Robot

Abstract

A robot according to an embodiment comprises: a first trunk part (11) that is supported by a base; and a second trunk part (12) that is rotatably supported by the first trunk part (11) and supports one or more arms.

Description

robot

[0001] The disclosed embodiments relate to a robot.

[0002] 2. Description of the Related Art Conventionally, robots have been known that have a torso corresponding to the upper body of a human and two arms (see, for example, Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2019-206058

[0004] Conventional robots with a torso and arms have a problem in that their structures are complex. For example, Patent Document 1 describes a robot with a joint in the torso.

[0005] The present invention has been made in view of the above, and has an object to provide a robot with a simple structure that includes a torso and arms.

[0006] A robot according to one aspect of the embodiment has a first body supported on a base, and a second body rotatably supported on the first body and supporting one or more arms.

[0007] According to one aspect of the embodiment, it is possible to provide a robot with a simple structure that includes a torso and arms.

[0008] 1 is a perspective view of a robot according to an embodiment, and FIG. 2 is a front view of a first body and an arm of the robot according to the embodiment.

[0009] Hereinafter, embodiments of the robot disclosed in the present application will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described below.

[0010] Furthermore, in the embodiments, expressions such as "parallel," "perpendicular," and "plumb" do not necessarily mean that these conditions are strictly met. These expressions allow for deviations due to the influence of manufacturing precision, etc.

[0011] 1 is a perspective view of a robot according to an embodiment of the present invention, and shows the robot 1. As shown in FIG. 1, the robot 1 has a first body 11, a second body 12, an arm 13, and an arm .

[0012] 1 and 2 show an orthogonal coordinate system including an x-axis, a y-axis, and a z-axis for the purpose of explanation. The positive direction of the y-axis is vertically upward. The x-axis and z-axis are both orthogonal to the y-axis. Furthermore, the x-axis and z-axis are orthogonal to each other.

[0013] The first body 11 is supported by the base 20. The first body 11 may also be supported so as to be rotatable relative to the base 20. For example, the first body 11 rotates around the y-axis.

[0014] The base 20 may also include a moving means, such as wheels or legs, which allows the robot 1 to move together with the base 20.

[0015] Furthermore, the second body 12 extends in a first direction away from the base 20, starting from the end supported by the base 20, while curving in a direction perpendicular to the first direction. In the example of Fig. 1, the second body 12 extends in the positive direction of the y-axis and curves in the positive direction of the z-axis.

[0016] The second body 12 is rotatably supported by the first body 11. The second body 12 also has an arm 13 and an arm 14. The arm 13 and the arm 14 each have one or more joints and gripping portions. The arm 13 and the arm 14 can, for example, grasp and move an object on the base 30.

[0017] The second body 12 further has an extension that extends in a direction different from both the first body 11 and the arm. The extension is provided with a sensor at a tip 121 of the extension. The sensor is, for example, a camera. The extension also functions as a balancer.

[0018] For example, the gripping portions (tips of the arms) of the arms 13 and 14 may move further in the negative direction of the z-axis than the first body 11 to grip an object. In this case, the extensions function as balancers to prevent the robot 1 from tipping over in the negative direction of the z-axis.

[0019] The first body 11 and the second body 12 are fixed. That is, the first body 11 and the second body 12 do not have joints. This simplifies (or rather complicates) the structure of the robot 1 and improves its robustness.

[0020] On the other hand, the second body 12 is supported rotatably relative to the first body 11. This allows flexible movement of the second body 12 and the arm.

[0021] 2 is a front view of the second torso 12 and the arm 14 of the robot according to the embodiment, as viewed from the positive direction to the negative direction of the z-axis.

[0022] The first axis 111 is an axis about which the second body 12 rotates relative to the first body 11. The first axis is parallel to the z-axis. That is, the second body 12 rotates around the first axis 111, which is parallel to the z-axis.

[0023] The arm 14 includes one or more joints that rotate around an axis perpendicular to the first axis 111 and one or more joints that rotate around an axis parallel to the first axis.

[0024] Joint 141 and joint 144 rotate around an axis parallel to first axis 111. Joint 142, joint 143, and joint 145 rotate around an axis perpendicular to first axis 111. However, the parallel or perpendicular relationship between the axis of each joint and first axis 111 described here applies when arm 14 is in the state shown in FIG. 2. Furthermore, gripper 146 grips an object on base 30.

[0025] The configuration of arm 13 is the same as the configuration of arm 14 shown in Fig. 2. However, arm 13 has a structure that is plane-symmetrical to arm 13 with respect to a plane that is parallel to the yz plane and passes through first axis 111. If arm 14 is modeled after a human left arm, then arm 13 can be said to be modeled after a human right arm. The first torso 11 and second torso 12 can be said to be modeled after a human lower body and upper body, respectively.

[0026] As described above, the robot 1 according to one aspect of the embodiment has a first torso 11 and a second torso 12. The first torso 11 is supported on a base 20. The second torso 12 is rotatably supported on the first torso 11 and supports one or more arms. This allows the arms to move flexibly even if the first torso 11 and the second torso 12 do not have joints. As a result, a robot with a simple structure having a torso and arms can be provided.

[0027] The second body 12 extends in a first direction away from the base 20, starting from the end supported by the base 20, and curves in a direction perpendicular to the first direction. This allows the range of motion of the second body 12, the arm 13, and the arm 14 to be expanded while maintaining the stability of the entire robot 1.

[0028] The first body 11 is rotatably supported on the base 20. This allows the range of movement of the arm to be further expanded.

[0029] The second body 12 further has an extension that extends in a direction different from both the first body 11 and the arm, thereby enabling the robot 1 to have a balancer.

[0030] The extension portion may also include a sensor at the tip 121. This prevents the sensor from being affected by the movement of the arm, for example, while the second body portion 12 is not rotating.

[0031] The arm has one or more joints that rotate around an axis perpendicular to a first axis about which the second body 12 rotates relative to the first body 11, and one or more joints that rotate around an axis parallel to the first axis.

[0032] For example, each joint of the arm 14 is connected to a straight section. The straight section is the section between the joints. The straight section may be called a bone in contrast to the joint. By providing the robot 1 with multiple joints with different rotation axes, the straight section can be made as long as possible, thereby expanding the range of motion of the arm 14 with a simple structure.

[0033] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications and improvements can be made to the above embodiments. It is clear from the claims that such modifications and improvements can also be included within the technical scope of the present invention.

[0034] REFERENCE SIGNS LIST 1 Robot 11 First body 12 Second body 13, 14 Arm 111 First axis 121 Tip 141, 142, 143, 144, 145 Joint 146 Grasp

Claims

1. A robot having a first body supported on a base; and a second body rotatably supported on the first body and supporting one or more arms.

2. The robot according to claim 1, wherein the second body portion extends in a first direction away from the base from an end portion supported by the base, and curves in a direction perpendicular to the first direction.

3. The robot according to claim 1, wherein the first body is supported rotatably relative to the base.

4. The robot according to claim 1, wherein the second body further has an extension portion that extends in a direction different from both the first body and the arm.

5. The robot according to claim 4, wherein the extension portion is equipped with a sensor at its tip.

6. The robot according to claim 1, wherein the arm comprises one or more joints that rotate about an axis perpendicular to a first axis about which the second body rotates relative to the first body, and one or more joints that rotate about an axis parallel to the first axis.

Images