the second arm portion 63c. The bearing 14 is fitted inside the second mounting portion 63i. The remaining portion of the connecting frame 63 (the portion other than the first mounting portion 63g) further has a support portion 63a and a first arm portion 63b. The first mounting portion 63g and the second mounting portion 63i are connected to each other via the first arm portion 63b, the support portion 63a, and the second arm portion 63c. The rolling actuator 13 is mounted to the support portion 63a (see FIG. 2B). When the actuator 12 is driven, the connecting frame 63 rotates relative to the actuator 12 and the frame 62 around the rotation center line A12.

[0058] In the example of the robot 1, the second arm portion 63c and the support portion 63a are integrally formed. That is, the second arm portion 63c and the support portion 63a are not fixed to each other with fasteners such as screws, but are a continuous member formed by a casting process or metal processing. On the other hand, the first arm portion 63b is a member formed separately from the first mounted portion 63g and the support portion 63a. The first arm portion 63b is attached to the first mounted portion 63g and the support portion 63a with fasteners (for example, screws 63n-63m shown in FIG. 7D).

[0059] The robot 1 has a rotation sensor 16 for detecting the movement and position of the actuator 12. As shown in FIGS. 7A and 7C, the rotation sensor 16 has a sensor rotating portion 16a attached to the connecting frame 63 and a sensor fixing portion 16b facing the sensor rotating portion 16a in a direction along the rotation center line A12. The rotation sensor 16 is, for example, a magnetic angle sensor that detects rotation using changes in magnetic flux. The sensor rotating portion 16a is, for example, a magnet. The sensor fixing portion 16b is, for example, a sensor board on which a Hall IC is mounted, and outputs a signal corresponding to changes in magnetic flux caused by the rotation of the sensor rotating portion 16a. Depending on the location where the actuator 12 and the connecting frame 63 are used, the sensor rotating portion 16a may be a sensor board and the sensor fixing portion 16b may be a magnet.

[0060] [Movement range of the first mounting part] The sensor rotating portion 16a is attached to the first attached portion 63g, not the first arm portion 63b. The sensor rotating portion 16a is located on the rotation center line A12 of the actuator 12. As shown in FIG. 9A, the first attached portion 63g is attached to the rotation output portion 12c, and the remaining portions of the connecting frame 63 (the first arm portion 63b, the support portion 63a, and the second arm portion 63c) can be removed from the first attached portion 63g. In this state, the first attached portion 63g and the rotation output portion 12c can rotate around the rotation center line A12 through an angle greater than 360 degrees (one rotation). In other words, when the first attached portion 63g and the rotation output portion 12c are rotated through an angle greater than 360 degrees, they do not interfere with other parts, members, or locations. In the example of the robot 1, when the first attached portion 63g and the rotation output portion 12c are rotated, they do not interfere with the frame 62 supporting the actuator 12.

[0061] 9A, calibration of the rotation sensor 16 can be performed in a state in which the rotation sensor 16 is attached to the first attachment portion 63g of the connecting frame 63. Furthermore, when the remaining portion of the connecting frame 63 is detached from the first attachment portion 63g, the first attachment portion 63g and the rotation output portion 12c can rotate through an angle greater than 360 degrees, that is, there is no limit to the rotation range of the first attachment portion 63g and the rotation output portion 12c, so by performing calibration in this state, the calibration can be performed accurately.

[0062] [Frame and first mounting part] As shown in Fig. 7A, the frame 62 supporting the actuator 12 has a main body 62c attached to the actuator 12 and a sensor support portion 62d. The frame 62 may also have a bearing support portion 62g (see Fig. 7B) that supports the bearing 14. As shown in Fig. 7B, the bearing support portion 62g has a support portion 62k that supports the outer edge of the second attached portion 63i of the connecting frame 63 attached to the bearing 14.

[0063] The sensor fixing portion 16b (specifically, the sensor board) is attached to the sensor support portion 62d. The sensor support portion 62d is attached to the main body 62c with fasteners such as screws. This structure of the frame 62 makes it possible to attach the first attached portion 63g to the rotation output portion 12c with the screws 63h while the sensor support portion 62d is detached from the main body 62c, thereby facilitating the attachment of the first attached portion 63g.

[0064] 7A, the sensor support portion 62d has a connection portion 62e extending from the main body 62c in a direction along the rotation center line A12, and a side portion 62f extending from the connection portion 62e toward the rotation center line A12. The sensor fixing portion 16b is attached to this side portion 62f.

[0065] As shown in Figure 8, the first mounted portion 63g has a farthest portion 63j that is located farthest from the rotation center line A12 of the rotation output portion 12c of the actuator 12. The distance from the rotation center line A12 to the farthest portion 63j is shorter than the distance from the rotation center line A12 to the frame 62, more specifically, the distance from the rotation center line A12 to the connection portion 62e of the frame 62 (the length of the perpendicular line drawn from the rotation center line A12 to the connection portion 62e). Because the first mounted portion 63g is formed to this size, the first mounted portion 63g and the rotation output portion 12c can rotate through an angle greater than 360 degrees. Note that the rotation output portion 12c is located inside the outer edge of the first mounted portion 63g.

[0066] [Mounting structure between first mounted portion and first arm portion] As shown in Fig. 7D, when the actuator 12 is viewed in a direction along the rotation center line A12, the first mounted portion 63g and the first arm portion 63b have an area R1 that is not covered by the side portion 62f of the frame 62 (i.e., an area formed outside the outer edge 62h of the side portion 62f of the frame 62). The first arm portion 63b and the first mounted portion 63g are fixed to each other by a plurality of fasteners (specifically, screws 63n; see Fig. 7D) that are inserted into mounting holes formed in the area R1. This structure makes it possible to mount the first arm portion 63b to the first mounted portion 63g without removing the sensor support portion 62d, to which the sensor mounting portion 16b (sensor board) of the rotation sensor 16 is attached after calibration, from the main body 62c of the frame 62.

[0067] Region R1 includes the entire area exposed outside the outer edge 62h of side portion 62f of frame 62 when first arm portion 63b and first attached portion 63g are rotated about rotation center line A12. Therefore, region R1 also includes the portion that is covered by side portion 62f when the rotation position of first arm portion 63b is fixed at a certain angle, and fasteners (specifically, screws 63n) are inserted into this covered portion as well. This structure makes it possible to increase the number of attachment positions between arm portion 63b and first attached portion 63g, thereby improving the durability of connecting frame 63.

[0068] Remaining part of connected frame The remaining portion of the connecting frame 63 is separable. That is, the first arm portion 63b and the portion having the second mounted portion 63i are connected to each other by fasteners such as screws 63n and are separable. Therefore, the second mounted portion 63i can be fitted into the bearing 14 in the direction along the rotation center line A12. In addition, fasteners (screws 63n) can be inserted into the first arm portion 63b and the first mounted portion 63g in the direction along the rotation center line A12. Therefore, for example, it is easier to increase the number of fasteners (screws 63n) compared to a structure in which the first mounted portion 63g and the first arm portion 63b are fixed to each other in the radial direction. As a result, the durability and strength of the connecting frame 63 can be improved.

[0069] In the example of the robot 1, as described above, the second mounted portion 63i is part of the second arm portion 63c, and the second arm portion 63c and the support portion 63a constitute a single, integrally formed member. The support portion 63a and the first arm portion 63b are fixed to each other with a plurality of screws 63m (see FIG. 7A). In the manufacturing process of the robot 1, once calibration is completed, as shown in FIG. 9B, the first arm portion 63b is attached to the first mounted portion 63g with screws 63n. Furthermore, the second mounted portion 63i is fitted into the bearing 14, and then the first arm portion 63b and the support portion 63a are fixed to each other with screws 63m.

[0070] Unlike the example of robot 1, first arm portion 63b and support portion 63a may be integrally formed as a single member, and support portion 63a and second arm portion 63c may be fixed to each other with screws. In yet another example, first arm portion 63b, support portion 63a, and second arm portion 63c may be integrally formed as a single member formed by casting or metal processing.

[0071] [summary] (1) As described above, the robot 1 has a yawing actuator 11 that enables yawing of the body 10, a pitching actuator 12 that is disposed above the yawing actuator 11 and supported by the yawing actuator 11 and enables pitching of the body 10, and a rolling actuator 13 that is disposed behind the pitching actuator 12 and supported by the pitching actuator 12 and enables rolling of the body 10. With this robot 1, a sufficient range of forward tilting of the body 10 can be secured, and also a sufficient range of rightward and leftward tilting of the body 10 can be secured.

[0072] (2) The robot 1 also has leg actuators 22 that move the legs 20L, and a yawing actuator 11 that is located between the left and right leg actuators 22 in a front view and enables yawing of the torso 10. The robot 1 also has actuators 12 and 13 that are located above the yawing actuator 11 and enable pitching and rolling of the torso 10, respectively. With this robot, the positions of the actuators 11, 12, and 13 that move the torso 10 can be lowered overall, thereby lowering the center of gravity of the robot 1 and improving the stability of the robot 1's movement. Note that in this structure, the actuator located above the yawing actuator 11 (the actuator that moves the torso 10) may be only one of the pitching actuator 12 and the rolling actuator 13. Note that in this structure, the actuator located above the yawing actuator 11 (the actuator that moves the torso 10) may be only one of the pitching actuator 12 and the rolling actuator 13. Note that in this structure, the actuator located above the yawing actuator 11 (the actuator that moves the torso 10) may be only one of the pitching actuator 12 and the rolling actuator 13.

[0073] (3) The pitching actuator 12 and the rolling actuator 13 are aligned in the front-to-rear direction. The pitching actuator 12 is a serial actuator, while the rolling actuator 13 is a parallel actuator. That is, in the pitching actuator 12, the rotation center line A12 of the rotation output unit 12c is the same as the rotation center line of the electric motor 12a, while in the rolling actuator 13, the rotation center line A13 of the rotation output unit 13c is spaced apart from the rotation center line B13 of the electric motor 13a in the radial direction of the electric motor 13a. This structure allows the size of the body 10 of the robot 1 to be reduced in the front-to-rear direction.

[0074] (4) The connecting frame 63 has a first mounting portion 63g attached to the rotation output portion 12c of the pitching actuator 12 and a remaining portion (first arm portion 63b, support portion 63a, second arm portion 63c) connected to the first mounting portion 63g. The rotation sensor 16 has a sensor rotating portion 16a attached to the first mounting portion 63g and a sensor fixing portion 16b facing the sensor rotating portion 16a. The rotation sensor 16 outputs a signal corresponding to the rotation of the sensor rotating portion 16a relative to the sensor fixing portion 16b. When the first mounting portion 63g is attached to the rotation output portion 12c and the remaining portion of the connecting frame 63 is detached from the first mounting portion 63g, the first mounting portion 63g and the rotation output portion 12c can rotate through an angle greater than 360 degrees.

[0075] According to the structure (4), the rotation sensor 16 can be calibrated with the sensor rotation portion 16a of the rotation sensor 16 attached to the first attachment portion 63g of the connecting frame 63. Furthermore, when the remaining portion of the connecting frame 63 is detached from the first attachment portion 63g, the first attachment portion 63g can rotate through an angle greater than 360 degrees, that is, there is no limit to the rotation range of the first attachment portion 63g. Therefore, by performing the calibration in this state, the calibration can be performed accurately.

[0076] The structure of the connecting frame 63 described in (4) may be applied to an actuator other than the pitching actuator 12. Referring to Fig. 1, for example, the structure of the connecting frame 63 described in (4) may be applied to the actuator 43 disposed in the head 40, the actuator 23 located on the upper parts of the legs 20R and 20L, and the actuators 33 and 35 of the arms 30R and 30L.

[0077] As described above, the pitching actuator 12 is a serial actuator in which the rotational centerline of the rotational output unit is the same as the rotational centerline of the electric motor. However, the connecting frame 63 described in (4) may be applied to a parallel actuator in which the rotational centerline of the rotational output unit is separated from the rotational centerline of the electric motor. In this case, the first mounted portion 63g of the connecting frame 63 may be attached to the rotational output unit of the actuator, and the second mounted portion 63i of the connecting frame 63 may be attached to a bearing located on the opposite side of the rotational output unit from the actuator (reduction mechanism).

[0078] In the example of the robot 1, the rolling actuator 13 is attached as a connected part to the connecting frame 63. However, the connected part may not be an actuator, but may be, for example, a frame constituting the arms 30R and 30L of the robot 1 or a frame constituting the legs 20R and 20L.

[0079] In yet another example, depending on the position of the actuator to which the connecting frame 63 is attached, the position of the connecting frame 63 may be fixed, and when the actuator is driven, the actuator and the frame supporting it may move relative to the connecting frame 63. In this case, a board on which a Hall IC is mounted may be attached as the sensor rotating portion 16a to the connecting frame 63, and a magnet may be attached as the sensor fixing portion 16b to the frame supporting the actuator. [Explanation of symbols]

[0080] 1 robot, 10 torso, 11 yawing actuator, 11a electric motor, 11b reduction mechanism, 11c rotation output unit, 11d case, 11e lower end, 11f upper end, 12 pitching actuator, 12a electric motor, 12c rotation output unit, 13 rolling actuator, 13a electric motor, 13c rotation output unit, 13d case, 13e upper end, 15 main board, 15a circuit board, 20L left leg, 20R right leg, 22 leg actuator, 22a electric motor, 22c rotation output unit, 22d case, 22e upper end, 22f lower end, 22f rotation output unit, 25-26 actuator, 30L left arm, 30R right arm, 32 shoulder actuator, 32c rotation output unit, 32e lower end, 34-35 Actuator, 40 head, 42 head actuator, 42c rotary output part, 42e lower end, 61 frame, 62 frame, 62e connection part, 62f side part, 62h outer edge, 62k support part, 63 connecting frame, 63a support part, 63b·63c arm part, 63d·63e clamp member, 63g first mounting part, 63i second mounting part, 63h screw, 63j farthest part, 63m·63n screw, 64A·64B frame, 64a clamp member, P7 electric cable.

Claims

1. an actuator having an electric motor and a rotation output portion that receives rotation from the electric motor; a connecting frame having a first attached portion attached to the rotation output portion and a remaining portion connected to the first attached portion; a frame disposed along a rotation center line of the rotation output portion relative to the electric motor and the first mounting portion; a rotation sensor having a sensor rotating portion attached to a first attachment portion and a sensor fixing portion facing the sensor rotating portion, and outputting a signal corresponding to the relative rotation of the sensor rotating portion with respect to the sensor fixing portion; and when the first mounted portion is mounted to the rotation output portion and the remaining portion is detached from the first mounted portion, the first mounted portion and the rotation output portion are rotatable through an angle greater than 360 degrees, a distance from the rotation center line to the farthest part of the first mounting portion is shorter than a distance from the rotation center line to the frame; robot.

2. The actuator further includes a bearing disposed on the opposite side of the rotation output section, The remaining portion of the connecting frame has a second mounting portion that is mounted to the bearing. The robot according to claim 1 .

3. The remaining portion of the connecting frame has an intermediate portion that is attached to the first attachment portion and the second attachment portion. The robot according to claim 2.

4. The frame has an actuator holding portion that holds the actuator and a sensor support portion that supports the sensor fixing portion, In a state where the first mounted portion is mounted to the rotation output portion and the remaining portion is detached from the first mounted portion, the first mounted portion can rotate through an angle greater than 360 degrees without interfering with the frame. The robot according to claim 1 .

5. The remaining portion is attached to the first mounting portion by a fixing device, The fixing tool can be inserted into the remaining part and the first mounting part in a direction along the rotation center line of the electric motor. The robot according to claim 1 .

Images