Energy generating unit and energy supply system

Abstract

This energy generation unit includes: an internal combustion engine; a power generator driven by the internal combustion engine to generate operation power; a communication interface receiving information provided by an operation device; a supply interface supplying the operation power to the operation device; and a control device controlling at least one of the internal combustion engine and the power generator on the basis of information provided by the operation device via the communication interface.

Description

[Technical field]

[0001] The present invention relates to an energy generating unit and an energy supply system for powering a working device. [Background technology]

[0002] Conventionally, robots equipped with a battery and driven by power supplied from the battery are known (for example, Patent Document 1). Patent Document 1 discloses a robot equipped with a battery and drive wheels, which works on a production line while moving by itself using power from the battery. The robot in Patent Document 1 is configured to charge the battery at a charging station when the remaining power in the battery becomes low. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2016 / 103303 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the robot disclosed in Patent Document 1 uses battery power to move and work, so there is a limit to the time it can move or work. Also, when the battery power runs low, the battery needs to be charged at a charging station, so the place where the robot can work is limited to a place near the charging station.

[0005] Therefore, an object of one aspect of the present disclosure is to provide an energy generating unit and an energy supply system that can be mounted on a mobile work device and that can increase the work time and travel distance. [Means for solving the problem]

[0006] The energy generating unit of the present invention is an energy generating unit that is mounted on a mobile working device and supplies the working device with working power required for work, and includes an internal combustion engine, a power generating machine driven by the internal combustion engine to generate the working power, a communication interface that receives information provided from the working device, a supply interface that supplies the operating power to the working device, and a control device that controls at least one of the internal combustion engine and the power generating machine based on information provided from the working device via the communication interface.

[0007] Since the energy generating unit configured as described above includes an internal combustion engine and a power generator that is driven by the internal combustion engine to generate working power, the energy generated by burning fuel in the internal combustion engine can be used to increase the energy capacity generated compared to a battery alone. This makes it possible to increase the working time when the working device is made to perform work using energy from the energy generating unit, and the travel distance when the working device is moved.

[0008] Furthermore, the control device can control the supply of energy in accordance with information from the working device. The energy supply state can be made different depending on the state of the working device, making it easier to prevent excess or deficiency in the energy supply.

[0009] The energy generating unit of the present invention is an energy generating unit that is mounted on a mobile working device and supplies working power required for work to the working device, and includes an internal combustion engine, a power generator driven by the internal combustion engine to generate the working power, a communication interface that receives information provided from the working device, a supply interface that supplies the operating power to the working device, a control device that controls at least one of the internal combustion engine and the power generator based on information provided from the working device via the communication interface, a storage area that accommodates each of the internal combustion engine, the power generator, the communication interface, the supply interface, and the control device, and a support frame having an attachment portion for attaching and detaching to the working device, and the support frame is provided outside the storage area.

[0010] The energy generating unit configured as described above includes an accommodation area for accommodating the internal combustion engine, the power generator, the communication interface, the supply interface, and the control device, and a support frame having an attachment portion for detachably fixing to a working device, so that the internal combustion engine, the power generator, the communication interface, the supply interface, and the control device accommodated in the accommodation area are protected by the support frame, thereby improving the safety of the energy generating unit.

[0011] The energy supply system of the present invention comprises a mobile working device and an energy generating unit that supplies the working device with working power required for work, the energy generating unit having an internal combustion engine, a power generating machine driven by the internal combustion engine to generate the working power, a communications interface that receives information provided from the working device, a supply interface that supplies the operating power to the working device, a control device that controls at least one of the internal combustion engine and the power generating machine based on information provided from the working device via the communications interface, and an attachment part that attaches the working device to the working device, and the working device has a mounting part to which the working device is attached by the mounting part.

[0012] In the energy supply system of the above configuration, the energy generating unit has an attachment portion for attaching it to the working device, and the working device has an attachment receiving portion for attachment by the attachment portion, so that the energy generating unit can be easily and reliably attached to the working device.

[0013] The energy supply system of the present invention comprises a mobile working device and an energy generating unit that supplies working power required for work to the working device, the energy generating unit having an internal combustion engine, a power generator driven by the internal combustion engine to generate the working power, a supply interface that supplies the operating power to the working device, and a unit control device that controls at least one of the internal combustion engine and the power generator, the working device having a work control device that controls the work of the working device, the unit control device and the work control device being configured to be able to communicate information with each other, the unit control device controlling at least one of the internal combustion engine and the power generator of the energy generating unit in accordance with information received from the work control device, and controlling the working device by sending commands to the work control device in accordance with information received from at least one of the internal combustion engine and the power generator.

[0014] In the energy supply system configured as described above, the unit control device controls at least one of the internal combustion engine and the power generator of the energy generating unit in response to information received from the work control device, and also controls the work device by sending commands to the work control device in response to information received from at least one of the internal combustion engine and the power generator, so that the unit control device can control both the energy generating unit and the work device. Therefore, the energy generating unit and the work device can be flexibly controlled according to the situation. Effect of the Invention

[0015] According to the present invention, the scope of application of the working device can be expanded by increasing the working time of the working device and the distance that the working device can travel. For example, it becomes possible to perform work that could not be performed before due to the time required for the work and the energy limit, and to perform work in places that could not be reached before.

[0016] In addition, since the energy supply can be appropriately adjusted without excess or deficiency, it is possible to prevent the working device from being unable to work due to a lack of energy, and also to prevent the working device from being unable to work due to the exhaustion of available energy due to an excessive supply of energy. This allows more work to be done. [Brief description of the drawings]

[0017] [Figure 1] 1(a) and 1(b) are perspective views of an energy generating unit according to a first embodiment. [Diagram 2] FIG. 1(a) is a side view showing a robot equipped with the energy generating unit of FIG. 1(a) and (b) in a walking state, and FIG. 1(b) is a side view showing the robot in an upright state. [Diagram 3] FIG. 2 is a block diagram showing a control system for the energy generating unit and the robot. [Figure 4] FIG. 3 is an enlarged side view of the periphery of the energy generating unit in FIG. 2(a). [Diagram 5] 13(a) and (b) are perspective views of an energy generating unit according to a second embodiment. [Figure 6] FIG. 6 is a side view showing a robot equipped with the energy generating unit of FIGS. 5(a) and (b) in an upright position. [Figure 7] FIG. 11 is a side view of the energy generating unit and the robot when the energy generating unit according to the third embodiment is attached to the robot. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] (First embodiment) The energy generating unit according to the first embodiment will be described below with reference to the accompanying drawings. Fig. 1(a) shows a perspective view of the energy generating unit 1 according to the first embodiment as seen diagonally from behind, and Fig. 1(b) shows a perspective view of the energy generating unit 1 as seen diagonally from the front. Here, the terms "front" and "rear" refer to directions based on a bipedal robot when the energy generating unit 1 is carried on the back of the bipedal robot, as described below. The directions "upward," "downward," "leftward," and "rightward" are also referred to as directions as seen from the energy generating unit 1 when the energy generating unit 1 is carried on the back of the bipedal robot.

[0019] 1(a) and (b) show perspective views of an energy generating unit 1 in a first embodiment. Fig. 1(a) is a perspective view of the energy generating unit 1 seen from diagonally rear, and Fig. 1(b) is a perspective view of the energy generating unit 1 seen from diagonally front.

[0020] The energy generating unit 1 includes an internal combustion engine 2 and a motor (power generator) 3 that is driven by the internal combustion engine 2 to generate power. An output shaft 2a (FIG. 3) of the internal combustion engine 2 and an input shaft 3a (FIG. 3) of the motor 3 are coaxially connected to each other. In this embodiment, the output shaft 2a rotates when the internal combustion engine 2 is driven, and the rotational drive of the output shaft is transmitted to the input shaft 3a of the motor 3, thereby generating electric power in the motor 3. In this embodiment, the motor 3 mainly operates as a motor for generating electric power, and functions as a generator that receives the rotational drive of the internal combustion engine 2 via the input shaft and generates electric power. In this embodiment, the internal combustion engine 2 and the motor 3 are arranged in the front-rear direction of the energy generating unit 1, and the motor 3 is disposed in front of the internal combustion engine 2. In other words, the internal combustion engine 2 and the motor 3 are arranged in the horizontal direction in which the energy generating unit 1 and the robot 16 described later are arranged, and the motor 3 is disposed on the robot 16 side with respect to the internal combustion engine 2.

[0021] The energy generating unit 1 also includes a battery 4. In this embodiment, the battery 4 is provided behind the cylinder of the internal combustion engine 2. The battery 4 functions as an energy storage device that stores the electric energy generated by the motor 3. In this embodiment, the battery 4 is located above the output shaft 2a of the internal combustion engine 2 (FIG. 3) and the input shaft 3a of the motor 3 (FIG. 3).

[0022] The internal combustion engine 2 has an intake and exhaust device 5 and a radiator 6 for cooling the coolant. The intake and exhaust device 5 has an intake device 9 having an intake port (not shown), an intake duct 7, and an air cleaner 8, and an exhaust device 13 having an exhaust port 10, an exhaust duct 11, and a muffler 12. In this embodiment, the intake device 9 is disposed approximately on the left side of the internal combustion engine 2 in the left-right direction. In addition, in this embodiment, the exhaust device 13 is disposed approximately on the right side of the internal combustion engine 2 in the left-right direction. In this manner, the energy generating unit 1 is provided with an intake intake structure for the internal combustion engine 2 and an exhaust discharge structure from the internal combustion engine 2. In addition, the energy generating unit 1 has a structure required for cooling and lubricating the internal combustion engine 2 and the motor 3. Here, the left-right direction refers to a direction perpendicular to the front-rear direction in the horizontal direction, from the intake side to the exhaust side of the intake and exhaust device 5, or the opposite direction.

[0023] Air taken in from the intake port flows into the internal combustion engine 2 through the inside of the intake duct 7. At that time, the air taken in from the intake port passes through the air cleaner 8, so that the air taken into the inside of the internal combustion engine 2 can be purified. In this embodiment, the air cleaner 8 is disposed in front of the radiator 6 and disposed at a position lower than the battery 4. Exhaust gas discharged from the internal combustion engine 2 passes through the exhaust duct 11 and is discharged to the outside from the exhaust port 10. At that time, the exhaust gas passes through the muffler 12, so that the sound generated by the pulsation of the exhaust gas can be reduced. The exhaust port 10 discharges the exhaust gas from the muffler 12 toward the rear of the energy generating unit 1. In this embodiment, the muffler 12 is disposed in a position offset to the right from the center in the energy generating unit 1. In addition, the radiator 6 is disposed in a position offset to the left from the center in the energy generating unit 1.

[0024] The radiator 6 is configured to allow the coolant to flow through its interior. The radiator 6 is also provided with a fan that introduces passing air into the radiator 6. Air is introduced into the radiator 6 by the fan, and heat is exchanged between the coolant and outside air in the radiator 6, thereby cooling the coolant. The coolant cooled by the radiator 6 is supplied to the internal combustion engine 2, and the coolant flows through the interior of the internal combustion engine 2, thereby cooling the internal combustion engine 2.

[0025] The energy generating unit 1 also includes a fuel tank 14 and a fuel pipe (not shown). The fuel tank 14 is configured to be capable of storing fuel used in the internal combustion engine 2, such as gasoline. In this embodiment, gasoline is used as the fuel in the fuel tank 14. The fuel stored in the fuel tank 14 can be supplied to the internal combustion engine 2 through the fuel pipe. In this embodiment, the fuel tank 14 is located above the output shaft 2a of the internal combustion engine 2 (FIG. 3) and the input shaft 3a of the motor 3 (FIG. 3). Since the fuel tank 14 is located above the output shaft 2a of the internal combustion engine 2 and the input shaft 3a of the motor 3 in the energy generating unit 1, the position of the fuel filler in the fuel tank 14 is also located above the output shaft 2a of the internal combustion engine 2 and the input shaft 3a of the motor 3 in the energy generating unit 1. Therefore, the fuel filler is provided at a position that makes it easy to supply fuel when refueling the fuel tank 14.

[0026] The motor 3 can start the internal combustion engine 2 by using the electric power stored in the battery 4. When the motor 3 receives a supply of electric power from the battery 4 and rotates the input shaft 3a in the opposite direction to the direction of rotation when the motor 3 is used as a generator that generates electric power, the output shaft 2a of the internal combustion engine 2 can be rotated, thereby starting the internal combustion engine 2. In this way, the motor 3 has both a function as a generator that generates electric power and a function as a starter for the internal combustion engine 2. This allows the number of motors 3 required to be reduced, and the energy generating unit 1 to be made smaller.

[0027] The energy generating unit 1 also includes a support frame 15. In this embodiment, the internal combustion engine 2 and the motor 3 are supported by the support frame 15. In this embodiment, the radiator 6 is also supported by the support frame 15. In this embodiment, the support frame 15 is configured in a cubic frame shape. The support frame 15 functions as an outer shell of a structure that houses the internal combustion engine 2 and the motor 3 inside. Therefore, when each element is connected together via the support frame 15 and the energy generating unit 1 is installed independently, the energy generating unit 1 can stand on its own. In this embodiment, the support frame 15 wraps around below the energy generating unit 1, and is configured so that when the energy generating unit 1 stands on its own, the support frame 15 comes into contact with the ground and supports the weight of the energy generating unit 1.

[0028] The support frame 15 has mounting parts 15a used for attaching and detaching to a working device such as a robot described later. The support frame 15 is fixed to the working device by fixing the mounting parts 15a to the working device, for example, by screwing. In this embodiment, the intake and exhaust device 5, the radiator 6, and the motor 3 of the energy generating unit 1 are supported by the support frame 15.

[0029] In this embodiment, the region of the support frame 15 where the mounting portion 15a is provided is referred to as a mounting region 15b, and the other region is referred to as a non-mounting region 15c. In this embodiment, the radiator 6 is mounted in the non-mounting region 15c of the support frame 15. In this embodiment, the radiator 6 is disposed outside the support frame 15 in the left-right direction. The radiator 6 is mounted on the support frame 15 at a position outside the left-right direction of the region surrounded by the cubic frame-shaped support frame 15, and is supported by the support frame 15. In this embodiment, the radiator 6 is disposed to the left of the battery 4.

[0030] In this embodiment, the internal combustion engine 2 and the motor 3 in the energy generating unit 1 are provided inside an area surrounded by a support frame 15. In this embodiment, the support frame 15 is configured to have a frame shape using metal pipes, and can protect the inside of the area surrounded by the support frame 15. Therefore, the internal combustion engine 2 and the motor 3 are protected inside the support frame 15.

[0031] Further, an area of ​​the support frame 15 that supports the radiator 6 is defined as a radiator support area 15d. The exhaust device 13 is provided at a position where exhaust air is exhausted to the outside through an area different from the radiator support area 15d and the mounting area 15b. In this embodiment, the exhaust device 13 is disposed at a position opposite to the side where the radiator 6 is disposed in the left-right direction of the energy generating unit 1. In this embodiment, the muffler 12 is disposed at a position opposite to the side where the radiator 6 is disposed, and the exhaust port 10 protrudes rearward from the muffler 12. Exhaust air from the internal combustion engine 2 is exhausted rearward through the exhaust port 10.

[0032] The energy generating unit 1 can be mounted on a mobile robot. In this embodiment, the mobile robot is configured as a working device that can stand upright on two legs, walk on two legs, and perform work at the destination of the movement.

[0033] In this specification, the working device refers to a device that can move autonomously from a predetermined starting position and can work at a working position away from the starting position. The working device has an interface that can be connected to the energy generating unit 1 in order to receive energy generated by the energy generating unit 1. The working device also has an actuator that receives and is driven by the energy generated by the energy generating unit 1 in order for the working device to move and work. Using the energy generated by the energy generating unit 1, the working device can perform work in place of a human. Since the working device is made to perform work, it can perform work with a greater force than a human. The working device can also exchange information with the energy generating unit 1 via the interface.

[0034] Fig. 2(a) shows a side view of a robot (working device) 16 equipped with an energy generating unit 1 while walking. Fig. 2(a) is a side view of the robot 16 as seen from the left. The robot 16 has two legs 17 and can move by walking on two legs using the legs 17. The legs 17 have contact surfaces 17a that contact the ground.

[0035] The robot 16 is equipped with a movement actuator, which is an actuator for moving. In this embodiment, the robot 16 moves by walking on two legs, so in this embodiment, the foot drive actuator that drives the two legs 17 corresponds to the movement actuator that performs the moving work. The forward direction in which the robot 16 moves by walking on two legs is indicated by an arrow D1. The foot drive actuator is driven by energy generated by an energy generating unit 1. In this embodiment, the energy generating unit 1 generates electric energy by driving the motor 3 to rotate by the internal combustion engine 2, and also generates pressure energy by driving the oil pump 2b to rotate by the internal combustion engine 2, so that the foot drive actuator is driven by either electric energy or pressure energy.

[0036] FIG. 2(b) shows a side view of the robot 16 with the energy generating unit 1 mounted thereon in an upright state. FIG. 2(b) is a side view of the robot 16 as viewed from the left. As shown in FIGS. 2(a) and 2(b), the energy generating unit 1 is mounted on the back of the robot 16. That is, when the energy generating unit 1 is mounted on the robot 16, the robot 16 is located in front of the energy generating unit 1 as viewed from the energy generating unit 1. When the robot 16 is upright, the energy generating unit 1 is provided at a position away from the vertical area A1 extending vertically upward from the ground surface 17a in a direction perpendicular to the vertical area A1. In this embodiment, the energy generating unit 1 is provided at a position away from the vertical area A1 in a direction opposite to the direction D1 of the walking direction of the robot 16 when the robot 16 moves forward.

[0037] The robot 16 also includes additional actuators that are actuators for performing additional tasks other than movement. In this embodiment, for example, the two hands 18 and the two arms 19 perform additional tasks other than movement, so the hand-driving actuators that drive the two hands 18 and the arm-driving actuators that drive the two arms 19 correspond to the additional actuators. The hand-driving actuators and the arm-driving actuators are driven by power generated by the energy generating unit 1. That is, the hand-driving actuators and the arm-driving actuators are driven by either electric power energy generated by the motor 3 when the internal combustion engine 2 is driven, or pressure energy by hydraulic oil generated when the oil pump 2b, described later, is driven by the internal combustion engine 2.

[0038] 2, when the support frame 15 is fixed to the robot 16 by the mounting portion 15a, the energy generating unit 1 is supported by the robot 16. Therefore, the internal combustion engine 2 and the motor 3 are each supported by the robot 16 via the support frame 15.

[0039] The robot 16 has an attachment portion 41 to which attachment is performed by the attachment portion 15a. In this embodiment, the attachment portion 15a of the energy generating unit 1 and the attachment portion 41 of the robot 16 are fastened to each other by screwing, thereby fixing the support frame 15 to the robot 16 and supporting the energy generating unit 1 on the robot 16. Note that the attachment portion 15a of the energy generating unit 1 and the attachment portion 41 of the robot 16 may be performed by a method other than screwing.

[0040] When the energy generating unit 1 is supported by the robot 16, the energy generating unit 1 is located behind the back of the robot 16 and is carried by the robot 16. Therefore, when the robot 16 falls backwards, there is a possibility that the energy generating unit 1 will collide with the ground. In this embodiment, the internal combustion engine 2 and the motor 3 are configured to be surrounded on the outside by the support frame 15. Therefore, even if the energy generating unit 1 collides with the ground, the internal combustion engine 2 and the motor 3 are protected by the support frame 15.

[0041] When the energy generating unit 1 is mounted on the robot 16, driving force and information can be exchanged between the energy generating unit 1 and the robot 16. A block diagram showing a control system for the energy generating unit 1 and the robot 16 is shown in FIG.

[0042] When the energy generating unit 1 is mounted on the robot 16, the support frame 15 becomes a part that allows the robot 16 to support the energy generating unit 1 in a state where it is mounted on the robot 16. In a state where the energy generating unit 1 is mounted on the robot 16, the energy generating unit 1 is in a position where it is carried on the back of the robot 16, and the exhaust port 10 of the internal combustion engine 2 faces the rear of the robot 16. Therefore, it is possible to prevent high-temperature exhaust gas exhausted from the internal combustion engine 2 from being discharged toward the robot 16. Therefore, it is possible to prevent the robot 16 from becoming too hot. Furthermore, in this embodiment, the muffler 12 and the radiator 6 are disposed in a position offset to the right and left from the center in the energy generating unit 1 and spaced rearward from the mounting portion 15a of the support frame 15. Therefore, it is possible to prevent the heat generated from the muffler 12 and the radiator 6 from being transmitted to the robot 16 in a state where the energy generating unit 1 is mounted on the robot 16. This makes it possible to prevent the robot 16 from becoming too hot.

[0043] The energy generating unit 1 includes a unit control device (control device) 20 that controls the operation of the energy generating unit 1. The unit control device 20 can transmit a signal to the internal combustion engine 2. In response to the signal from the unit control device 20, the rotational drive output from the output shaft 2a is controlled. Thus, the unit control device 20 can control the drive of the internal combustion engine 2.

[0044] The internal combustion engine 2 is provided with various sensors that detect information about the state of the internal combustion engine 2. Information about the state of the internal combustion engine 2 can be obtained by using the sensors. At least a part of the information obtained by the sensors is transmitted to the unit control device 20, so that the unit control device 20 can control the operation of the internal combustion engine 2 according to the state of the internal combustion engine 2. In this embodiment, for example, a fuel sensor F, an ignition sensor I, and an air flow sensor T are used as sensors that detect the state of the internal combustion engine 2. The fuel sensor F can detect the pressure of the fuel when the fuel is injected. The ignition sensor I can detect the timing of ignition in the internal combustion engine 2. The air flow sensor T can detect the flow rate of the intake air by the internal combustion engine 2. Depending on the detection results of these sensors, for example, elements such as fuel injection by an injector, ignition by an ignition plug, and throttle opening are operated, and the air-fuel ratio and output are adjusted to control the operation of the internal combustion engine 2. At this time, for example, the injector, the ignition plug, and the throttle valve function as specific actuators in the internal combustion engine 2.

[0045] The internal combustion engine 2 may also have sensors such as a fuel level sensor that detects the amount of fuel stored in the fuel tank 14, an intake pressure sensor that detects the pressure of the intake air taken in from the intake port, an engine temperature sensor that detects the temperature of the internal combustion engine 2, an exhaust gas sensor such as an O2 sensor that detects the components of the exhaust gas discharged from the exhaust port 10, an engine speed sensor that detects the rotation speed of the output shaft 2a in the internal combustion engine 2, and an abnormality sensor that detects the occurrence of an abnormality or deterioration in, for example, electrical components in the internal combustion engine 2. The operation of the internal combustion engine 2 may be controlled according to the detection results detected by these sensors.

[0046] The internal combustion engine 2 has an oil pump 2b. A part of the rotational drive from the output shaft 2a of the internal combustion engine 2 is transmitted to the oil pump 2b, and hydraulic oil can be supplied to the robot 16 via the oil pump 2b. A pipe 22 for hydraulic oil from the oil pump 2b is connected to an accumulator 39. In addition, the pipe 22 for hydraulic oil from the accumulator 39 is connected to a regulator 21. The pipe 22 from the regulator 21 is connected to the robot 16. It is configured so that pressure oil from the oil pump 2b can be supplied via the pipe 22 to the robot 16 via the accumulator 39 and the regulator 21.

[0047] Since the hydraulic oil pipe 22 from the oil pump 2b is connected to the accumulator 39, the hydraulic oil pressurized by the drive of the oil pump 2b can be stored in the accumulator 39. The hydraulic oil stored in the accumulator 39 can be supplied toward the robot 16. Therefore, hydraulic oil with a relatively large pressure can be supplied toward the robot 16.

[0048] In addition, the pipe 22 from the oil pump 2b is supplied to the robot 16 through the regulator 21, so that the hydraulic oil set by the regulator 21 to a hydraulic pressure according to a command from the robot 16 is supplied to the robot 16. This makes it possible to set the hydraulic pressure of the hydraulic oil supplied to the robot 16 more accurately. This makes it possible to supply hydraulic oil having a more accurate hydraulic pressure to the robot 16.

[0049] In this embodiment, the internal combustion engine 2 is configured to allow lubricating oil to flow through the inside of the internal combustion engine 2. That is, the internal combustion engine 2 is configured to allow the lubricating oil to flow through the inside of the internal combustion engine 2 by driving the oil pump 2b. Note that the configuration for supplying energy to the lubricating oil so that the lubricating oil flows through the inside of the internal combustion engine 2 does not have to be the oil pump 2b. For example, the internal combustion engine 2 may be provided with an oil pump other than the oil pump 2b for supplying hydraulic oil to the hand driving actuators that drive the two hands 18 of the robot 16 and the arm driving actuators that drive the two arms 19, and supplying pressure energy to the hand driving actuators and the arm driving actuators, and the internal combustion engine 2 may be configured to allow the lubricating oil to flow through the inside of the internal combustion engine 2 by driving the oil pump other than the oil pump 2b.

[0050] The motor 3 is connected to the battery 4 via a power cable. Therefore, the power generated by the motor 3 can be supplied to the battery 4. The power supplied to the battery 4 is temporarily stored therein. In addition, the unit control device 20 is connected to the battery 4 via a battery management system (BMS) 23. Therefore, the unit control device 20 can control the supply of power from the battery 4 to the robot 16 via the BMS 23.

[0051] In addition, an inverter 25 is provided between the motor 3 and the battery 4. The inverter 25 is also connected to the unit control device 20. Therefore, the inverter 25 can adjust the power supplied from the motor 3 to the battery 4.

[0052] The battery 4 is configured to be able to supply power to the robot 16 via a power cable 24. Therefore, power can be supplied from the battery 4 to the robot 16 while the unit control device 20 controls the power.

[0053] The robot 16 is equipped with a task control device 26 that controls the movement task of the robot 16 by the movement actuator and the additional task of the robot 16 by the additional task actuator.

[0054] The work control device 26 in the robot 16 includes a calculation unit 26a, a memory unit 26b, and a servo control unit 26c. The work control device 26 is a robot controller equipped with a computer such as a microcontroller. The work control device 26 may be composed of a single work control device 26 that performs centralized control, or may be composed of multiple work control devices 26 that cooperate with each other to perform distributed control.

[0055] The storage unit 26b stores information such as a basic program for a robot controller and various fixed data. The calculation unit 26a controls various operations of the robot 16 by reading and executing software such as the basic program stored in the storage unit 26b. That is, the calculation unit 26a generates control commands for the robot 16 and outputs them to the servo control unit 26c. For example, the calculation unit 26a is configured by a processor unit.

[0056] The servo control unit 26c is configured to control the driving of each of the moving actuator and the additional actuator based on the control command generated by the calculation unit 26a.

[0057] In this embodiment, the servo control unit 26c of the work control device 26 is connected to a foot-driving actuator 27 as a movement actuator. Therefore, the work control device 26 controls the driving of the foot-driving actuator 27, and can control the movement of the robot 16 by bipedal walking using the feet 17. In addition, the servo control unit 26c of the work control device 26 is connected to a hand-driving actuator 28 and a foot-driving actuator 29 as additional actuators. Therefore, the work control device 26 controls the driving of the arm-driving actuator 28 and the hand-driving actuator 29, and can control additional work using the hands 18 and arms 19 of the robot 16.

[0058] The pipe 22 of the pressure oil supplied from the oil pump 2b in the energy generating unit 1 to the robot 16 via the regulator 21 is connected to the pipe 30 on the robot 16 side through the pressure oil supply interface 31. The pressure oil supply interface 31 is detachably connected. The pipe 30 on the robot 16 side is connected to the arm drive actuator 28 and the hand drive actuator 29, respectively. Since the pressure oil from the oil pump 2b can be supplied to the pipe 30 on the robot 16 side through the pressure oil supply interface 31, hydraulic operating power can be supplied to the arm drive actuator 28 and the hand drive actuator 29. In this way, pressure energy is generated by driving the oil pump 2b, and the pressure energy can be supplied to the arm drive actuator 28 and the hand drive actuator 29 through the pressure oil supply interface 31. At this time, the oil pump 2b functions as a power generator that generates pressure energy by driving the internal combustion engine 2.

[0059] The power cable 24 supplied from the battery 4 in the energy generating unit 1 to the robot 16 is connected to a power cable 32 on the robot 16 side through a power supply interface 33. The power supply interface 33 is detachably connected. The power cable 32 on the robot 16 side is connected to a battery 42 on the robot 16 side. The power cable 32 from the battery 42 is connected to each of the foot drive actuator 27, the arm drive actuator 28, and the hand drive actuator 29. Since power from the battery 4 on the energy generating unit 1 side can be supplied to the power cable 32 on the robot 16 side through the power supply interface 33, it is possible to supply electric operating power to the foot drive actuator 27, the arm drive actuator 28, and the hand drive actuator 29 via the battery 42 on the robot 16 side.

[0060] The robot 16 is equipped with the energy generating unit 1 as if it were carried on its back, and energy is supplied to the robot 16 from the mounted energy generating unit 1, so there is no need to supply electrical energy to the robot 16 via wiring from a power source provided at a predetermined position, for example. Since there is no need to supply energy to drive the robot 16 via a wire, the movement range of the robot 16 can be expanded compared to when energy is supplied to the robot 16 via a wire. In addition, since there is no need to keep the wiring connected when the robot 16 performs work, wiring does not get in the way, and the degree of freedom of the robot 16 in the work area can be improved.

[0061] In this embodiment, the pressure energy of the pressure oil generated in the energy generating unit 1 is transmitted to the robot 16 via the pressure oil piping 30 and the pressure oil supply interface 31, so there is no need to generate pressure energy for driving each actuator on the robot 16 side. Also, in this embodiment, the electric power energy generated in the energy generating unit 1 is transmitted to the robot 16 via the power cable 32 and the electric power supply interface 33, so there is no need to generate electric power energy for driving each actuator on the robot 16 side.

[0062] Therefore, in this embodiment, the robot 16 is not provided with a device for generating power such as an internal combustion engine. Therefore, the robot 16 is not provided with an intake and exhaust mechanism, and intake air is not led to the robot 16. Moreover, exhaust air is not generated from the robot 16. Since the robot 16 is not provided with a device for generating power such as an internal combustion engine, the coolant that flows through the inside of the device to cool the device and the lubricant that lubricates the device do not flow on the robot 16. In this embodiment, the energy generating unit 1 mounted on the robot 16 is provided with a radiator 6, and the radiator 6 cools the coolant that flows through the inside of the internal combustion engine 2. Also, in this embodiment, the energy generating unit 1 mounted on the robot 16 is provided with an oil pump 2b, and the lubricant flows through the inside of the internal combustion engine 2 by driving the oil pump 2b.

[0063] In addition, in this embodiment, since the robot 16 is equipped with the energy generating unit 1 having the internal combustion engine 2, the robot 16 is not provided with a heat generating element for generating power. Therefore, the robot 16 does not need a configuration for generating energy. Accordingly, since there is no need to generate heat inside the robot 16, the robot 16 does not need to have a heat-resistant structure. Since an increase in the number of parts for heat resistance on the robot 16 side can be suppressed, the configuration of the robot 16 can be simplified.

[0064] A communication cable 34 extends from the unit control device 20 of the energy generating unit 1 toward the robot 16. A communication cable 35 extends from the work control device 26 of the robot 16 toward the energy generating unit 1.

[0065] The communication cable 34 of the energy generating unit 1 and the communication cable 35 of the robot 16 are connected via a communication interface 36. In this embodiment, the wired communication cable 34 and the wired communication cable 35 are connected by the communication interface 36 as a connector. The communication interface 36 is configured to be able to switch between a connected state and a disconnected state. When the energy generating unit 1 is attached to the robot 16, the communication interface 36 is connected, and the unit control device 20 of the energy generating unit 1 is configured to be able to receive information provided from the work control device 26 of the robot 16 via the communication interface 36. When the energy generating unit 1 is detached from the robot 16, the communication interface 36 is disconnected. When the energy generating unit 1 is attached to the robot 16, the communication interface 36 may be automatically connected, and information from the work control device 26 may be able to be transmitted to the unit control device 20.

[0066] In this embodiment, the internal combustion engine 2, the motor 3, the communication interface, the power supply interface 33, the pressure oil supply interface 36, and the unit control device 20 are accommodated inside the support frame 15. In this embodiment, the area inside the support frame 15, in which the internal combustion engine 2, the motor 3, the communication interface, the power supply interface 33, the pressure oil supply interface 36, and the unit control device 20 are accommodated, is defined as an accommodation area 40. Therefore, the support frame 15 is provided outside the accommodation area 40.

[0067] The unit control device 20 controls the internal combustion engine 2 based on information provided from the robot 16 via the communication interface 36. The unit control device 20 can transmit a signal related to the operation to the internal combustion engine 2. The unit control device 20 can also transmit a signal related to the operation corresponding to the output by the robot 16 to the internal combustion engine 2 according to the output required for the work on the robot 16 side. The rotation drive output from the output shaft 2a is controlled according to the signal from the unit control device 20. That is, the unit control device 20 can control the internal combustion engine 2 based on information related to the foot drive actuator 27 (movement actuator) and information related to the hand drive actuator 28 and the arm drive actuator 29 (additional actuators) received from the work control device 26. For example, the internal combustion engine 2 can be controlled based on information related to the foot drive actuator 27, information related to the hand drive actuator 28, and information related to the arm drive actuator 29 according to the output from the foot drive actuator 27, hand drive actuator 28, and arm drive actuator 29 required for the work on the robot 16 side.

[0068] When the unit control device 20 controls the internal combustion engine 2 based on information provided by the robot 16, the internal combustion engine 2 may be controlled according to either the electrical energy required by the robot 16 or the pressure energy required by the robot 16. When the internal combustion engine 2 is controlled according to the electrical energy required by the robot 16, the unit control device 20 controls the internal combustion engine 2 so that the motor 3 generates the amount of electrical energy required for the robot 16 to drive the actuators and perform work. When the internal combustion engine 2 is controlled according to the pressure energy required by the robot 16, the unit control device 20 controls the internal combustion engine 2 so that the hydraulic oil supplied to the actuators has an appropriate hydraulic pressure and amount of oil according to the response speed and output required for the robot 16 to perform work.

[0069] Furthermore, when the robot 16 performs work in an independent state, the unit control device 20 controls the internal combustion engine 2 based on information indicating the working state of the robot 16 in the independent posture. The robot 16 is provided with, for example, an independent posture work state detection sensor 37 that detects the working state of the robot 16 in the independent posture. Information indicating the working state of the robot 16 detected by the independent posture work state detection sensor 37 is sent to the unit control device 20, and the unit control device 20 controls the internal combustion engine 2 based on the information indicating the working state of the robot 16. For example, when the robot 16 performs work in an unstable state, such as standing on one leg, the unit control device 20 may increase the output of the internal combustion engine 2 and increase the power supplied from the battery 4 to the foot drive actuator 27, thereby controlling the internal combustion engine 2 so that the robot 16 can brace itself with a greater force of the foot 17.

[0070] Furthermore, since the unit control device 20 can control the output of the internal combustion engine 2 according to the output required by the robot 16, it is possible to make the energy generating unit 1 generate the right amount of energy for the energy required for the work of the robot 16. Therefore, it is possible to suppress the shortage of the amount of energy generated by the internal combustion engine 2, and to suppress the robot 16 from being unable to work due to the shortage of the generated energy. Furthermore, it is possible to suppress the wasteful consumption of a large amount of fuel by the internal combustion engine 2, and to suppress the increase in the operating cost of the robot 16. Furthermore, since the fuel can be used efficiently, it is possible to extend the work time that the robot 16 can perform with one filling of the fuel tank 14 with fuel. Therefore, it is possible to increase the amount of work that can be performed per unit amount of fuel, and it is possible to increase the total amount of work that the robot 16 can perform with a set amount of fuel. Furthermore, when the robot 16 performs a predetermined amount of work, it is possible to reduce the number of times that the fuel tank 14 needs to be refueled with fuel, and it is possible to suppress the loss of work of the robot 16 caused by the inability to perform work for the time required for refueling.

[0071] When the robot 16 runs out of fuel in the fuel tank 14, the energy generating unit 1 may be replaced with a new energy generating unit in which fuel is filled in the fuel tank 14, instead of supplying fuel to the fuel tank 14. In this embodiment, the energy generating unit 1 can be connected to the robot 16 by attaching the energy generating unit 1 to the robot 16 by the attachment portion 15a of the support frame 15, and connecting the power supply interface 33, the pressure oil supply interface 31, and the communication interface 36 between the robot 16 and the energy generating unit 1, so that the energy generating unit 1 can be easily connected to the robot 16. Therefore, when the fuel runs out, the energy generating unit can be replaced with a new energy generating unit to resume work in a short time.

[0072] In the present embodiment, the unit control device 20 is configured to control the internal combustion engine 2, but is not limited to this. The unit control device 20 may be configured to control the motor 3 and control the electric power energy generated by the motor 3. The unit control device 20 may also be configured to control both the internal combustion engine 2 and the motor 3.

[0073] In this embodiment, the energy generating unit 1 has a posture sensor 38 capable of detecting information about the posture of the energy generating unit 1. For example, an inertial measurement unit (IMU) or a pendulum-type sensor may be used as the posture sensor 38. The posture sensor 38 can detect whether the energy generating unit 1 is tilted beyond a predetermined limit of tilt. For example, when the posture sensor 38 detects that the energy generating unit 1 is tilted beyond a predetermined limit of tilt, the unit control device 20 controls the internal combustion engine 2 to stop operation of the internal combustion engine 2. When the internal combustion engine 2 is tilted beyond the predetermined limit of tilt, inconveniences such as lubricating oil not being distributed throughout the internal combustion engine 2 may occur, which may affect the operation of the internal combustion engine 2. Therefore, in order to prevent the internal combustion engine 2 from tilting beyond the predetermined limit of tilt, when the posture sensor 38 detects that the energy generating unit 1 is tilted beyond the predetermined limit of tilt, the unit control device 20 controls to stop operation of the internal combustion engine 2. In this manner, the unit control device 20 is configured to determine the attitude state of the energy generating unit 1 and perform control according to the attitude state determined based on predetermined conditions.

[0074] As described above, in this embodiment, the connection between the energy generating unit 1 and the robot 16 is a connection of a mechanical fixed structure for support, a connection of an energy supply path for exchanging electrical energy or hydraulic oil pressure energy between the energy generating unit 1 and the robot 16, and a connection for transmitting and receiving information for exchanging information between the energy generating unit 1 and the robot 16.

[0075] Fig. 4 shows an enlarged side view of the periphery of the energy generating unit 1. For the sake of explanation, in Fig. 4, the fuel tank 14 and the air cleaner 8 are indicated by dashed lines, and the internal combustion engine 2 is indicated by a solid line.

[0076] 2 and 4, the center of gravity of the energy generating unit 1 is C1, and the center of the entire cylinder 2c in the internal combustion engine 2 is C2. The center of gravity of the robot 16 alone is C3. The center of gravity of the entire configuration including the robot 16 and the energy generating unit 1 when the energy generating unit 1 is mounted on the robot 16 is C4. In this embodiment, the cylinders 2c extending in the vertical direction are arranged in a row in the internal combustion engine 2. The intake duct 7 is arranged to the left of the cylinder 2c, and the exhaust duct 11 is arranged to the right of the cylinder. Since the intake duct 7 and the exhaust duct 11 are arranged on both sides of the cylinder 2c extending in the vertical direction, the space on the side of the cylinder 2c can be used efficiently. Therefore, the energy generating unit 1 can be made compact. In this embodiment, the center of gravity C1 of the energy generating unit 1 is located closer to the attachment part 15a where the energy generating unit 1 is attached to the robot 16 than the center position C2 of the entire cylinder 2c of the internal combustion engine 2.

[0077] In this embodiment, the fuel tank 14, which is relatively heavy, is provided in the energy generating unit 1 at a position relatively closer to the mounting portion 15a. Therefore, the energy generating unit 1 is configured so that the center of gravity C1 of the energy generating unit 1 is forward. Therefore, in this embodiment, the center of gravity C1 of the energy generating unit 1 is provided at a position closer to the mounting portion 15a than the center position C2 of the entire cylinders 2c in the internal combustion engine 2. Here, the center position C2 of the entire cylinders 2c in the internal combustion engine 2 refers to the center position in the front-rear direction of the cylinder located in the center if the number of the cylinders 2c of the internal combustion engine 2 arranged in the left-right direction in the front-rear direction is an odd number, and refers to the center position between two cylinders sandwiching the center if the number of the cylinders 2c of the internal combustion engine 2 arranged in the front-rear direction is an even number. After all, when the cylinders 2c are arranged in a single row in the left-right direction, there is only one cylinder 2c in the front-rear direction, so the center position of the cylinder 2c becomes the center position C2. When the internal combustion engine 2 has a plurality of cylinders 2c arranged in the front-rear direction, the center position 2C is the center position in the front-rear direction of all of the plurality of cylinders 2c arranged in the front-rear direction. Since the center of gravity C1 of the energy generating unit 1 is located closer to the mounting portion 15a than the center position C2 of the entire cylinders 2c, the center of gravity C1 of the energy generating unit 1 is close to the center of gravity C3 of the robot 16. Therefore, when the energy generating unit 1 is attached to the robot 16, the robot 16 is less likely to tip over, and the robot 16 can stably stand on its own.

[0078] If the center of gravity of the energy generating unit 1 were configured to be located relatively far backward from the center of gravity of the robot 16, a large moment of inertia would act on the robot 16 due to the downward gravity of the energy generating unit 1. As a result, the robot 16 would be prone to tipping over due to the moment of inertia, and the robot 16 may become unstable. In contrast, in this embodiment, the center of gravity C1 of the energy generating unit 1 is located close to the robot 16, so the moment of inertia acting on the robot 16 due to the weight of the energy generating unit 1 can be reduced. As a result, the robot 16 can be made less likely to tip over.

[0079] When the robot 16 is equipped with the energy generating unit 1, the center of gravity of the robot 16 moves from C3 to C4 shown in FIGS. 2 and 4. When the center of gravity of the robot 16 moves, the load acting on the foot driving actuator for driving the foot 17 when the robot 16 moves or performs a task changes accordingly. Therefore, the amount of energy required by the foot driving actuator changes. In this embodiment, when the energy generating unit 1 is equipped on the robot 16 and the communication cable 35 of the robot 16 and the communication cable 34 of the energy generating unit 1 are connected via the communication interface 36, the work control device 26 of the robot 16 can detect this. When the work control device 26 recognizes that the energy generating unit 1 is connected to the robot 16, it determines that the center of gravity of the robot 16 has moved from C3 to C4, and supplies an amount of energy corresponding to the movement of the center of gravity of the robot 16 to each actuator to drive the robot 16. For example, when the robot 16 moves by walking, an amount of energy corresponding to the center of gravity of the robot 16 is supplied to the foot driving actuator to drive the foot 17.

[0080] According to the above configuration, the drive of the internal combustion engine 2 is transmitted to the motor 3 and the energy generated by the motor 3 is supplied to the robot 16. Therefore, the internal combustion engine 2 is driven by the energy generated by the combustion of a fuel with high energy density, such as gasoline, and the energy is supplied to the robot 16. This increases the energy capacity that can be used at the site, compared to a case where a single battery is provided and the energy stored in the battery is simply supplied. This increases the working time and travel distance of the robot 16 at a specific location. Therefore, the robot 16 can work longer at the site, and more effects can be obtained from the work. For example, when the robot 16 is used for saving lives in a place where it is difficult for people to enter and exit, it is possible to save more lives by having the robot 16 work for a longer period of time.

[0081] In addition, since the unit control device 20 controls the supply of energy to the robot 16 in response to information from the robot 16, the state of the energy supply can be varied in response to the state of the robot 16, and excess or deficiency of energy supply can be easily prevented. Since excessive energy supply to the robot 16 can be prevented, the amount of energy consumed can be reduced, thereby reducing fuel consumption and the operating cost of the robot 16. The information from the robot 16 may be, for example, information indicating the amount of energy required for a task detected when the robot 16 performs a task, and may be information regarding the amount of energy sent from the robot 16 to the energy generating unit 1. The information may also be energy supply request information issued from the robot 16 to the energy generating unit 1 in response to the amount of energy required for a task. The energy supply request information may be, for example, command information instructing the energy generating unit 1 to generate the amount of power in accordance with the next predicted energy consumption.

[0082] Furthermore, the unit control device 20 controls the drive of the internal combustion engine 2 and also controls the generation of electricity in the motor 3 based on information about the foot drive actuator 27 that performs the movement work of the robot 16, and the hand drive actuator 29 and arm drive actuator 28 that perform additional work different from the movement work at the movement destination, so that the generation of energy supplied to the robot 16 can be controlled based on the use of the foot drive actuator 27, hand drive actuator 29, and arm drive actuator 28. Therefore, energy can be supplied to the robot 16 without excess or deficiency.

[0083] The information on the foot-driving actuator 27 includes, for example, information on the amount of energy required for the robot 16 to move to a predetermined position by driving the foot-driving actuator 27. The information on the hand-driving actuator 29 and the arm-driving actuator 28 includes, for example, information on the amount of energy required to perform a predetermined task by driving the hand-driving actuator 29 and the arm-driving actuator 28. Based on the information on the energy required to drive these movement actuators and the information on the energy required to drive the additional actuators, the driving of the internal combustion engine 2 may be controlled and the generation of electric power by the motor 3 may be controlled.

[0084] Furthermore, the unit control device 20 controls the drive of the internal combustion engine 2 and also controls the generation of power by the motor 3 based on information indicating the working state of the robot 16 in its self-supporting posture, so it can control the generation of energy supplied to the robot 16 according to the posture of the robot 16. Therefore, the supply of energy to the robot 16 can be made more even.

[0085] An example of the information indicating the working state of the robot 16 in a self-supporting posture is information indicating whether the robot 16 is working in an unstable state, such as standing on one leg. For example, when the robot 16 is working in an unstable state, control may be performed to increase the output of the internal combustion engine 2 and supply large power to the leg drive actuator. In other words, when the robot 16 works, the drive of the internal combustion engine 2 may be controlled according to information on the energy supplied to the actuator that supplies the actuator with energy of a magnitude according to the posture of the robot 16.

[0086] Furthermore, the motor 3 generates pressure energy by driving the internal combustion engine 2 and supplies the pressure energy to the arm-driving actuator 28 and the hand-driving actuator 29 via the pressure oil supply interface 31, so that the pressure energy can also be used to drive additional actuators that perform additional tasks, such as the arm-driving actuator 28 and the hand-driving actuator 29. Therefore, the robot 16 can perform additional tasks using actuators that are relatively small and generate strong force or torque using hydraulic pressure, and the robot 16 can be adapted to a wider range of additional tasks.

[0087] In addition, since the energy generating unit 1 includes the battery 4 that stores the energy generated by the motor 3, the power generated by the motor 3 can be stored in the battery 4, and the stored power can be supplied to each actuator of the robot 16. Therefore, a relatively large amount of power can be supplied to each actuator of the robot 16.

[0088] Furthermore, the unit control device 20 detects the attitude state of the energy generating unit 1 by the attitude sensor 38 and controls the drive of the internal combustion engine 2 based on the detected attitude state, so that control suitable for the attitude state of the energy generating unit 1 can be performed. Therefore, for example, when the energy generating unit 1 is tilted beyond a predetermined limit of tilt, the unit control device 20 stops the operation of the internal combustion engine 2, so that the internal combustion engine 2 can be operated with the lubricating oil sufficiently distributed throughout the internal combustion engine 2. This allows the internal combustion engine 2 to be operated satisfactorily.

[0089] Furthermore, when the energy generating unit 1 is fixed to the robot 16 by the mounting portion 15a on the support frame 15, the internal combustion engine 2 and the motor 3 are each supported on the robot 16 via the support frame 15, so that the internal combustion engine 2 and the motor 3 can be easily attached and detached to the robot 16 as a single unit.

[0090] Furthermore, the intake and exhaust device 5 and the radiator 6 are supported by the support frame 15, and the intake and exhaust device 5 and the radiator 6 are supported by the robot 16 via the support frame 15, so that the intake and exhaust device 5 and the radiator 6, in addition to the internal combustion engine 2 and the motor 3, are attached to and detached from the robot 16 as a single unit. Therefore, the intake and exhaust device 5 and the radiator 6 can also be easily attached to and detached from the robot 16.

[0091] Furthermore, since the center of gravity C1 of the energy generating unit 1 is closer to the mounting part 15a where the energy generating unit 1 is mounted to the robot 16 than the center position C2 of the entire cylinder of the internal combustion engine 2, the center of gravity of the energy generating unit 1 can be positioned closer to the robot 16. This reduces the moment of inertia acting on the robot 16 due to the weight of the energy generating unit 1. This allows the robot 16 to perform work in a stable state.

[0092] Furthermore, in the energy generating unit 1, the radiator 6 is attached to the non-attachment area 15c that is different from the attachment area 15b where the robot 16 is attached, so that the radiator 6 can be disposed at a position away from the robot 16. Therefore, the radiator 6 is disposed at a position where sufficient heat exchange with the outside air can be performed without being blocked by the robot 16, and the cooling of the coolant by the radiator 6 can be performed satisfactorily.

[0093] In addition, since the exhaust device 13 is provided at a position where it exhausts to the outside through a region different from the radiator support region 15d and the mounting region 15b, the exhaust device 13 can be provided at a position away from the radiator 6. Therefore, it is possible to prevent the radiator 6 from being heated by the exhaust device 13, and heat exchange in the radiator 6 can be performed more efficiently. In addition, since the exhaust port 10 of the exhaust device 13, which is provided at a position away from the radiator 6, exhausts toward the rear, it is possible to prevent the exhaust from being directed toward the radiator 6. Therefore, it is possible to prevent the radiator 6 from being heated by the exhaust, and heat exchange in the radiator 6 can be performed more efficiently.

[0094] In the above embodiment, the wired communication cable 34 and the wired communication cable 35 are connected by the communication interface 36 as a connector, but the present disclosure is not limited to the above embodiment. The communication interface 36 may be of a non-contact type. In other words, information from the work control device 26 of the robot 16 may be transmitted to the unit control device 20 of the energy generating unit 1 by wireless signal transmission. When information from the work control device 26 is transmitted to the unit control device 20 by wireless signal transmission, the communication cables 34, 35 may not be necessary.

[0095] In addition, the information transmitted from the work control device 26 of the robot 16 to the unit control device 20 of the energy generating unit 1 may not only be commands from the work control device 26 to the unit control device 20, but also information indicating the status of the robot 16, the work status, etc.

[0096] In the above embodiment, pressure energy is supplied to the arm-driving actuator 28 and the hand-driving actuator 29 of the robot 16 using pressure oil imparted with pressure energy by driving the oil pump 2b using a part of the driving force of the internal combustion engine 2, but the present disclosure is not limited to the above embodiment. The medium of energy when supplying pressure energy to the arm-driving actuator 28 and the hand-driving actuator 29 of the robot 16 does not have to be pressure oil. For example, the pressure energy may be transmitted by air pressure, or may be water. Any medium may be used to transmit the pressure energy as long as it is a fluid.

[0097] In the above embodiment, the energy generating unit 1 is carried on the back of the robot 16 that walks on two legs, but the present invention is not limited to the above embodiment. The energy generating unit 1 may be mounted on the robot 16 in other ways. For example, the energy generating unit 1 may be mounted on a position other than the back side of the robot 16 that is shifted in a direction perpendicular to the vertical direction (left and right direction, forward direction) with respect to the center of gravity of the robot 16, or may be mounted on a position shifted in the vertical direction with respect to the center of gravity of the robot 16. For example, the energy generating unit 1 may be mounted above the robot 16. Alternatively, the abdomen of the robot 16 may be hollowed out and the energy generating unit 1 may be mounted in that position.

[0098] In the above embodiment, the form in which electric power energy and hydraulic oil pressure energy are used as the energy used to drive the actuator for the work of the robot 16 has been described, but other forms of energy may be used. For example, a part of the rotational driving force from the output shaft 2a of the internal combustion engine 2 may be directly extracted for driving the actuator via a reduction gear or the like. In other words, a part of the rotational energy of the output shaft 2a may be directly extracted and used to drive the actuator.

[0099] Note that, although types of energy other than electric power energy and hydraulic oil pressure energy may be used as the energy used to drive the actuators for performing the tasks of the robot 16, considering the size of the battery for driving the task control device 26 that controls the movement tasks and additional tasks of the robot 16, it is preferable that the energy used to drive the actuators for performing the tasks of the robot 16 be only electric power energy and hydraulic oil pressure energy. By limiting the energy used to drive the actuators of the robot 16 to only electric power energy and hydraulic oil pressure energy, the types of energy used by the robot 16 can be reduced, and control by the task control device 26 can be simplified. This allows the battery for driving the task control device 26 to be made smaller.

[0100] In the above embodiment, gasoline is used as the fuel filled in the fuel tank 14, but the fuel may be other than gasoline. For example, it may be diesel. The fuel does not have to be liquid at normal temperature and pressure. For example, a fuel that is pressurized and stored in the fuel tank 14 as a liquid, such as LPG (liquefied petroleum gas) or liquid hydrogen, may be used as the fuel.

[0101] Second embodiment Next, an energy generating unit according to a second embodiment will be described. Note that explanations of parts configured similarly to the first embodiment will be omitted, and only different parts will be described. In the first embodiment, the energy generating unit is configured so that the fuel tank is disposed in a relatively upper position, and thus the fuel tank is disposed in a position above the output shaft of the internal combustion engine and the input shaft of the motor. The energy generating unit of the second embodiment differs from the first embodiment in that the fuel tank is disposed in a position below the internal combustion engine.

[0102] 5(a) and (b) are perspective views of an energy generating unit 1a in the second embodiment. In the second embodiment, a fuel tank 14a is disposed below the internal combustion engine 2 and the motor 3. In the second embodiment, in an accommodation area 40 surrounded by a support frame 15, a battery 4a is provided instead of the fuel tank in the space above and close to the mounting portion 15a where the fuel tank was disposed in the first embodiment.

[0103] In the second embodiment, in the energy generating unit 1a, the relatively heavy fuel tank 14a is disposed on the lower side in the accommodation area 40 surrounded by the frame 15. Therefore, the position of the center of gravity of the energy generating unit 1a can be lowered.

[0104] Fig. 6 shows a side view of the energy generating unit 1a and the robot 16 when the energy generating unit 1a of the second embodiment is attached to the robot 16. In Fig. 6, the robot 16 is in an upright position.

[0105] The position of the center of gravity of the energy generating unit 1a in this embodiment is C5. The position of the center of gravity of the robot 16 in an upright state is C6. The position of the center of gravity of the entire configuration including the robot 16 and the energy generating unit 1a when the energy generating unit 1a is mounted on the robot 16 is C7. Since the energy generating unit 1a in this embodiment has a low center of gravity by lowering the position of the fuel tank 14a, the position of the center of gravity C5 of the energy generating unit 1a is lower than the position of the center of gravity C6 of the robot 16 in an upright state. In this embodiment, as shown in FIG. 6, the position of the center of gravity C5 of the energy generating unit 1a is lower by d1 than the position of the center of gravity C6 of the robot 16 in an upright state.

[0106] In the second embodiment, when the robot 16 is equipped with the energy generating unit 1a, the center of gravity moves from C6 to C7 shown in FIG. 6. When the center of gravity moves, the load acting on the foot drive actuators for driving the feet 17 when the robot 16 moves or performs work changes accordingly. When the communication cable 35 of the robot 16 and the communication cable 34 of the energy generating unit 1 are connected via the communication interface 36, the work control device 26 of the robot 16 can detect this. When the work control device 26 recognizes that the energy generating unit 1 is connected to the robot 16, it determines that the center of gravity has moved from C6 to C7, and supplies energy to each actuator in an amount corresponding to the movement of the center of gravity, thereby driving the robot 16.

[0107] In this embodiment, the center of gravity C5 of the energy generating unit 1a is configured to be low, so that when the energy generating unit 1a is attached to the robot 16, the center of gravity C7 of the robot 16 to which the energy generating unit 1a is attached can be lowered. This makes it possible to make the robot 16 less likely to tip over. In addition, the robot 16 can perform work in a stable state, so the accuracy of the work performed by the robot 16 can be improved.

[0108] Third embodiment Next, an energy generating unit according to a third embodiment will be described. Note that explanations of parts configured similarly to the first and second embodiments will be omitted, and only different parts will be described. In the first and second embodiments, a form in which the energy generating unit is attached to a robot that can stand on two legs and walk on two legs has been described. The third embodiment differs from the first and second embodiments in that the energy generating unit is attached to a robot that can stand on four legs.

[0109] 7 shows a side view of the energy generating unit 1b and the robot 16a in a state where the energy generating unit 1b of the third embodiment is attached to the robot 16a. In the third embodiment, the robot 16a has four legs 17b. The energy generating unit 1b used in the third embodiment is illustrated as being similar to the energy generating unit of the type shown in the first embodiment, but may be similar to the energy generating unit 1a of the type shown in the second embodiment.

[0110] Since the robot 16a moves by walking on four legs, in this embodiment, the leg drive actuators that drive the four legs 17b correspond to the movement actuators that perform the movement work. In this embodiment, the robot 16a does not have an additional actuator that performs an additional work different from the movement work. Note that the robot 16a may be configured to be provided with an additional actuator that performs an additional work different from the movement work.

[0111] In this embodiment, the position of the center of gravity of the robot 16a that stands on four legs is C8. The position of the center of gravity of the energy generating unit 1b is C9. The position of the center of gravity of the entire configuration of the robot 16a and the energy generating unit 1b when the energy generating unit 1b is mounted on the robot 16a is C10. When the energy generating unit 1b is mounted on the robot 16a, the position of the center of gravity moves from C8 to C10 shown in FIG. 7. In this embodiment, when the energy generating unit 1b is mounted on the robot 16a, if the work control device of the robot 16a recognizes that the energy generating unit 1 is connected to the robot 16, it determines that the position of the center of gravity has moved from C8 to C10, and supplies energy in an amount corresponding to the movement of the position of the center of gravity to each actuator to drive the robot 16a.

[0112] As described above, the working device that performs a moving task or an additional task different from the moving task may be a robot other than a robot that walks on two legs. As in the second embodiment, it may be a robot 16a that walks using four legs 17b. The working device may also be a robot other than a walking robot. For example, the working device may be a robot that moves using wheels. The shape of the working device does not have to be a shape that imitates a human or an animal. Any shape may be used as long as it is a mobile working device that performs a moving task. [Explanation of symbols]

[0113] 1, 1a, 1b Energy generating units 2. Internal combustion engine 2b Oil pump (power generator) 3 Motor (power generator, generator) 4. Battery (energy storage device) 5. Intake and exhaust system 6. Radiator 13 Exhaust system 14, 14a Fuel tank 15 Support frame 15a Mounting part 15b Mounting area 15c Non-attachment area 15d Radiator support area 16, 16a Robot (working device) 17, 17b Legs (movement actuator) 17a Ground plane 18 Hands (additional actuators) 19 Arm (additional actuator) 20 Unit control device 26 Work control device 31, 33 Supply interface 36 Communication Interface 40 Containment Area A1 Vertical area

Claims

1. An energy generating unit mounted on a mobile walking robot that moves using legs and supplies the walking robot with a working power required for work, comprising: An internal combustion engine; a power generator driven by the internal combustion engine to generate the work power; a communication interface for communicating information with the ambulatory robot; a supply interface for supplying the working power to the walking robot; a control device that controls at least one of the internal combustion engine and the power generator based on information provided from the walking robot via the communication interface; a support frame having an attachment portion for detachably fixing to the walking robot; the communication interface transmits a state of at least one of the internal combustion engine and the power generator to the walking robot; When the support frame is fixed to the walking robot by the mounting portion, the support frame is arranged side by side with the walking robot, the internal combustion engine and the power generator are each supported by the walking robot via the support frame, and the internal combustion engine, the power generator, the communication interface, the supply interface and the control device are each housed inside the support frame, the support frame includes a portion that contacts the ground and supports the weight of the energy generating unit when the energy generating unit is in a self-supporting state, The internal combustion engine includes an exhaust port that discharges exhaust gas to the outside, An energy generating unit, wherein when attached to the walking robot via the mounting portion, the exhaust port faces toward the rear of the walking robot.

2. The energy generating unit according to claim 1 , wherein the communication interface transmits any one of information regarding a remaining amount of fuel, a temperature of the internal combustion engine, and an abnormality or deterioration of the internal combustion engine to the walking robot.

3. 3. The energy generation unit of claim 1 or 2, wherein the controller controls both the internal combustion engine and the power generator, respectively.

4. the power generator is a generator driven by the internal combustion engine to generate electric power; the supply interface is connected to a power cable that supplies the electric power generated by the generator to the walking robot; The energy generating unit according to any one of claims 1 to 3, wherein the generator also functions as a starter for starting the internal combustion engine.

5. further comprising an energy storage device that stores the energy generated by the power generator; the supply interface supplies both electrical power and pressure energy to the ambulatory robot; The energy generating unit according to any one of claims 1 to 4, wherein the energy storage device includes a battery for storing electric power and an accumulator for storing pressure energy.

6. Further comprising a posture sensor for detecting information about the posture of the user's own posture, 6. The energy generating unit according to claim 1, wherein when the attitude sensor detects that the internal combustion engine is tilted beyond a predetermined limit, the control device stops operation of the internal combustion engine.

7. a fuel tank that contains fuel to be supplied to the internal combustion engine; Further comprising a battery for storing power, when the support frame is fixed to the walking robot by the mounting portion, the internal combustion engine and the power generator are each supported by the walking robot via the support frame, 7. The energy generating unit according to claim 1, wherein when mounted on the walking robot, the fuel tank or the battery is positioned closer to the walking robot.

8. The internal combustion engine has a radiator that cools a coolant, The energy generating unit of claim 7, wherein when mounted on the walking robot, the radiator is attached on the opposite side of the support frame to the fuel tank or the battery, which is positioned closer to the walking robot.

9. The energy generating unit is mounted on the rear of the walking robot, A muffler is disposed on one side of the energy generating unit in the left-right direction, The energy generating unit according to claim 7 , further comprising a radiator disposed on the other of the left and right sides of the energy generating unit.

10. A mobile working device and an energy generating unit that supplies a working power required for the working device to the working device, The energy generating unit comprises: An internal combustion engine; a power generator driven by the internal combustion engine to generate the work power; A communication interface for communicating information with the operating device; a supply interface for supplying the work power to the work device; a control device that controls at least one of the internal combustion engine and the power generator based on information provided from the working device via the communication interface; a support frame that surrounds and protects the internal combustion engine and the power generator; a mounting portion provided on the support frame for mounting the working device to the working device; The working device has a mounting portion to which the mounting portion is attached, The mounting portion is detachable from the mounting portion, When the energy generating unit is attached to the working device, the energy generating unit is arranged side by side with the working device, and the internal combustion engine, the power generator, the communication interface, the supply interface and the control device are each housed inside the support frame; The communication interface transmits a status of at least one of the internal combustion engine and the power generator to a working device.

11. A mobile working device and an energy generating unit that supplies a working power required for the working device to the working device, The energy generating unit comprises: An internal combustion engine; a power generator driven by the internal combustion engine to generate the work power; a supply interface for supplying the work power to the work device; A unit control device that controls at least one of the internal combustion engine and the power generator; A communication interface for communicating information with the operating device; An attachment portion for detachably fixing the working device to the working device, The work device has a work control device that controls the work of the work device, The energy generating unit is arranged next to the working device in a state where the energy generating unit is attached to the working device, The unit control device controls at least one of the internal combustion engine and the power generator of the energy generating unit in response to information received from the work control device, and controls the work device by transmitting a command to the work control device in response to information received from at least one of the internal combustion engine and the power generator. The communication interface transmits a state of at least one of the internal combustion engine and the power generator to a working device; An energy supply system, wherein an exhaust port of the internal combustion engine faces rearward of the working device when the energy generating unit is attached to the working device via the mounting portion.

Images