Robot

Abstract

A robot according to an embodiment comprises: a first trunk part (11) that is supported at a position different from the center of a surface of a base; and a second trunk part (12) that is rotatably supported by the first trunk part (11), the second trunk part (12) supporting 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 equipped with a torso and arms have a problem in that the area for performing work with the arms may be insufficient. For example, in order for the robot described in Patent Document 1 to perform work with the arms, a workbench must be prepared.

[0005] The present invention has been made in view of the above, and has an object to provide a robot that can secure an area in which work can be performed by an arm portion.

[0006] A robot according to one aspect of the embodiment has a first body supported at a position different from the center of a surface of 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 that can secure an area where work can be performed by the arm portion.

[0008] Fig. 1 is a perspective view of a robot according to a first embodiment. Fig. 2 is a front view of a first body and an arm of the robot according to the first embodiment. Fig. 3 is a perspective view of a robot according to a second embodiment. Fig. 4 is a diagram illustrating the translational movement of the robot. Fig. 5 is a diagram illustrating the translational movement of the robot. Fig. 6 is a diagram illustrating the translational movement of the robot.

[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 a first embodiment. As shown in FIG. 1, the robot 1 has a first body 11, a second body 12, an arm 13, and an arm 14.

[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 at a position different from the center of the surface of the base 20. Here, the first body 11 is supported on a rectangular surface (hereinafter, the support surface) on the upper side (the positive y direction side) of the base 20, which is a rectangular parallelepiped.

[0014] As shown in FIG. 1, the end portion of the first body 11 is supported not at the center of the support surface (the intersection of the diagonals of the rectangle), but at a position shifted in the negative direction of the z-axis from the center of the support surface.

[0015] Here, the support surface is assumed to be a rectangle with two sides parallel to the x-axis and two sides parallel to the z-axis. Of the two sides parallel to the x-axis, the side on the positive side of the z-axis is referred to as the first side. Of the two sides parallel to the x-axis, the side on the negative side of the z-axis is referred to as the second side.

[0016] The distance between the first side and a line that passes through the center of the support surface and is parallel to the x-axis is defined as d1. The distance between the second side and a line that passes through the center of the support surface and is parallel to the x-axis is defined as d2. In this case, d1 = d2.

[0017] The distance between a line passing through the end where the first body 11 is supported and parallel to the x-axis and a line passing through the center of the support surface and parallel to the x-axis is d3. The distance between the line passing through the end where the first body 11 is supported and parallel to the x-axis and the second side is d4.

[0018] 1, a working area of ​​length d1+d3 is secured on the support surface in the direction (positive direction of the z-axis) where the second body 12, arm 13, and arm 14 are located when viewed from the first body 11. The surface of this working area and the space above it (positive direction of the y-axis) are the range of movement of the arm 13 or arm 14.

[0019] When the end portion where the first body portion 11 is supported is at the center of the support surface, the length of the working area is d1.

[0020] Furthermore, the first body 11 may be rotatably supported relative to the base 20. For example, the first body 11 rotates around the y-axis. This allows for operations such as rotating the first body 11 so that the arms 13 and 14 are located on the positive side of the z-axis when a wide working area is required, and rotating the first body 11 so that the arms 13 and 14 are located in the respective directions when work is required to the side (positive or negative direction of the x-axis) or rear (negative direction of the z-axis).

[0021] 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.

[0022] Furthermore, the second body 12 extends from the end supported by the base 20 in a first direction away from the base 20, while curving in a direction perpendicular to the first direction, from the end toward the center of the support surface (the positive direction of the z-axis). 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. This ensures the working area of ​​the aforementioned length d1 + d3.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] Fig. 2 is a front view of the second torso 12 and the arm 14 of the robot according to the first embodiment, as viewed from the positive direction to the negative direction of the z axis.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] As described above, the robot 1 according to the first embodiment has a first torso 11 and a second torso 12. The first torso 11 is supported at a position different from the center of the surface (support surface) of the 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 including a torso and arms can be provided. Furthermore, the robot can secure an area on the support surface where the arms can perform tasks.

[0034] 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, from the end toward the center of the support surface (the positive direction of the z-axis). This makes it possible to expand the range of motion of the second body 12, the arms 13 and 14, and ensure a working area, while maintaining the stability of the entire robot 1.

[0035] The first body 11 is rotatably supported on the base 20. This allows the range of movement of the arm to be further expanded.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] Second Embodiment Fig. 3 is a perspective view of a robot according to a second embodiment. Description of parts common to Fig. 1 and Fig. 3 will be omitted. In Fig. 3, the base 20 is provided with four wheels including a wheel 211 and a wheel 221. If the positive direction of the z axis is the forward direction, the wheel 211 and the wheel 221 are the left front and left rear wheels, respectively. The right front and right rear wheels are not shown.

[0041] [Parallel Movement] The robot 1 can move parallel to the support surface of the base 20. For example, the first torso 11 moves in the positive and negative directions of the z axis. An area 23 indicates the range in which the first torso 11 can move. Note that the movement of the first torso 11 is the same as the movement of the robot 1.

[0042] The first body 11 of the robot 1 is provided with rollers at the end on the support surface side. Rails are also provided in the support surface area 23. The first body 11 moves on the rails by the rollers. The rollers are driven by, for example, a motor. The first body 11 of the robot 1 may also be moved by driving the rails.

[0043] The first torso 11 may move not only along one axis but also along multiple axes. The robot 1 may also be capable of moving freely within a predetermined area on a support surface.

[0044] The parallel translation of the robot 1 (first body 11) will be described with reference to Figures 4, 5, and 6. Figures 4, 5, and 6 are diagrams for explaining the parallel translation of the robot. In the following description, z = z０ The position of the robot 1 is expressed based on the reference point 11. The position of the robot 1 is the center position of the first trunk portion 11 on the support surface side.

[0045] In the example of FIG. 4, the position of the robot 1 is z=z ０ +d13. At this time, the robot 1 can grasp the object 40 using the arm 13 (not shown) and the arm 14. The movable range (length) of the robot 1 is d11. Also, d11 = d12 + d13.

[0046] Here, the further forward the robot 1 moves (in the positive direction of the z-axis), the wider the working area of ​​the arms 13 and 14. The wider working area allows the arms 13 and 14 to grasp objects that are in front of the object 40 and objects that are larger than the object 40.

[0047] In addition, as arms 13 and 14 move forward (in the positive direction of the z-axis) and object 40 is grasped by arms 13 and 14, a moment around the x-axis is generated in wheel 211 and the front right wheel (not shown).

[0048] 5, if the moment becomes too large, the base 20 will tilt, causing the robot 1 to tip over. For this reason, the movement range of the robot 1 may be controlled to prevent tipping. The z'-axis is an axis obtained by tilting the z-axis in accordance with the tilt of the base 20.

[0049] For example, as shown in FIG. 4, the position of the robot 1 is z=z ０ +d13, the arms 13 and 14 grasp the object 40. After that, the robot 1 moves further forward, and the position of the robot 1 becomes z′=z ０ +d15 (where d15>d13), the robot 1 stops moving. Also, d11=d14+d15.

[0050] For example, when the weight measured by the weight sensor provided on the wheel 221 (rear wheel) approaches 0 (below a threshold), the robot 1 may stop moving forward. In this case, the moment around the wheel 211 increases, and the base 20 may be on the verge of tilting. In addition, the position of the robot 1 in this case may be, for example, z = z ０ +d15-ε (where d15-ε≧d13).

[0051] In addition, the control to stop the forward movement of the robot 1 may be performed based on the sensor value of a weight sensor provided on the rear wheel, based on the sensor value of a weight sensor provided on the front wheel (wheel 211), or based on the sensor value of a moment sensor provided at a predetermined position on the wheel or base 20.

[0052] That is, the first body 11 stops moving on the base 20 when the sensor value of the sensor satisfies a condition related to the moment at a predetermined position on the base 20. This prevents the robot 1 and the base 20 from tipping over. The movement and stopping of the first body 11 is controlled by a control processor (e.g., a microcomputer) provided in the robot 1 or the base 20, etc.

[0053] 6, when the robot 1 is in operation, the first body 11 can move backward (in the negative direction of the z-axis) to reduce the space it occupies, thereby enabling the robot 1 to be stored in a limited area.

[0054] 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.

[0055] 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 at a position different from the center of a surface of a base, and a second body rotatably supported on the first body and supporting one or more arms.

2. The robot described in claim 1, wherein the second body portion extends in a first direction away from the base starting from an end portion supported by the base, while curving in a direction perpendicular to the first direction and from the end portion toward the center of the surface.

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

4. A robot having a first body supported on a surface of a base so as to be movable parallel to said surface, and a second body rotatably supported on the first body and supporting one or more arms.

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