Robotic device

Abstract

To faithfully reproduce movements of a quadrupedal walking animal.SOLUTION: A robot device includes a body part, leg parts joined to the body part through joint parts, and a sensor provided for the body part for detecting that a user contacts. The sensor is at least either an electrostatic sensor or a pressure-sensitive sensor and detects a user's movements on the basis of sensor data from the sensor.SELECTED DRAWING: Figure 5

Description

Technical Field

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[0001] The present disclosure relates to a robot device.

Background Art

[0002] Conventionally, Patent Document 1 below describes a robot device that can perform not only quadruped walking but also biped standing.

Prior Art Document

Patent Document

[0008] [Figure 1] This is a schematic diagram showing the external appearance of the robot device and the rotation axes of its joints. [Figure 2] This is a schematic diagram showing the left hind leg as viewed from the left side of the robotic device. [Figure 3] This is a schematic diagram showing the state with the cover over the arm shown in Figure 2 removed. [Figure 4] This is a schematic diagram showing the mechanism for driving the tip of the arm. [Figure 5] This is a schematic diagram showing the left side of the robotic device. [Figure 6A] This is a schematic diagram showing the underside of the toes as viewed from below. [Figure 6B] This shows the state after removing the paw pads from the state shown in Figure 6A. [Figure 6C] This is a schematic diagram showing the area around the base of the left foreleg. [Figure 7] This is a schematic diagram showing the head of a robotic device. [Figure 8A] This is a schematic diagram showing the ear 320 and its surrounding area in detail. [Figure 8B] This is a schematic diagram illustrating the movement of ear 320. [Figure 9A] This is a schematic diagram showing the external appearance of a tail attached to a robotic device. [Figure 9B] This is a schematic diagram showing the state after the tail has been removed from the state shown in Figure 9A. [Figure 10] This is a schematic diagram showing a cross-section along the dashed line I-I' in Figure 7. [Figure 11A] This is a schematic diagram showing the abdominal portion of the robotic device. [Figure 11B] This is a schematic diagram showing the state after the cover has been removed from the state shown in Figure 11A. [Figure 12A]It is a schematic diagram showing the state of removing the cover. [Figure 12B] It is a schematic diagram showing the state of removing the cover. [Figure 12C] It is a schematic diagram showing the state of removing the cover. [Figure 13] It is a schematic diagram showing the configuration of the battery. [Figure 14] It is a schematic diagram showing the frame of the robot device and the arrangement of the substrate. [Figure 15] It is a schematic diagram showing the frame of the robot device and the arrangement of the substrate. [Figure 16] It is a schematic diagram showing the frame of the robot device and the arrangement of the substrate. [Figure 17] It is a schematic diagram showing the routing of the circuit board from the body to the head of the robot device. [Figure 18] It is a schematic diagram showing the routing of the circuit board from the body to the head of the robot device. [Figure 19] It is a schematic diagram showing a screw and a cover for hiding the screw.

Embodiments for Carrying Out the Invention

[0009] Hereinafter, preferred embodiments of the present disclosure will be described in detail while referring to the accompanying drawings. In the present specification and drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant description is omitted.

[0010] The description will be made in the following order. 1. Configuration of the joint part 2. Mechanism for moving the legs 3. Configuration of the ears 4. Configuration of the tail 5. Configuration and arrangement example of the sensor 6. Configuration of the eyes 7. Configuration of the cover of the storage part 8. Configuration of the battery 9. Configuration of the routing of the frame, substrate, and wiring 10. Configuration for hiding the screw

[0011] 1. Composition of the joint Figure 1 is a schematic diagram showing the external appearance of the robot device 1000 and the rotation axes of its joints. The robot device 1000 is equipped with four legs 100, 110, 120, and 130 driven by electric motors such as servo motors.

[0012] As shown in Figure 1, the robot device 1000 has multiple joints. For the sake of explanation, the robot device 1000 will be classified into a right foreleg system, a left foreleg system, a right hind leg system, a left hind leg system, a body system, and a head system based on their movement. The right foreleg system has joints 102, 104, and 106. The left foreleg system has joints 112, 114, and 116. The right hind leg system has joints 122, 124, and 126. The left hind leg system has joints 132, 134, and 136. The body system has joint 142. The head system has joints 152, 154, 156, and 158. Each of these systems is connected to the torso 140. The joints shown in Figure 1 are the main joints driven by electric motors. In addition to the joints shown in Figure 1, the robot device 1000 has other joints that move passively in accordance with the movements of the other joints. Furthermore, the robot device 1000 has multiple movable parts such as a mouth, ears, and tail, and these movable parts are also driven by electric motors or the like.

[0013] In Figure 1, each joint is represented by a cylinder. At each joint, the central axis of the cylinder corresponds to the axis of rotation of the joint.

[0014] In this embodiment, the number of joints has been increased compared to conventional robot devices. In the head system, the presence of joint 152 enables the robot device 1000 to tilt its neck from side to side when viewed from the front. In the body system, the presence of joint 142 enables the robot device 1000 to swing its waist from side to side when viewed from above. As a result, it is possible to achieve a wider range of movements with the robot device 1000 than ever before.

[0015] Each joint is driven by an electric motor such as a servo motor (hereinafter simply referred to as "motor"). The power source is not particularly limited. The motors of each joint are housed in a single box, along with a gear mechanism and a microcontroller for driving the motors. The box is made of a resin material (such as plastic). By housing the motors and gear mechanism in a single box and sealing it, the quietness of the robot device 1000 can be improved.

[0016] There are two-axis boxes and one-axis boxes that house the motor, gear mechanism, and microcontroller. Taking the left hind leg system as an example, the motor, gear mechanism, and microcontroller of joints 132 and 134 are housed in one box 200, and this box 200 constitutes a two-axis rotation axis. On the other hand, the motor, gear mechanism, and microcontroller of joint 136 are housed in one box 210, and this box 210 constitutes a one-axis rotation axis.

[0017] In this embodiment, a spherical joint can be realized by housing two rotation axes in a single box 200. Furthermore, housing two rotation axes in a single box reduces the space required for the joint, making it possible to determine the shape of the robot device 1000 with an emphasis on design.

[0018] Each of the aforementioned systems, such as the right foreleg system, is controlled by a microcomputer located in each joint. Among the joints, for example, the joint 158 ​​of the head system is configured to be electrically braked. If the joint 158 ​​were to rotate freely when the power is off, the head could drop down and hit the user's hand or other body parts. By applying a brake to the joint 158, this situation can be avoided. The brake can be implemented by determining the rotation of the motor based on the electromotive force generated by the rotation of the motor of the joint 158 ​​when the power is off, and generating a driving force in the opposite direction to the direction in which the motor is trying to rotate.

[0019] 2. Mechanism for moving the legs Next, the mechanism for moving the lower leg will be explained in detail, using the left hind leg system as an example. The configuration of the other legs is the same as that of the left hind leg system. Figure 2 is a schematic diagram showing the left hind leg 130 as viewed from the left side of the robot device 1000. The left hind leg 130 consists of an arm 130a, an arm 130b, and an arm tip 130c. Arm 130a is provided with both a box 200 having two rotation axes and a box 210 having one rotation axis.

[0020] Figure 3 shows the state with the cover 302 covering the arm 130a shown in Figure 2 removed, and the left leg arm 130a rotated in the direction of the arrow in Figure 3. Note that the arms 130b and the arm tip 130c are not shown in Figure 3. As shown in Figure 3, a box 200 with two rotation axes and a box 210 with one rotation axis are provided on the arm 130a. Box 200 has rotation axes 132 and 134, and box 210 has rotation axis 136. By consolidating all of the boxes 200 and 210, which contain the motor for driving the left rear leg 130, into a single arm 130a, the space of the other arm 130b can be used for other functions, thus enabling efficient use of space. In addition, by placing the box 200 with two rotation axes at the connection part 131a of the arm 130a to the body 140, it becomes possible to configure the exterior of the connection part 131a as a sphere.

[0021] Figure 4 is a schematic diagram showing the mechanism for driving the arm tip 130c, and shows the state with the cover 300 on the arm 130b removed from the state shown in Figure 2. The arm tip 130c rotates relative to the arm 130b, but there is no motor on its rotation axis 138. On the other hand, as shown in Figure 4, the rotation axis 136 on which the arms 130a and 130b rotate relative to each other, and the rotation axis 138 on which the arm 130b and the arm tip 130c rotate relative to each other are connected by a link 230. Therefore, as the arm 130b rotates relative to the arm 130a, the arm tip 130c also rotates.

[0022] Specifically, when arm 130b rotates relative to arm 130a due to the driving force of the motor provided in the box 210 of the rotating shaft 136, the position of the upper shaft 310 of link 230 does not move relative to arm 130a. Therefore, for example, when arm 130b rotates relative to arm 130a in the direction of arrow A1, the arm tip 130c rotates relative to arm 130b in the direction of arrow A2. As a result, when arm 130b rotates relative to arm 130a in the direction of arrow A1 and the left rear leg knee is bent, the arm tip 130c, which corresponds to the ankle, rotates in the direction of arrow A2, realizing the ankle movement when bending the knee and squatting.

[0023] Furthermore, with this mechanism, for example, when lifting the left hind leg upward while walking, the arm tip 130c rotates in the direction of arrow A2, and the tip of the arm tip 130c rises, which prevents the tip of the left foot from catching on the ground. As a result, the amount the foot needs to be lifted during walking can be reduced, enabling smoother and faster walking.

[0024] Figure 5 is a schematic diagram showing the left side of the robot device 1000. As shown in Figure 5, a foot 130d is attached to the arm tip 130c, and the foot 130d is freely rotatable in the direction of arrow A3 with respect to the arm tip 130c, with the rotation axis 139 as the center of rotation. The foot 130d is biased in the counterclockwise direction in Figure 5 up to a predetermined stopper position by a spring (not shown). This allows the foot 130d to accurately grip the surface of the road (floor) when the robot device 1000 walks.

[0025] Figure 6A is a schematic diagram showing the underside of the toe 130d as viewed from below. The underside of the toe 130d is provided with paw pads 310 and 312. Both paw pads 310 and 312 are made of rubber and contain load sensors. Paw pad 312 is removable and replaceable. Figure 6B shows the state after paw pad 312 has been removed from the state shown in Figure 6A. If paw pad 312 becomes worn, the user can remove it and replace it with a new one.

[0026] Furthermore, by replacing the paw pad 312, it is possible to use different materials for the paw pad 310 and the paw pad 312, or to give the paw pad 312 different functions. This allows for the attachment of a paw pad 312 with the optimal function depending on the floor material, for example. In addition, by replacing the paw pad 312 with one of a different color, the user can change the color to their preference.

[0027] Figure 6C is a schematic diagram showing the area around the base of the left foreleg 110, and shows a cross-section as viewed from the front of the robot device 1000. As shown in Figure 6C, the rotating shafts 112 and 114 at the base of the left foreleg 110 are housed in a two-axis box 200. The box 200 is housed in the left leg 110 with the rotating shaft 114 fixed to the left leg 110. The box 200 is also fixed to the frame 400 (described later) by the fact that the rotating shaft 112 is fixed to the torso 140.

[0028] The portion of the left foot 110 facing the frame 400 is spherical, as described above, and faces the concave region 402a of the frame 402, which will be described later. With this configuration, the left foot 110 can be freely rotated relative to the frame 400 by driving the rotation axis 112 and rotation axis 114. The other feet are configured in the same way as in Figure 6C.

[0029] As shown in Figure 6C, when the rotating shaft 114 is driven, the leg 110 is driven in the direction of arrow A7. At this time, in order to avoid interference with the rotating shaft 112, a groove 740 corresponding to the rotating shaft 112 is provided on the exterior of the leg 110. By providing the groove 740, the leg 110 can be rotated in the direction of arrow A7 when the rotating shaft 114 is driven.

[0030] On the other hand, if the leg 110 rotates by, for example, 90° or more in the direction of arrow A7 from the state shown in Figure 6C, the groove 740 may rotate to a position where it does not face the frame 400, and the groove 740 may be exposed to the outside. In this case, foreign matter may get stuck in the groove 740. For this reason, a spherical cover 750 as shown in Figure 6C is provided. The cover 750 is spherical to match the shape of the adjacent leg 110. With this configuration, when the leg 110 rotates freely by driving one of the two rotation axes 114, the groove 740 that avoids interference with the other rotation axis 112 is prevented from being exposed to the outside. The cover 750 may also be made to move in accordance with the movement of the leg 110. Alternatively, a spring may be provided to bias the cover 750 in a predetermined direction, so that the cover 750 contacts a predetermined stopper.

[0031] 3. Structure of the ear Figure 7 is a schematic diagram showing the head 150, specifically the face, of the robot device 1000. The robot device 1000 is equipped with ears 320. The ears 320 rotate in the direction of arrow A4 with respect to the rotation axis 322 by the driving force of the motor. In addition to rotating in the direction of arrow A4, the ears 320 of the robot device 1000 are driven to open to the left and right when viewed from the front (in the direction of arrow A5), with respect to the rotation axis 324. In Figure 7, the angle α at which the ears 320 open in the direction of arrow A5 is called the opening angle.

[0032] Figure 8A is a schematic diagram showing the ear 320 and its surroundings in detail. The ear 320 rotates in the direction of arrow A4 with respect to the rotation axis 322 by the drive of a built-in motor. As shown in Figure 8A, the ear 320 is rotatable with respect to the rotation axis 324. In addition, an oblique cam 328 fixed to the head 150 is provided at the base of the ear 320. When the ear 320 rotates in the direction of arrow A4 with respect to the rotation axis 322 as the center of rotation, the cam follower 326 provided on the ear 320 slides on the oblique cam 328. As a result, the ear 320 rotates in the direction of arrow A5 with respect to the rotation axis 324 as the center of rotation.

[0033] Figure 8B is a schematic diagram illustrating the movement of the ear 320. The opening angle α of the ear 320 increases as the ear 320 rotates with respect to the rotation axis 322, and the tip of the ear 320 rotates in front of the robot device 1000. For example, the opening angle α of the ear 320 can open up to a maximum of 28 degrees, with the most closed state of the ear 320 opening to the left and right being defined as 0 degrees. As shown in Figure 8B, the opening angle of the ear 320 is basically 0 when the rotation angle of the ear 320 around the rotation axis 322 is in the range of 0 to 70°. On the other hand, since the cam follower 326 is mounted on the oblique cam 328, even when the rotation angle of the ear 320 around the rotation axis 322 is in the range of 0 to 70°, if a user touches the ear 320 and moves its tip in the direction of opening, the ear 320 can freely open within the range of free movement of the opening angle α from 0 to 28 degrees. In other words, when the rotation angle of the lug 320 around the rotation axis 322 is between 0 and 70°, the cam follower 326 moves away from the oblique cam 328, allowing the lug 320 to rotate in the direction of arrow A5 within its range of free movement, with the rotation axis 324 as the center of rotation.

[0034] When the ear 320 rotates around the rotation axis 324, if the opening angle α reaches 28 degrees, the ear 320 hits a predetermined mechanical stopper, and the ear 320 cannot open any further. In the range of rotation angle of the ear 320 around the rotation axis 322 from 0 to 70°, the range of free movement is from when the cam follower 326 is in contact with the oblique cam 328 until the cam follower 326 separates from the oblique cam 328 and the ear 320 hits the aforementioned mechanical stopper.

[0035] On the other hand, as shown in Figure 8B, in the range of 0 to -95 degrees for the rotation angle around the rotation axis 322, the smaller the rotation angle, the more the cam follower 326 rises along the oblique cam 326, and the larger the opening angle α of the ear 320 becomes. As a result, the range of free movement of the ear 320 in the opening direction becomes smaller. When the rotation angle around the rotation axis 322 becomes -95 degrees, the opening angle of the ear 320 becomes 28 degrees, and the range of free movement becomes 0.

[0036] As described above, by changing the opening angle α of the ear 320 according to the rotation angle of the ear 320 around the rotation axis 322, the movement of the ear 320 can be made more realistic, and the emotional expression of the robot device 1000 can be made richer. Furthermore, even when the ear 320 is not open, by providing a range of motion in the opening direction of the ear 320, the ear 320 can open when the user touches it, making the movement of the ear 320 more realistic.

[0037] 4. Tail structure Figure 9A is a schematic diagram showing the external appearance of the tail 330 provided on the robot device 1000. Figure 9B is a schematic diagram showing the state with the tail 330 removed from the state in Figure 9A. The tail 330 is attached to the tail mounting part 340. The tail mounting part 340 rotates in the direction of arrow A6 by the drive of a motor. The tail 330 is made of silicone rubber and is thicker at the tip than at the base. A hole is provided at the base of the tail 330 for insertion into the tail mounting part 340. In the area of ​​the tail 330 where there is no hole for insertion into the tail mounting part 340, the tail 330 is solid. In this way, by making the tail 330 out of silicone rubber, thicker at the tip than at the base, and solid, the tip is heavier. Therefore, when the tail mounting part 340 is driven in the direction of arrow A6, the tail 330 vibrates moderately. Furthermore, the tail 330 vibrates moderately when the robot device 1000 walks. The moderate vibration of the tail 330 allows the user to feel a sense of familiarity and affection for the robot device 1000.

[0038] 5. Sensor configuration and placement examples The robot device 1000 is equipped with various sensors. As shown in Figure 5, pressure sensors and electrostatic sensors are installed over a wide area on the back 344 of the robot device 1000. The pressure sensors are capable of detecting loads ranging from tens of grams to several thousand grams. By installing both electrostatic sensors and pressure sensors on the back 344, the robot can reliably detect user movements when the user strokes or taps the back 344.

[0039] In particular, using both electrostatic and pressure sensors in combination can suppress the occurrence of false detections. For example, when the robot device 1000 is walking, the pressure sensor may falsely detect the user's hand due to vibration detection. In such cases, if the hand is not detected by the electrostatic sensor, the reaction of the pressure sensor can be ignored. When the robot device 1000 is stationary, the possibility of false detection by the pressure sensor is low, so the user's hand may be detected based solely on the detection by the pressure sensor without using the electrostatic sensor.

[0040] The pressure sensor and electrostatic sensor located on the back of the robot device 1000 are both built inside the cover 344a of the back 344. The surface of the cover 344a located outside the pressure sensor and electrostatic sensor is covered with a silicone rubber coating. This coating has a fine mesh-like pattern. This configuration makes it possible to give the back a "smooth" feeling when a user touches it, improving the tactile sensation. As a result, in the interaction between the user and the robot device 1000, it is possible to give the robot device 1000 a tactile sensation that makes the user want to touch it more, and to better convey the user's emotions.

[0041] In Figure 7, an electrostatic sensor is embedded in the region 352 enclosed by the dashed line extending from the top of the head to the nose. Furthermore, as shown in Figure 17, an electrostatic sensor is also embedded in the region 354 enclosed by the dashed line extending from the chin. Therefore, even if the user strokes the region 352 extending from the top of the head to the nose, or the chin region 354, the user's actions can be reliably detected.

[0042] The robot device 1000 can recognize the user's petting as a reward. This allows the robot device 1000 to perform more of the actions it performed immediately before being petted.

[0043] As shown in Figure 7, a camera 700 is attached to the nose of the robot device 1000. Also, as shown in Figures 9A and 9B, a camera 710 is attached to the front of the tail 330 on the back of the robot device 1000. The robot device 1000 can recognize people and objects in its surroundings by imaging the surroundings with cameras 700 and 710.

[0044] Furthermore, the robot device 1000 is equipped with a human presence sensor and a PSD (Position Sensitive Detector) around its nose. For example, the human presence sensor can detect the temperature of a person up to 5 meters away. The robot device 1000 can detect users using these sensors. In addition, the robot device 1000 is also equipped with an illuminance sensor to detect light levels.

[0045] Furthermore, the robot device 1000 is equipped with gyro sensors (accelerometers) on its body and head. This allows the robot device 1000 to detect its own posture. In addition, the robot device 1000 can also detect falls and when a user picks it up using the gyro sensors.

[0046] The robot device 1000 has five microphones embedded in its head, with holes in the head's exterior corresponding to the position of each microphone. Specifically, two microphones are built into each side of the head, and the remaining microphone is built into the back of the head. Generally, it is possible to estimate the location of a sound source by acquiring sound from three microphones.

[0047] For example, if a voice is heard from the right side of the robot device 1000, the joints 152, 154, 156, and 158 of the head system are controlled so that the robot device 1000's head turns to the right. By embedding a microphone in the head, natural head movements can be achieved.

[0048] 6. Eye composition The eyes 350 of the robot device 1000 shown in Figure 7 are configured to perform various movements and displays in accordance with the operation of the robot device 1000. For this reason, the robot device 1000 is equipped with a self-emissive display device (OLED) 3520 in each of its left and right eyes 350. Figure 10 is a schematic diagram showing a cross-section along the dashed line I-I' in Figure 7. As shown in Figure 10, the eyes 350 of the robot device 1000 are composed of an OLED 3520, a lens 3540, and a cover glass 356.

[0049] The OLED 3520, lens 3540, and cover glass 356 are provided for each of the left and right eyes 350. If a planar display device is provided for both the left and right eyes in common, both eyes will be in a planar arrangement, making it impossible to configure the eyes three-dimensionally. In this embodiment, by providing an OLED 3520 individually for each of the left and right eyes 350, the orientation of the left and right eyes 350 can be optimally positioned, and the left and right eyes 350 can be configured three-dimensionally.

[0050] OLED3520 displays information related to the eye, such as blinking, the whites of the eyes, the pupils, and pupil movements. Lens3540 magnifies the display of OLED3520 and refracts light to give the display of OLED3520 a wider view.

[0051] The lens 3540 has a convex curved surface on its front side, and the display of the OLED 3520 is reflected by this curved surface. This allows the spherical shape of the eyeball to be represented. As shown in Figure 10, the thickness of the lens 3540 is thicker towards the center and thinner towards the periphery. By changing the thickness of the lens 3540 between the center and the periphery, the curvature of the front and back surfaces of the lens 3540 differs, creating a lens effect. This also makes it possible to create the aforementioned display spread when the user looks at the eye 350. Furthermore, if the lens 3540 is placed without any gaps so that the front of the OLED 352 is filled, the lens effect becomes too strong, but by providing a space between the lens 3540 and the OLED 3520, the lens effect can be made appropriate.

[0052] Although the display from the OLED3520 is two-dimensional, by applying a coordinate transformation to the curved surface of the lens 3540, the display can be positioned at a desired location on the sphere. Therefore, by controlling the pitch angle and yaw angle on the lens 3540, it becomes possible to control the position of the pupil to face the user.

[0053] The cover glass 356 is made of a transparent resin material or the like with a uniform thickness. The surface of the cover glass 356 forms a curved surface that is continuous with the surface of the head of the adjacent robot device 1000. As a result, even when a user touches the eye 350 and its surroundings, the user will not feel any difference in height, thus suppressing any discomfort.

[0054] 7. Cover (lid) structure Figure 11A is a schematic diagram showing the underside of the robot device 1000. The underside of the robot device 1000 is provided with contact terminals 360, 362, and 364 for contacting a charging station and receiving power. Behind the contact terminals 360, 362, and 364, for example, a battery 380 can be housed, and the battery 380 is exposed to the outside by removing the cover 370. By removing the cover 370, the user can also access various terminals and operation keys. Figure 11B is a schematic diagram showing the state after removing the cover 370 from the state shown in Figure 11A.

[0055] Figures 12A, 12B, and 12C are schematic diagrams showing how to remove the cover 370. Unlike typical electrical products, the cover 370 does not have a mechanism for removing it by hooking a fingernail. To remove the cover 370, first press the rear end of the cover 370 with your finger, as shown in Figure 12A. This will cause the front end of the cover 370 to lift, as shown in Figure 12B. Therefore, as shown in Figure 12C, the cover 370 can be removed by pulling up the front end of the cover 370.

[0056] 8. Battery Configuration Figure 13 is a schematic diagram showing the configuration of the battery 380. As shown in Figure 13, the battery 380 has a roughly rectangular parallelepiped shape, with two of its six sides being curved surfaces. The battery 380 is equipped with six terminals 380a that are electrically connected to the robot device 1000. By providing six terminals 380a, it is possible to reliably supply power to the robot device 1000, which handles a large amount of power.

[0057] Furthermore, rectangular recesses 386 and 388 are provided on two opposing surfaces 382 and 384 of the battery 380. The recesses 386 and 388 are located opposite each other on the two surfaces 382 and 384. This allows the recesses 386 and 388 to be grasped, for example, with the index finger and thumb, making it easy to attach and detach the battery 380 to the robot device 1000.

[0058] Furthermore, a recess 390 is formed on the surface 385 of the battery, providing a vertical wall 392. This makes it possible to remove the battery 380 from the robot device 1000 by placing a finger on the vertical wall 392.

[0059] A placement recess 394 is formed at the tip of each of the six terminals 380a. The placement recess 394 opens in the direction of connection between the six terminals 380a and the connection terminals on the robot device 1000 side that are connected to each terminal 380a. The placement recess 394 is formed by placement recess forming surfaces 396 and 398. At least a portion of the placement recess forming parts 396 and 398 is formed as an inclined surface in which the opening area of ​​the placement recess 394 increases as it moves away from the terminals 380a in the direction in which the placement recess 394 opens. The housing of the battery 380 is constructed, for example, by joining an upper case and a lower case vertically. Multiple cells, separators for separating and arranging the cells, connecting sheets connected to the cells, circuit boards, etc. are arranged in the housing space of the housing. The basic configuration of the battery 380 can be configured in the same way as the battery described in, for example, Japanese Patent No. 6191795.

[0060] 9. Configuration of frame, circuit board, and wiring layout Figures 14 to 16 are schematic diagrams showing the arrangement of the frame 400 and circuit board 500 of the robot device 1000. As an example, the frame 400 is made of magnesium die-cast and mainly consists of four parts 402, 404, 406, and 408. Figures 14 to 16 show the same frame 400 from different viewing angles, but parts 406 and 408 are omitted from the illustration in Figures 15 and 16.

[0061] Each of parts 402 and 404 has a concave region 402a and 404a, to which the joints 112 and 114 of the left foreleg and the joints 102 and 104 of the right foreleg are connected. Part 408 also has a recess 408a to which the joints 122 and 124 of the right hind leg 120 are connected. Part 406 also has a recess similar to part 408, to which the joints 132 and 134 of the left hind leg 130 are connected. Frames 406 and 408 rotate relative to frames 402 and 404 with a vertical rotation axis as the center of rotation, driven by the motor of the joint 142. As a result, as described above, when the robot device 1000 is viewed from above, it is possible to achieve a movement in which the waist swings from side to side.

[0062] By constructing the frame 400 from magnesium die-cast, the rigidity of the robot device 1000 can be increased compared to when it is constructed from sheet metal.

[0063] As shown in Figures 14 to 16, circuit boards 500, 502, 504, 506, and 509 are arranged on frame 400. By distributing the circuit boards 500, 502, 504, 506, and 509 on frame 400, the heat dissipation effect can be improved.

[0064] Furthermore, while the frame of a robot device 1000 is usually made up of a box-shaped housing, in this embodiment, the frame is made up of magnesium die-cast parts 402, 404, 406, and 408 instead of a box-shaped housing, which greatly increases the degree of freedom in arranging the circuit boards 500, 502, 504, 506, and 509.

[0065] Figures 17 and 18 are schematic diagrams showing the routing of the circuit board 510 from the body to the head of the robot device 1000. As shown in Figure 17, the circuit board 510 connecting the body 140 and head 150 of the robot device 1000 is provided along the arm 170 that connects the joints 156 and 158. Since the head 150 moves relative to the body 140, it is desirable that the circuit board 510 be made of a flexible printed circuit board (FPC). As shown in Figure 18, the circuit board 510 is separated into two circuit boards 512 and 514, which are connected to another circuit board provided on the head 150.

[0066] The main circuit board of the robot device 1000 is located on the torso side. On the other hand, since various sensors and eye display devices are concentrated in the head 150, a circuit board 510 with a relatively large number of wires is used there.

[0067] 10. Configuration to conceal screws The robotic device 1000 uses screws during assembly, but all screws are hidden so that they are not exposed to the outside. Therefore, all screws are located inside the outer cover. Figure 19 is a schematic diagram showing a screw 600 and a cover 610 that covers the screw 600. The screw 600 and cover 610 are revealed when any of the outer covers are removed. The cover 610 shown in Figure 19 serves to hide the screw 600 and also prevents the screw 600 from loosening.

[0068] As shown in Figure 19, the head of the screw 600 has a recessed portion 602 formed on its side surface. The cover 610 is provided with a hole 612 into which the head of the screw 600 is inserted, and the inner circumference of the hole 612 is provided with a recessed portion 614 corresponding to the recessed portion 602 on the outer circumference of the head of the screw 600.

[0069] Furthermore, a recess 620 is formed in the outer casing surrounding the screw 600. The cover 610 is provided with a protrusion 616 that corresponds to the recess 620. As a result, when the cover 610 is placed over the screw 600, the protrusions 614 of the cover 610 fit into the protrusions 602 of the screw head 600, and the protrusions 616 of the cover 610 fit into the recess 620 of the outer casing. This prevents the screw 600 from loosening.

[0070] While preferred embodiments of the present disclosure have been described in detail above with reference to the attached drawings, the technical scope of the present disclosure is not limited to such examples. It is clear to any person with ordinary skill in the art of the present disclosure that various modifications or alterations may be conceived within the scope of the technical idea set forth in the claims, and these will naturally also fall within the technical scope of the present disclosure.

[0071] Furthermore, the effects described herein are merely descriptive or illustrative and not limiting. In other words, the technology relating to this disclosure may produce other effects that will be apparent to those skilled in the art from the description herein, in addition to or in lieu of the effects described herein.

[0072] Furthermore, the following configurations also fall within the technical scope of this disclosure. (1) A head connected to the torso, Four legs, one on the front left and one on the rear left and one on the rear, are connected to the aforementioned torso. A first joint that tilts the head to the left and right, A second joint that rotates one of the rear left and right legs forward relative to the torso, and the other leg backward, A robotic device equipped with the following features. (2) The robot device according to (1), wherein the connection between the torso and the foot is provided with two rotation axes for rotating the foot in the front-rear direction and the left-right direction, and the two rotation axes are housed in a single box. (3) The outer casing of the foot is provided with grooves to avoid interference between the two rotation axes when one of the two rotation axes is driven, The robotic apparatus according to (2), further comprising a cover that covers the groove. (4) The robotic device according to any one of (1) to (3), wherein the foot portion is provided with a plurality of rotation axes, and two rotation axes provided at the connection between the torso and the foot portion, and a rotation axis located directly below the connection portion, are provided on one arm constituting the foot portion. (5) The robotic device according to any one of (1) to (4), wherein the foot portion comprises a plurality of joints, and any joint is connected to any other joint via a link, and the other joints move in conjunction with the driving force of the arbitrary joint. (6) The robotic apparatus according to (5), wherein the arbitrary joint is a joint corresponding to a knee, and the other joint is a joint corresponding to an ankle. (7) The head is provided with ears, The robotic device according to any one of (1) to (6) above, wherein the tip of the ear rotates in the front-to-back direction. (8) The robotic device according to (7), wherein the tip of the ear rotates back and forth while opening to the left and right. (9) The robotic device according to (8), wherein the angle at which the ear opens increases as the ear rotates forward. (10) A robotic device according to any one of (1) to (9), comprising a tail that is rotationally driven relative to the body. (11) The robotic device according to (10), wherein the tail is made of silicone rubber and thickens from the base on the body side to the tip. (12) A robotic device according to any one of (1) to (11), comprising a sensor that detects when a user touches the torso or the head. (13) The robot device according to (12), wherein the sensor is composed of a combination of a pressure sensor and an electrostatic sensor. (14) The head is equipped with eyes, The aforementioned eye comprises a display device and a lens positioned outside the display device. The display device is provided individually for each of the two eyes, and is a robot device according to any one of (1) to (13) above. (15) The robotic apparatus according to (14), wherein the lens has different thicknesses at a position corresponding to the center of the display device and at a position corresponding to the periphery of the display device. (16) A robotic device according to any one of (1) to (15) above, comprising a charging terminal electrically connected to a charging station. (17) A robotic device according to any of (1) to (16) above, comprising a removable battery. (18) The battery has a first surface and a second surface opposite to the first surface, The robot apparatus according to (17), wherein rectangular recesses are formed at corresponding positions on the first surface and the second surface. (19) The robotic device according to (17) or (18), wherein the battery has a recess formed adjacent to a ridge line to which two surfaces are connected, and the recess forms a vertical wall on the ridge line. (20) A storage compartment in which the battery is housed, The storage compartment is enclosed by a lid, The robotic device according to any one of (17) to (19), wherein when the end of the lid is pressed, the opposite side of the end lifts up, making the lid removable. (22) A robotic device according to any one of (1) to (21), comprising a magnesium die-cast frame that constitutes the torso. (23) The robotic device according to (22), wherein the frame is composed of a plurality of parts divided in the left-right direction. (24) The robot device according to (22) or (23), wherein a plurality of circuit boards are arranged on the frame. (25) comprising an arm connecting the torso and the head, A robotic device according to any one of (1) to (25) above, wherein wiring is provided along the arm. [Explanation of Symbols]

[0073] 100, 110, 120, 130 feet 102, 104, 106, 112, 114, 116, 122, 124, 126, 132, 134, 136, 142, 152, 154, 156, 158 Joints 140 Torso 150 head 1000 robotic devices

Claims

1. Four legs, one on the front left and one on the rear left and one on the rear, are connected to the torso. A head connected to the aforementioned body, A third joint portion that tilts the head to the left and right, It has a fourth joint that rotates the head up and down, At least one of the four foot portions is equipped with a first joint that has a driving force and a second joint that does not have a driving force. The first joint and the second joint are connected by a link positioned between the internal axis of rotation of the first joint and the internal axis of rotation of the second joint. The second joint moves in conjunction with the driving force of the first joint transmitted via the link. Robotic device.

2. Having four legs, one on the front left and one on the rear left and one on the rear, connected to the torso, A head connected to the aforementioned body, A third joint portion that tilts the head to the left and right, It has a fourth joint that rotates the head up and down, At least one of the four foot portions is equipped with a first joint that has a driving force and a second joint that does not have a driving force. The first joint and the second joint are connected by a link. The second joint moves in conjunction with the driving force of the first joint transmitted via the link, The first joint, the second joint, and the link are covered by a cover. Robotic device.

3. The first joint, the second joint, and the link are covered by a cover. The robotic apparatus according to claim 1.

4. Four legs, one on the front left and one on the rear left and one on the rear, connected to the torso, A head connected to the aforementioned body, A third joint portion that tilts the head to the left and right, It has a fourth joint that rotates the head up and down, At least one of the four foot portions is equipped with a first joint that has a driving force and a second joint that does not have a driving force. The first joint and the second joint are connected by a link. The second joint moves in conjunction with the driving force of the first joint transmitted via the link, Three or more microphones are provided on the head. Based on the estimated position of the sound source relative to the head, obtained from the sound acquired by three or more microphones, the movement of the third joint and / or the fourth joint is controlled. Robotic device.

5. Three or more microphones are provided on the head, Based on the estimated position of the sound source relative to the head, obtained from the sound acquired by three or more microphones, the movement of the third joint and / or the fourth joint is controlled. A robotic device according to any one of claims 1 to 3.

6. A camera is provided on the nose portion of the head and the torso. A robotic device according to any one of claims 1 to 5.

7. The fourth joint is equipped with a microcomputer, The microcomputer applies a brake to the rotation of the fourth joint when the power is off, in order to suppress the up-and-down movement of the head when the power is off. A robotic device according to any one of claims 1 to 6.

8. The second joint rotates forward in conjunction with the posterior rotation of the first joint. A robotic device according to any one of claims 1 to 7.

9. The link is connected to the second joint at a position diagonally downward and in front of the axis of rotation of the second joint. A robotic device according to any one of claims 1 to 8.

10. A toe portion of the arm portion relating to the second joint, which is rotatably attached to the tip of the arm portion opposite to the first joint, Furthermore, The aforementioned toe portion is, It is rotatable in a direction corresponding to the rotation direction of the second joint, and is biased by a spring from the front to the bottom to a predetermined position. A robotic device according to any one of claims 1 to 9.

11. The aforementioned toe portion is provided with a component containing a load sensor that can be detachably attached to its underside. The robotic apparatus according to claim 10.

12. The connecting portion that connects the torso and the legs is provided with two rotation axes that allow the legs to rotate in the front-to-back direction and the left-to-right direction, and these two rotation axes are housed in a single box. A robotic device according to any one of claims 1 to 11.

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