Robot Arm and Flying Robot

Abstract

To suppress the change in center of gravity at the time of arm operation.SOLUTION: A robot arm includes: a rod moving in an axial direction; an actuator for generating driving force of the rod; a battery for supplying power to the actuator; and a power transmission mechanism for transmitting the driving force generated in the actuator when the rod is moved in one direction of the axial direction as force of moving the rod in one direction, and force of moving the actuator and the battery to the other direction that is the opposite direction to the one direction.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a robotic arm and a flying robot.

Background Art

[0002] In recent years, unmanned aerial vehicles have been used for various purposes and their development has been actively carried out. As unmanned aerial vehicles, radio-controlled unmanned helicopters and so-called drones are used. Here, a technique of attaching an arm to an unmanned aerial vehicle to perform various operations is known (see, for example, Patent Document 1). Patent Document 1 describes that the change in the center of gravity when a fruit is held by an arm is offset by the movement of a battery or a motor to stabilize the aircraft.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] For example, in a drone having four propellers, when moving in the horizontal direction, the thrust of the propeller on the forward direction side is relatively reduced compared to the thrust of the propeller on the side opposite to the forward direction. As a result, the aircraft tilts so that it can move in the horizontal direction. Here, when trying to bring the arm into contact with an object, the aircraft can be brought closer to the object by tilting the aircraft. However, when trying to keep the aircraft stationary in the air by making the thrusts of the respective propellers substantially the same after the arm has contacted the object, the angle of the aircraft changes, causing the position where the arm contacts the object to shift. Therefore, it may become difficult to bring the arm into contact with a specific part of the object.

[0005] In addition, in a drone having four propellers, even if the thrusts of the four propellers are the same, if the aircraft tilts due to external disturbances or the like, it will move horizontally. Here, when the arm contacts an object, the aircraft tilts by receiving a reaction force from the object, and the aircraft moves horizontally. Therefore, it can be difficult to contact the object while stationary in the air. On the other hand, in order to stabilize the attitude of the aircraft, for example, adding propellers can be considered, but dedicated aircraft configurations and controls are required. Also, it can be considered to stabilize the attitude of the aircraft by extending the arm while the aircraft is stationary in the air and approaching the object. However, if the position of the center of gravity changes due to the extension and contraction of the arm, the aircraft will tilt, and it may become difficult to contact the arm with a specific part of the object.

[0006] The present invention has been made in view of the various situations as described above, and its object is to suppress the change in the center of gravity during arm operation.

Means for Solving the Problems

[0007] One aspect of the present invention is a rod that moves in the axial direction, an actuator that generates a driving force for the rod, a battery that supplies power to the actuator, and a power transmission mechanism that transmits the driving force generated by the actuator when moving the rod in one direction of the axial direction as a force for moving the rod in the one direction and a force for moving the actuator and the battery in the other direction opposite to the one direction, and transmits the driving force generated by the actuator when moving the rod in the other direction as a force for moving the rod in the other direction and a force for moving the actuator and the battery in the one direction. It is a robotic arm provided with the above.

[0008] Another aspect of the present invention is a flying robot provided with the above robotic arm.

Effects of the Invention

[0009] According to the present invention, it is possible to suppress the change in the center of gravity during the operation of the arm.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Embodiments for Carrying Out the Invention

[0011] One aspect of the present invention, a robotic arm, includes a rod, an actuator, a battery, and a power transmission mechanism. The rod can move in the axial direction, whereby, for example, an end effector attached to the rod can be brought into contact with an object or brought closer to the object. The actuator is, for example, a motor that generates a rotational force. Then, using the rotational force of the actuator, the rod, the actuator, and the battery are moved. The power transmission mechanism converts the force generated by the actuator into a force that moves the rod, the actuator, and the battery. The power transmission mechanism can include, for example, gears.

[0012] When the rod moves in one direction by the power transmission mechanism, the actuator and the battery move in the other direction. Also, when the rod moves in the other direction, the actuator and the battery move in one direction. That is, the rod and the actuator and the battery always move in opposite directions when moving. Thereby, the change in the center of gravity of the entire robotic arm due to the movement of the rod can be offset by the movement of the actuator and the battery. Therefore, it is possible to suppress the change in the center of gravity of the entire robotic arm when the rod moves.

[0013] Also, the robotic arm may further include a main body portion fixed to a predetermined member, and the power transmission mechanism may apply forces in opposite directions to the rod, the actuator, and the battery via the main body portion. The predetermined member may be, for example, a member of a flying robot. In this case, the robotic arm can be fixed to the flying robot. Alternatively, the predetermined member may be a member of a robot fixed to the ground. Thereby, the robotic arm can be fixed to, for example, an industrial robot. When the power transmission mechanism moves the rod portion in one direction with respect to the main body portion, the actuator and the battery are moved in the other direction with respect to the main body portion. Since the main body portion does not move at this time, the robotic arm can be fixed to a predetermined member via the main body portion. When the actuator and the battery are moved in the other direction. Since the main body portion does not move at this time, the robotic arm can be fixed to a predetermined member via the main body portion.

[0014] Further, the main body portion may include a rod guide portion for guiding the rod, and an actuator guide portion for guiding the actuator and the battery. By providing the rod guide portion and the actuator guide portion, the rod, the actuator, and the battery can be more reliably moved in one direction and the other direction.

[0015] Further, the power transmission mechanism includes an annular belt and two pulleys attached to the main body portion and around which the belt is wound. The two pulleys have rotation axes parallel to each other and are arranged in the axial direction of the rod. The rod is connected to a portion of the belt that does not contact the two pulleys and moves in the one direction when the pulleys rotate in a predetermined direction. The actuator and the battery may be connected to a portion of the belt that moves in the other direction when the pulleys rotate in the predetermined direction. Here, when the belt is wound around the two pulleys, the portion of the belt that does not contact the pulleys becomes straight. This straight portion consists of two straight portions spaced apart by the diameter of the pulley. These two straight portions move in opposite directions to each other. If the rod is connected to one of these straight portions and the actuator and the battery are connected to the other, the rod can be moved in the reverse direction in conjunction with the movement of the actuator and the battery.

[0016] Further, the power transmission mechanism may include a rack fixed to the main body portion and provided in the axial direction of the rod, and a pinion fixed to the output shaft of the actuator. The rack and pinion can convert the rotational motion of the actuator into a linear motion of the actuator.

[0017] Further, the flight robot may be provided with the above-described robotic arm. In this case, the robotic arm can be used at high places. Here, when the center of gravity of the flight robot moves, its posture may become unstable. On the other hand, if the above-described robotic arm is provided, it is possible to suppress the movement of the center of gravity of the flight robot when moving the rod, and thus it is possible to suppress the instability of the posture of the flight robot.

[0018] Further, the flight robot may have a plurality of propulsion units that generate propulsion force by driving the rotary wings, and the robotic arm may be disposed above the rotary wings in the direction of gravity. Here, for example, when the robotic arm is attached to an end effector and senses an object, the robotic arm may come into contact with the object. In this case, the robotic arm receives a reaction force from the object. Due to this reaction force, the flight robot may tilt. At this time, when the robotic arm is disposed above the rotary wings, the tilt of the flight robot occurs in the direction in which the propulsion force of the propulsion unit moves away from the object. Therefore, even if the flight robot tilts, since the flight robot moves in the direction away from the object, it is possible to avoid a collision with the object.

[0019] Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of the components described in this embodiment are not intended to limit the scope of the present invention only to these, unless otherwise specified. Also, the following embodiments can be combined as much as possible.

[0020] <Embodiment> In this embodiment, an example in which the robotic arm 1 is attached to the flight robot 100 will be described. FIG. 1 is a diagram showing an example of the schematic configuration of a flight robot 100 including the robotic arm 1 according to the embodiment.

[0021] The flying robot 100 is configured to include a main body 110. The main body 110 has a plurality of propulsion units 111. In the example shown in FIG. 1, four propulsion units 111 are mounted on the main body 110. However, as long as the main body 110 can fly, the number of mounted propulsion units 111 is not limited to four as long as it is plural. The propulsion unit 111 has a propeller 112 which is a rotary wing and an actuator 113 for rotationally driving the same. All the propulsion units 111 mounted on the main body 110 are of the same type, but the actuator 113 in each propulsion unit 111 can be independently controlled. Therefore, it is possible to appropriately control the propulsion force obtained by each propulsion unit 111, and thus it is possible to appropriately control the flight attitude, flight speed, etc. of the main body 110 and the flying robot 100. Hereinafter, when the flying robot 100 is stationary in the air, the direction of the propulsion force of the propulsion unit 111, that is, the direction toward the upper side of FIG. 1 is defined as the upward direction in the vertical direction, and the direction opposite to the propulsion force, that is, the direction toward the lower side of FIG. 1 is defined as the downward direction in the vertical direction. The downward direction is the same as the direction of gravity.

[0022] Here, in the main body 110, a body 114 is generally provided at its center, and propulsion units 111 are provided on the tip side thereof via bridges 115 radially therefrom. The four propulsion units 111 are arranged at equal intervals on the circumference around the body 114.

[0023] In addition, four legs 120 for supporting the main body 110 are connected to the main body 110. The four legs 120 are arranged at equal intervals on the circumference around the body 114 and extend downward from the body 114. In this embodiment, four legs 120 are provided, but the number of legs 120 is not limited to this, and three or more legs may be sufficient.

[0024] In addition, the body 114 is equipped with a battery for supplying driving power to the actuator 113 of each propulsion unit 111 and a control device 60 for controlling the power supply from the battery to the actuator 113 and the like.

[0025] At least two support portions 130 that support the robot arm 1 are connected to the body 114. The support portions 130 extend upward from the body 114. And the robot arm 1 is disposed upward of the propeller 112 via the support portions 130.

[0026] FIG. 2 is a diagram showing an example of the schematic configuration of the robot arm 1 according to the embodiment. The robot arm includes a main body portion 20, a rod portion 30, and an actuator portion 40. The main body portion 20 is a member fixed to the flying robot 100. Also, the rod portion 30 is a member that moves relative to the main body portion 20. Also, the actuator portion 40 is a member that moves relative to the main body portion 20 and moves relative to the rod portion 30 in the opposite direction.

[0027] In the following description, an XYZ orthogonal coordinate system is set, and the positions of the respective members will be described with reference to this XYZ orthogonal coordinate system. The vertical direction of the flying robot 100 is the Z-axis direction, the moving direction of the rod portion 30 is the X-axis direction, and the direction orthogonal to the X-axis direction and the Z-axis direction is the Y-axis direction.

[0028] FIG. 3 is a diagram showing an example when the robot arm 1 according to the embodiment is viewed from the Y-axis direction. In FIG. 3, some configurations are omitted for the sake of explanation. Hereinafter, the robot arm 1 will be described based on FIGS. 2 and 3.

[0029] The main body portion 20 is fixed to the pedestal portion 50. The main body portion 20 includes a first guide portion 201, a rail 202, and a second guide portion 203. The first guide portion 201 and the second guide portion 203 are Guide the rod 301 described below. Through holes 2011 and 2031 having inner diameters slightly larger than the outer diameter of the rod 301 are respectively provided in the first guide part 201 and the second guide part 203. The central axes of the through holes 2011 and 2031 of the first guide part 201 and the second guide part 203 coincide with the central axis of the rod 301. The first guide part 201 and the second guide part 203 slidably hold the rod 301. One end side of the rail 202 is connected to the first guide part 201, and the other end side of the rail 202 is connected to the second guide part 203. The central axis of the rail 202 is parallel to the rod 301 (i.e., in the X-axis direction) and is disposed below the rod 301.

[0030] The main body part 20 further includes an annular belt 204, and a first pulley 205 and a second pulley 206 around which the belt 204 is wound. The belt 204 is wound around the first pulley 205 and the second pulley 206 in parallel. The first pulley 205 and the second pulley 206 have the same outer diameter. The first pulley 205 is rotatably held by the first guide part 201 near the tip of one end side of the rail 202. The second pulley 206 is rotatably held by the second guide part 203 near the tip of the other end side of the rail 202. The rotation axes of the first pulley 205 and the second pulley 206 are arranged in the Y-axis direction. Also, the rotation axes of the first pulley 205 and the second pulley 206 are arranged on the same plane parallel to the rod 301. Therefore, the straight part of the belt 204 between the first pulley 205 and the second pulley 206 is parallel to the rod 301 and the rail 202. This straight part of the belt 204 is the part that does not contact the first pulley 205 and the second pulley 206. Depending on the rotation direction of the belt 204, the first pulley 205 and the second pulley 206 rotate in the same direction.

[0031] One straight portion 2041 of the belt 204 (hereinafter also referred to as the upper belt portion 2041) is above the rail 202 and is disposed in the space between the rod 301 and the rail 202. The other straight portion 2042 of the belt 204 (hereinafter also referred to as the lower belt portion 2042) is below the rail 202 and is disposed above a box 403 described later. When the belt 204 rotates, the upper belt portion 2041 and the lower belt portion 2042 move in opposite directions parallel to the rod 301.

[0032] On the side surfaces (both end surfaces in the Y-axis direction) of the first case interior 201 and the side surfaces (both end surfaces in the Y-axis direction) of the second case interior 203, two racks 207 are attached in parallel with the rail 202 (i.e., in the X-axis direction). The rack 207 constitutes a rack and pinion together with a pinion 405 described later. One end side of the rack 207 is connected to the first case interior 201, and the other end side of the rack 207 is connected to the second case interior 203. The rack 207 is formed in a plate shape with a square cross section, and teeth 2071 cut in the Y-axis direction are aligned in the X-axis direction on its lower surface.

[0033] The rail 202 is formed in the shape of a quadrangular prism having four surfaces parallel to the central axis, and the longitudinal directions of the upper and lower surfaces are in the X-axis direction and the short-side directions are in the Y-axis direction. Also, both side surfaces of the rail 202 have their longitudinal directions in the X-axis direction and their short-side directions in the Z-axis direction. In the rail 202, guide grooves 2021 are formed in parallel with the central axis on the four surfaces parallel to the central axis. The guide grooves 2021 are formed such that the cross-sectional area is larger on the central portion side of the rail 202 than on the opening portion side on the surface side of the rail 202.

[0034] Next, the rod portion 30 will be described. The rod portion 30 includes a rod 301 and an upper connection portion 302. The rod 301 is, for example, a rod-shaped member having a cross section formed in a circular shape, for example, and is arranged such that its central axis faces the X-axis direction. The upper connection portion 302 connects the rod 301 and the upper belt 2041. The upper connection portion 302 can be divided into an upper portion 3021 and a lower portion 3022. A through hole 3023 having an inner diameter slightly larger than the outer diameter of the rod 301 is provided in the upper portion 3021 of the upper connection portion 302. The central axis of the through hole 3023 coincides with the central axis of the rod 301. By holding the rod 301 with this through hole 3023, the upper connection portion 302 is fixed to the rod 301. Note that the cross section of the rod 301 is, for example, circular, but is not limited thereto, and may be an elliptical shape or a polygonal shape (such as a triangular shape or a quadrangular shape). In this case, the shapes of the through holes 2011, 2031, and 3023 of the first guide portion 201, the second guide portion 203, and the upper connection portion 302 are also formed according to the shape of the rod 301. By doing so, the upper connection portion 302 is fixed to the rod 301. The rod 301 has a cross section that is, for example, circular, but is not limited thereto, and may be an elliptical shape or a polygonal shape (such as a triangular shape or a quadrangular shape). In this case, the shapes of the through holes 2011, 2031, and 3023 of the first guide portion 201, the second guide portion 203, and the upper connection portion 302 are also formed according to the shape of the rod 301.

[0035] A gap 3024 through which the upper belt 2041 can pass is formed between the upper portion 3021 and the lower portion 3022 of the upper connection portion 302. With the upper belt 2041 passed through this gap 3024, by connecting the upper portion 3021 and the lower portion 3022 of the upper connection portion 302, the upper belt 2041 is sandwiched and fixed between the upper portion 3021 and the lower portion 3022 of the upper connection portion 302. Therefore, the upper connection portion 302 also moves in accordance with the movement of the upper belt 2041. Further, since the rod 301 is slidably held by the first guide portion 201 and the second guide portion 203, it is movable in the central axis direction. And since the upper connection portion 302 is fixed to the rod 301, when the upper connection portion 302 moves, the rod 301 also moves in the same direction as the upper connection portion 302 and the upper belt 2041. That is, the rod 301 moves in the same direction as the upper belt 2041 in conjunction with the upper belt 2041.

[0036] Further, the lower part 3022 of the upper connection part 302 extends to the side surface of the rail 202, and at this location, a protrusion 3025 is provided which is formed to be slidable within the guide groove 2021 in accordance with the shape of the guide groove 2021 of the rail 202. Two protrusions 3025 are provided corresponding to both side surfaces of the rail 202. By means of this protrusion 3025, the upper connection part 302 can be restrained from swaying in the Y-axis direction and the Z-axis direction.

[0037] An end effector 70 can be attached to the tip of the rod 301. FIG. 4 is a diagram showing an example of the overall schematic configuration of the rod 301 according to the embodiment. Examples of the end effector 70 include sensors such as a hardness meter, a distance sensor, and a force sensor, or a camera. In FIG. 4, a hardness meter is attached to the tip of the rod 301, and a camera is attached at a location slightly away from the tip. Thus, a plurality of end effectors 70 can also be attached to the rod 301. Also, as the end effector 70, for example, a robot hand can be employed.

[0038] Next, the actuator part 40 will be described. The actuator part 40 includes an actuator 401, a battery 402, a box 403, and a lower connection part 404. The actuator 401 is, for example, a motor whose output shaft rotates by the supply of electric power. The output shaft 4011 of the actuator 401 is arranged in the Y-axis direction. The battery 402 is connected to the actuator 401 by an electric wire and supplies electric power to the actuator 401. The box 403 houses the actuator 401 and the battery 402. This battery 402 is a battery for operating the actuator 401 and is different from the battery that supplies electric power to the propulsion unit 111. Note that, as an alternative method, electric power may be supplied from the battery 402 to the propulsion unit 111.

[0039] The lower connection part 404 can be divided into an upper part 4041 and a lower part 4042. The lower part 4042 of the lower connection part 404 is fixed to the upper surface of the box 403. A gap 4043 through which the lower belt 2042 can pass is formed between the upper part 4041 and the lower part 4042 of the lower connection part 404. With the lower belt 2042 passed through this gap 4043, by connecting the upper part 4041 and the lower part 4042 of the lower connection part 404, the lower belt 2042 is clamped and fixed between the upper part 4041 and the lower part 4042 of the lower connection part 404. Therefore, the lower belt 2042 also moves in accordance with the movement of the lower connection part 404.

[0040] On the upper part 4041 of the lower connection part 404, there is a guide groove 202 1 formed on the lower surface of the rail 202, and a protrusion 4044 is provided so as to be slidable within the guide groove 2021 in accordance with the shape. Due to this protrusion 4044, the lower connection part 404 moves along the rail 202. The box 403 is suspended from the lower surface of the rail 202 via the lower connection part 404. Incidentally, the box 403 may accommodate a weight 4031 whose mass can be adjusted.

[0041] Further, the actuator unit 40 is provided with a pinion 405 fixed to the output shaft of the actuator 401 and rotationally driven by the actuator 401. This pinion 405 meshes with the rack 207 of the main body 20 to form a rack and pinion. The pinion 405 has a rotation axis in the Y-axis direction and is provided on both side surfaces (both end surfaces in the Y-axis direction) of the actuator 401 so as to mesh with the rack 207. When the actuator 401 operates, the pinion 405 rotates by its driving force. Since the rack 207 is fixed to the main body 20, when the pinion 405 rotates, the pinion 405 moves along the rack 207. As the pinion 405 moves, the box 403 also moves, and the lower connecting portion 404 also moves due to the movement of the box 403. Further, since the lower connecting portion 404 sandwiches the lower belt 2042, the lower belt 2042 is moved in the moving direction of the lower connecting portion 404. Thereby, the belt 204 rotates the first pulley 205 and the second pulley 206, and the upper belt 2041 moves in the direction opposite to that of the lower belt 2042.

[0042] Therefore, when the rod unit 30 and the actuator unit 40 move in the X-axis direction, they move in opposite directions to each other. The moving direction is determined according to the rotation direction of the actuator 401. In this way, when the rod unit 30 moves in one direction along the X-axis with respect to the main body 20, the actuator unit 40 moves in the other direction along the X-axis. Therefore, when the actuator unit 40 moves from the first guide portion 201 side to the second guide portion 203 side, the rod 301 moves from the second guide portion 203 side to the first guide portion 201 side, and the end effector 70 is pushed out.

[0043] Here, FIG. 5 is a diagram showing an example when the actuator unit 40 according to the embodiment is moved to the first guide unit 201 side and the upper connection part 302 is arranged on the second guide unit 203 side. In the state shown in FIG. 5, the distance from the first guide unit 201 to the end effector 70 becomes relatively short. Further, FIG. 6 is a diagram showing an example when the actuator unit 40 according to the embodiment is moved to the second guide unit 203 side and the upper connection part 302 is arranged on the first guide unit 201 side. In the state shown in FIG. 6, the distance from the first guide unit 201 to the end effector 70 becomes relatively long. Therefore, by bringing the flying robot 100 close to the object in the state shown in FIG. 5 and then operating the actuator unit 40 so as to be in the state shown in FIG. 6 after the flying robot 100 has sufficiently approached the object, the end effector 70 can be brought into contact with the object without moving the flying robot 100.

[0044] Note that the pinion 405, the rack 207, the lower connection part 404, the belt 204, the first pulley 205, the second pulley 206, and the upper connection part 302 are an example of a power transmission mechanism. Further, as shown in FIGS. 5 and 6, the rail 202 is an example of a linear guide that guides the upper connection part 302 and the lower connection part 404 in the X-axis direction and holds them so that their relative positions in the X-axis direction can be interchanged, and is not limited to the described method. As an alternative method, for example, guides may be provided on each of the lower connection part 404 and the upper connection part 302, or a rolling element may be used instead of only grooves for the method of holding the rail 202.

[0045] Next, the pedestal part 50 will be described. FIG. 7 is a diagram showing an example of the schematic configuration of the pedestal part 50 according to the embodiment. The pedestal part 50 includes a base part 51, an angle changing part 52, a roll actuator 53, and a pitch actuator 54. The base part 51 is formed in a flat plate shape parallel to the X-axis direction and the Y-axis direction, and on the lower surface of the base part 51, on top of a plurality of support parts 130 The ends are connected. Therefore, the base 51 is supported by the support portion 130. On the lower surface of the base 51, a plate-like member 511 for supporting the shaft 531 of the roll actuator 53 is formed. Since the shaft 531 of the roll actuator 53 is arranged in the X-axis direction, the plate-like member 511 is formed in a plate shape parallel to the Y-axis and Z-axis so as to be orthogonal to the shaft 531 of the roll actuator 53. The plate-like member 511 is provided at both ends in the X-axis direction of the roll actuator 53, respectively. The shaft 531 of the roll actuator 53 is fixed to the plate-like member 511.

[0046] Also, a hole 512 is provided at the central portion of the base 51 for arranging the angle changing portion 52 and the roll actuator 53. The angle changing portion 52 is fixed to the roll actuator 53. When the roll actuator 53 operates, the roll actuator 53 and the angle changing portion 52 swing about the shaft 531 of the roll actuator 53 fixed to the plate-like member 511 of the base 51.

[0047] Further, a plate-like rotary support member 521 for supporting the shaft 541 of the pitch actuator 54 is formed on the angle changing portion 52. Since the shaft 541 of the pitch actuator 54 is arranged in the Y-axis direction, the rotary support member 521 is formed in a plate shape parallel to the X-axis and Z-axis so as to be orthogonal to the shaft 541 of the pitch actuator 54. The rotary support member 521 is provided at both ends in the Y-axis direction of the pitch actuator 54, respectively. The pitch actuator 54 is fixed to the first guide portion 201, and the shaft 541 of the pitch actuator 54 is fixed to the rotary support member 521. Therefore, when the pitch actuator 54 operates, the pitch actuator 54 and the robot arm 1 swing about the shaft 541 of the pitch actuator 54 fixed to the rotary support member 521.

[0048] Therefore, by operating the roll actuator 53, the robot arm 1 can be rotated around the X-axis. Therefore, by operating the roll actuator 53, the angle of the robot arm 1 around the X-axis with respect to the base 51 can be changed. Also, by operating the pitch actuator 54, the angle of the robot arm 1 around the Y-axis with respect to the base 51 can be changed. In this way, the relative angle of the robot arm 1 with respect to the base 51 can be changed.

[0049] As another method, the pedestal portion 50 may only fix the robot arm 1. That is, the roll actuator 53 and the pitch actuator 54 may not be provided. As yet another method, only one of the roll actuator 53 or the pitch actuator 54 may be provided. That is, the robot arm 1 may be configured to be swingable only around the X-axis or the Y-axis. Further, as another method, a yaw actuator for rotating the robot arm 1 around the Z-axis may be provided.

[0050] The actuator 113 of the propulsion unit 111, the actuator 401 of the actuator unit 40, the roll actuator 53 of the pedestal portion 50, and the pitch actuator 54 of the pedestal portion 50 are controlled by the control device 60. The control device 60 is stored in the body 114. The control device 60 is a computer including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and an EPROM (Erasable Programmable ROM). Various programs, various tables, etc. are stored in the EPROM. The CPU loads the program stored in the EPROM into the working area of the RAM and executes it. Through the execution of this program, the actuator 113, the actuator 401, the roll actuator 53, and the pitch actuator 54, etc. are controlled. Thereby, the CPU realizes a function that matches a predetermined purpose.

[0051] In addition, the control device 60 includes a communication unit that communicates with the outside either wired or wirelessly, and receives a control command via the communication unit, and may control the actuator 113, the actuator 401, the roll actuator 53, and the pitch actuator 54 according to the control command. At this time, the control device 60 may control the propulsion unit 111 to generate a propulsion force for the flight of the flying robot 100. In addition, the control device 60 may transmit the information acquired by the end effector 70 to the outside.

[0052] In addition, the end effector 70 includes a distance sensor, a force sensor, and a hardness meter, and the control device 60 may control the actuator 401 to maintain contact with the object based on the detection values of the distance sensor and the force sensor. At this time, feedback control may be performed so that the detection value of the distance sensor and the detection value of the force sensor approach the target value. Then, the hardness of the object is detected by the hardness meter while maintaining the contact between the end effector 70 and the object. Thereby, for example, deterioration of the object can be detected. In this way, for example, it is possible to inspect from the outside of the building whether the packing of the window frame of the building is deteriorated. In addition, the flying robot 100 can perform work involving contact at high places. For example, by attaching another type of end effector 70, maintenance and inspection of a wind turbine can be performed. At this time, for example, a continuity inspection of the blade may be performed.

[0053] Note that, as the distance sensor, for example, a radar using any of millimeter waves, infrared rays, ultrasonic waves, and sonar, LIDAR (Light Detection And Ranging), or a camera, etc. can be cited. As the force sensor, for example, a capacitance-type force sensor, a strain-gauge type force sensor, a piezoelectric force sensor, or an optical force sensor, etc. can be cited. As the hardness meter, for example, a durometer, etc. can be cited.

[0054] As described above, by providing the robotic arm 1, it becomes possible to move the rod 301 forward and backward in the X-axis direction. Along with the movement of the rod portion 30 at this time, since the actuator portion 40 moves in the reverse direction, it is possible to suppress a change in the center of gravity of the entire robotic arm 1. At this time, since the actuator portion 40 also moves in conjunction with the rod portion 30, it is not necessary to perform control to adjust the center of gravity. Further, by adjusting the mass of the weight 4031 to adjust the mass of the actuator portion 40, it becomes possible to further suppress the movement of the center of gravity. For example, although the center of gravity position may change depending on the type of the end effector 70 attached to the tip of the rod 301, it is possible to suppress the change in the center of gravity position by adjusting the mass of the weight 4031. Thus, after adjusting the mass of the weight 4031, as described above, since the actuator portion 40 moves in the reverse direction in response to the movement of the rod portion 30, the change in the center of gravity is suppressed. As an alternative method, without providing the weight 4031, the mass of either the battery 402 or the box 403 may be changed to adjust the mass of the actuator portion 40.

[0055] Here, when the end effector 70 is brought into contact with the object, if an attempt is made to bring the entire position of the flying robot 100 closer to the object, the attitude of the flying robot 100 may change. That is, the flying robot 100 tilts the flying robot 100 and moves it in the tilted direction by providing a difference in the thrust of the four propulsion units 111. Therefore, in order to approach the object, it is necessary to tilt the flying robot 100. However, if an attempt is made to correct the tilt of the flying robot 100 after the end effector 70 comes into contact with the object and, for example, makes the thrusts of the four propulsion units 111 the same, the position of the end effector 70 will shift when the attitude of the flying robot 100 changes. Therefore, it may become difficult to bring the end effector into contact with the desired position of the object.

[0056] Also, when only the rod 301 is extended with the flying robot 100 stationary in the air, the center of gravity position may shift toward the end effector 70 due to the movement of the end effector 70 and the rod 301. As a result, if the attitude of the flying robot 100 changes, the position of the flying robot 100 changes, making it difficult to bring the end effector into contact with the desired position of the object.

[0057] On the other hand, as the rod portion 30 moves, the actuator portion 40 moves in the opposite direction, suppressing a change in the attitude of the flying robot 100. Therefore, the end effector can be brought into contact with the desired position of the object.

[0058] Also, in this embodiment, the robot arm 1 is attached above the propeller 112 of the flying robot 100. By attaching the robot arm 1 in such a position, it is possible to suppress the attitude of the flying robot 100 from becoming unstable when the end effector 70 at the tip of the rod 301 contacts an object.

[0059] FIG. 8 is a diagram showing an example of the attitude change of the flying robot 100 when the robot arm 1 according to the embodiment comes into contact with the object 80. FIG. 8 shows the case where the flying robot 100 comes into contact with the object 80 while moving in the X-axis direction toward the object 80. When the tip of the rod 301 (which may also be the end effector 70) comes into contact with the object 80, the rod 301 receives a reaction force from the object 80. Here, due to inertia acting on the flying robot 100 below the robot arm 1, it tends to move in the direction toward the object 80. Therefore, the flying robot 100 rotates about the Y-axis. At this time, the flying robot 100 tilts in the direction away from the object 80. That is, since the propeller 112 farther from the object 80 is at a lower position than the propeller 112 closer to the object 80, the thrust of the propulsion unit 111 is in the direction away from the object 80. Therefore, when the flying robot 100 moves away from the object 80, since the reaction force from the object 80 disappears, the flying robot 100 can restore its attitude.

[0060] On the other hand, even if the robot arm 1 is attached below the propeller 112 of the flying robot 100, when the tip of the rod 301 (which may also be the end effector 70) comes into contact with the object 80, the rod 301 receives a reaction force from the object 80. FIG. 9 is a diagram showing an example of the attitude change of the flying robot 100 when it comes into contact with the object 80 in the case where the robot arm 1 is attached below the propeller 112. FIG. 9 shows the case where the flying robot 100 comes into contact with the object 80 while moving in the X-axis direction toward the object 80.

[0061] When the tip of the rod 301 comes into contact with the object 80, the rod 301 tends to move away from the object 80 due to the reaction force received by the rod 301 from the object 80. Also in this case, due to the inertia acting on the flying robot 100 above the robotic arm 1, the flying robot 100 tends to move in the direction toward the object 80. Therefore, the flying robot 100 rotates about the Y-axis direction. However, the direction in which the flying robot 100 tries to rotate at this time is opposite to the case where the robotic arm 1 is attached above the flying robot 100. At this time, the flying robot 100 tilts in the direction approaching the object 80. That is, the propeller 112 farther from the object 80 is at a higher position than the propeller 112 closer to the object 80, so that the thrust of the propulsion unit 111 is in the direction approaching the object 80. As a result, when the flying robot 100 approaches the object 80, the flying robot 100 further tilts about the contact point between the tip of the rod 301 and the object 80. Therefore, there is a risk that the attitude of the flying robot 100 becomes unstable.

[0062] Therefore, by attaching the robotic arm 1 above the flying robot 100, it is possible to suppress the attitude of the flying robot 100 from becoming unstable when the end effector 70 comes into contact with the object. In this way, by attaching the robotic arm 1 to the flying robot 100, the attitude can be stabilized, so that the end effector 70 can be brought into contact with a narrower range at a high place.

[0063] In the present embodiment, the rack and pinion and the belt 204 are used to move the rod 301 and the actuator unit 40 in opposite directions, but the present invention is not limited to this, and any mechanism that can move the rod 301 and the actuator unit 40 in opposite directions may be used. For example, a mechanism that linearly moves the rod portion 30 along the main body portion 20 and linearly moves the actuator unit 40 along the main body portion 20 in the direction opposite to the rod portion 30 can be adopted. For example, a left-right screw can also be adopted.

[0064] In addition, in this embodiment, the robotic arm 1 is attached to the flying robot 100. However, it is not limited to this, and the robotic arm 1 can be used in various places. For example, it can also be attached to a vehicle. In particular, it is effective for small vehicles that are prone to losing balance. It can also be attached to industrial robots in factories and the like. In this case as well, it is possible to suppress the industrial robot from losing balance. Further, since the robotic arm 1 can be easily detached from the flying robot 100, for example, it can be set as an option for the flying robot 100.

Description of Reference Numerals

[0065] 1... robotic arm, 20... main body part, 30... rod part, 40... actuator part, 50... pedestal part, 70... end effector, 100... flying robot, 112... propeller, 301... rod, 401... actuator, 402... battery

Claims

1. A robotic arm attached to a flying robot, comprising: a rod that moves in the axial direction; an actuator that generates a driving force for the rod; a battery that supplies power to the actuator; a power transmission mechanism that transmits the driving force generated by the actuator when moving the rod in one direction of the axial direction as a force for moving the rod in the one direction and a force for moving the actuator and the battery in the other direction opposite to the one direction, and transmits the driving force generated by the actuator when moving the rod in the other direction as a force for moving the rod in the other direction and a force for moving the actuator and the battery in the one direction; a main body portion fixed to a predetermined portion of the flying robot; and the axis of the rod is arranged horizontally; the power transmission mechanism applies forces in opposite directions to the rod, the actuator, and the battery via the main body portion; a robotic arm.

2. The main body portion includes: a rod guide portion that guides the rod; an actuator guide portion that guides the actuator and the battery; and the robotic arm according to claim 1.

3. The power transmission mechanism includes: an annular belt; two pulleys attached to the main body portion and around which the belt is looped, the two pulleys having rotation axes parallel to each other and being arranged in the axial direction of the rod; and the rod is connected to a portion of the belt that does not contact the two pulleys and that moves in the one direction when the pulleys rotate in a predetermined direction; the actuator and the battery are connected to a portion of the belt that moves in the other direction when the pulleys rotate in the predetermined direction; the robotic arm according to claim 1 or 2.

4. The power transmission mechanism includes: a rack fixed to the main body portion and provided in the axial direction of the rod; a pinion fixed to the output shaft of the actuator; and the robotic arm according to any one of claims 1 to 3.

5. A flying robot comprising the robotic arm according to any one of claims 1 to 4.

6. having a plurality of propulsion units that generate propulsion force by driving rotors, and the robotic arm is arranged above the rotors in the direction of gravity. The flying robot according to claim 5.

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