JP2016150412A - Robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot which has a large rotational range, is well balanced in the center of gravity, and has a high waterproof property and a high cooling function.SOLUTION: A connection mechanism 12 comprises: a first connection mechanism 12a for connecting an upper base body 10 rotatably on a pitch axis to the lower base body, on the front side of the upper base body 10; and a second connection mechanism 12b for connecting the upper base body 10 at a midship part rotatably around a yaw axis. A power storage device 70 arranged in a sealed internal space of the upper base body 10 includes a power storage unit 71 arranged on the rear side of the upper base body 10, and a control unit 72 for the power storage unit. The upper base body 10 includes a duct 10e adjacent to the control unit 72 for the powder storage unit.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a robot in which a power storage unit is built in a base.

  Conventionally, it is a fuselage, a base with a built-in power storage unit, a head provided on the top of the base, left and right arms extending from the left and right sides of the base, and extending downward from the bottom of the base There is a robot with left and right leg bodies.

  As this type of robot, the base is disposed between the upper base, the lower base disposed below the upper base, and the upper base and the lower base, so that the upper base and the lower base can be rotated relatively. A device having a coupling mechanism for coupling is known (for example, see Patent Documents 1 and 2).

  In the robot described in Patent Document 1, the upper base is connected to the lower base so as to be rotatable about the yaw axis and the pitch axis by the connecting mechanism. In this connection mechanism, the pitch axis is positioned in the vicinity of the center of the base in the front-rear direction, and the yaw axis is positioned at the center of the pitch axis.

  In addition, the robot described in Patent Document 2 describes a robot having a connection mechanism similar to that of the robot described in Patent Document 1. In this robot, the power storage unit is disposed on the lower base so as to sandwich the coupling mechanism from the left and right.

Japanese Patent No. 4662705 Japanese Patent No. 4776158

  When the position of the pitch axis is positioned near the center in the front-rear direction of the base as in the conventional robot described above, or when the lower base is enlarged in order to secure the storage unit placement space on the lower base, There has been a problem that the rotation of the base is obstructed by the lower base, and the range of rotation of the upper base around the pitch axis with respect to the lower base becomes small.

  Therefore, it is conceivable to arrange the coupling mechanism and the power storage unit at a position that does not hinder the rotation of the upper base. However, since the coupling mechanism and the power storage unit are relatively heavy components as robot components, the balance of the center of gravity of the robot deteriorates depending on the arrangement position, and control during movement is complicated to avoid it. Or the burden on each constituent member may increase.

  Further, in order not to deteriorate the balance of the center of gravity, it is preferable to place the heavy power storage unit at a position close to the center of the base. However, since such a position is inside the base body, there is a possibility that it is difficult to cool the power storage unit.

  Further, a structure in which the power storage unit is arranged at such a position, and the power storage unit and the control circuit in the base body are cooled by passing air taken from the surroundings into the base body is conceivable. Since such a structure does not require a separate cooling device, an increase in size and weight of the device can be avoided. However, when a large amount of moisture is contained in the air around the base or when water flows into a passage through which air passes, there is a risk that the internal device may fail.

  The present invention has been made in view of the above points, and provides a robot having a large rotation range of the upper base with respect to the lower base, good balance of the center of gravity, high waterproofness, and sufficient cooling function. With the goal.

  In order to achieve the above object, a robot according to the present invention includes an upper base body having a sealed internal space, a lower base body disposed below the upper base body, and an upper base body and a lower base body connected to each other in a relatively rotatable manner. A connecting mechanism, a power storage unit and a control circuit built in the upper base body, and a duct provided in the upper base body for passing air flowing in from the outside, and the power storage unit is disposed on the rear side inside the upper base body, The duct is disposed inside the upper base so as to be adjacent to the control circuit, and the connection mechanism includes a first connection mechanism that connects the upper base to the lower base so as to be rotatable about the pitch axis, and an upper base. A second connecting mechanism that is connected to the lower base body so as to be rotatable about the yaw axis, and the pitch axis is positioned between the upper base body and the lower base body in the vertical direction, and the upper part in the front-back direction. Base and bottom The yaw axis is located in the center of the lower base in the left-right direction, and is located in the center of the first coupling mechanism and the power storage unit in the front-rear direction. To do.

  As described above, in the robot according to the present invention, the first coupling mechanism for turning around the pitch axis is disposed on the front side of the base body, and the power storage unit is not disposed on the lower base body (that is, the lower base body is small). Therefore, the rotation of the upper base is less likely to be hindered by the lower base, and the range of rotation of the upper base around the pitch axis relative to the lower base is larger than that of the conventional robot.

  Corresponding to the fact that the relatively heavy first coupling mechanism among the constituent members of the robot is arranged on the front side of the base, the heavy storage unit is arranged on the rear side inside the base, A second connecting mechanism for turning around the yaw axis is located at the center. Further, as a mechanism for cooling the control circuit inside the substrate, a cooling mechanism using a duct having a relatively small weight compared to a water cooling mechanism or the like is employed.

  For this reason, the balance of the center of gravity of the base body in the front-rear direction is good. Specifically, it is possible to reduce the influence of the moment of inertia generated in each component member when rotating around the yaw axis.

  The internal space in which the storage unit control circuit is arranged is sealed to the outside, and the inside of the duct is also sealed to the internal space. Therefore, cooling using this duct is different from cooling in which the object to be cooled is directly exposed to air, and even if water enters the duct, the water does not come into contact with internal equipment outside the duct, and is waterproof. Secured.

  Therefore, the robot according to the present invention has a large rotation range of the upper base with respect to the lower base, a good balance of the center of gravity, and high waterproofness and sufficient cooling function.

  In the robot of the present invention, the control circuit includes a first circuit portion having a relatively high heat generation amount and a second circuit portion having a relatively low heat generation amount, and is provided on the upper base body or the lower base body. An environment recognition device having an environment recognition unit for recognizing the surrounding environment and an environment recognition unit control circuit that is disposed inside the upper base and controls the operation of the environment recognition unit is provided, and the duct includes a first circuit. An upstream duct portion disposed adjacent to the first duct portion, and a downstream duct portion disposed downstream of the upstream duct portion and disposed adjacent to the second circuit portion. preferable.

  When the control circuit is composed of a plurality of circuit parts, the circuit part with high heat generation is cooled in the upstream upstream duct part with high cooling performance, and the heat generation amount is reduced in the downstream duct part on the downstream side. If the low circuit portion is cooled, there is no need to provide a plurality of ducts, so that the robot can be efficiently cooled without increasing the size of the entire robot.

  In the robot of the present invention, it is preferable that a control circuit is disposed below the power storage unit inside the upper base. Furthermore, when a control circuit is disposed below the power storage unit, the control circuit is preferably a main control circuit that performs overall control.

  When the base body is divided into an upper base body and a lower base body, and the upper base body rotates around the pitch axis with respect to the lower base body, the lower part inside the upper base part (that is, the lower part of the power storage unit) is in contact with the external environment. The least likely to do. Therefore, it is preferable to arrange at least one control circuit at that position.

  Further, in the robot of the present invention, the upper base is configured such that air flows only into the arrangement space of the power storage unit in the internal space, and the power storage unit has a plurality of battery cells and the battery cells spaced apart from each other. And a fixing member that diffuses air flowing in between the battery cells.

  There is no problem even if the electricity storage unit touches some water. Therefore, the power storage unit may be cooled by direct contact with air. In that case, if each battery cell of an electrical storage unit is arrange | positioned at intervals and the air which flows among them is diffused, an electrical storage unit can be cooled efficiently.

  Further, the robot of the present invention includes a plurality of movable links and a plurality of joint mechanisms that rotatably connect the respective movable links to the upper base body or the lower base body. A pair of left and right arm links and a pair of left and right leg links on the lower base, and a biped walking mode using only leg links or arm links, and a quadruped walking mode using leg links and arm links. You may comprise so that switching is possible.

  In the robot configured as described above, the upper base body can be largely rotated with respect to the lower base body compared to the conventional robot, so that the robot can be switched between the biped walking mode and the quadruped walking mode. It's easy to do.

  Further, in the robot of the present invention, when the robot can switch between the biped walking mode and the quadruped walking mode, it is preferable that the power storage unit can be inserted and removed from the back surface of the upper base.

  As described above, if the power storage unit is configured so that it can be inserted and removed from the back of the robot, the power storage unit can be easily replaced regardless of whether the robot is in the biped walking mode or the quadruped walking mode. Become.

The front view which shows typically the structure of the robot which concerns on embodiment of this invention. The perspective view which shows typically the freedom degree of the joint mechanism of the robot of FIG. The side view which shows the state which is moving in the bipedal walking mode of the robot of FIG. The side view which shows the state which is moving in the quadruped walking mode of the robot of FIG. The perspective view which shows the structure of the shoulder joint mechanism and arm body of the robot of FIG. 2A and 2B are front views showing the configuration of the base body of the robot of FIG. 1, in which 6A shows a state of a reference posture and 6B shows a state in which the upper base body is rotated around the yaw axis with respect to the lower base body. 7A and 7B are side views showing the configuration of the base body of the robot of FIG. 1, in which 7A is a reference posture state and 7B is a state in which the upper base body is rotated around the pitch axis with respect to the lower base body. The side view which shows a part of robot of FIG. 1 as a cross section. The perspective view which shows the structure of the electrical storage unit of the electrical storage apparatus of the robot of FIG. Sectional drawing which shows the shape of a part of battery cell and fixing member of the electrical storage unit of the robot of FIG.

  Hereinafter, an embodiment of a robot according to the present invention will be described with reference to the drawings. The robot 1 according to the present embodiment is a humanoid robot, and is configured to be movable by switching between a biped walking mode and a quadruped walking mode.

  However, the robot in the present invention is not limited to the humanoid robot configured as described above, and other industrial robots and the like are connected to the upper base and the lower base so as to be rotatable. A robot having a mechanism includes a robot having a different form from the robot 1 of the present embodiment.

  First, the configuration of the robot 1 of the present embodiment will be described with reference to FIG.

  The body of the robot 1 includes an upper base body 10, a lower base body 11 disposed below the upper base body 10, and a hip joint mechanism 12 provided between the upper base body 10 and the lower base body 11. The upper base body 10 and the lower base body 11 are connected to each other so as to be relatively rotatable via a hip joint mechanism 12 (connecting mechanism) corresponding to a human hip joint.

  The head of the robot 1 is an environment recognition unit 20a of the environment recognition device 20 for recognizing the surrounding environment. A camera for imaging the external environment mounted on the environment recognition unit 20a and a sensor for recognizing the distance to the external environment are the environment recognition unit control circuit 20b (first circuit) disposed inside the upper base 10. Circuit part). The environment recognition unit 20a is rotatably connected to the upper base 10 via a neck joint mechanism 21 corresponding to a human neck joint.

  Since the robot 1 of the present embodiment is a humanoid robot, the environment recognition unit 20a corresponding to the human head is provided above the upper base body 10. However, the environment recognition unit of the robot according to the present invention is not limited to such a configuration, and a position other than the upper portion of the upper base (for example, the front of the upper base or the lower base) according to the environment in which the robot is used. Etc.).

  The left and right arm bodies of the robot 1 are a pair of arm links 30 (movable links) extending from the upper left and right sides of the upper base body 10. Each arm link 30 is rotatably connected to the upper base body 10 via a shoulder joint mechanism 31 corresponding to a human shoulder joint.

  The arm link 30 includes a first arm link portion 30a corresponding to a human upper arm, a second arm link portion 30b corresponding to a human forearm, and an elbow joint mechanism 30c corresponding to a human elbow joint. . The first arm link portion 30 a is connected to the upper base body 10 via the shoulder joint mechanism 31 so as to be rotatable. The second arm link portion 30b is rotatably connected to the first arm link portion 30a via the elbow joint mechanism 30c. A hand part 40 corresponding to a human hand is connected to the tip of the second arm link part 30b.

  In the robot 1 of the present embodiment, the arm link 30 that is an arm body is constituted by a first arm link portion 30a, a second arm link portion 30b, and an elbow joint mechanism 30c. However, the arm body of the robot of the present invention is not limited to such a configuration, and may have a single link part, or may connect three or more link parts and each link part. It may have a plurality of joint parts.

  The hand unit 40 is an example of an end effector. The hand portion 40 is rotatably connected to the second arm link portion 30b of the arm link 30 via a wrist joint mechanism 41 corresponding to a human wrist joint. In the robot 1 of this embodiment, the hand unit 40 and the arm link 30 constitute a robot arm as a manipulator.

  The left and right legs of the robot 1 are a pair of left and right leg links 50 extending downward from the lower portion of the lower base 11. Each leg link 50 is rotatably connected to the lower base body 11 via a hip joint mechanism 51 corresponding to a human hip joint.

  The leg link 50 (movable link) includes a first leg link portion 50a corresponding to the human thigh, a second leg link portion 50b corresponding to the human lower leg, and a knee joint mechanism 50c corresponding to the human knee joint. It is configured. The first leg link portion 50 a is rotatably connected to the lower base body 11 via the hip joint mechanism 51. The 2nd leg link part 50b is connected with the 1st leg link part 50a via the knee joint mechanism 50c so that rotation is possible. A foot portion 60 corresponding to a human foot is connected to the tip of the second leg link portion 50b.

  In the robot 1 of the present embodiment, the leg link 50 that is a leg is constituted by a first leg link portion 50a, a second leg link portion 50b, and a knee joint mechanism 50c. However, the leg of the robot of the present invention is not limited to such a configuration, and may have a single link part, or may connect three or more link parts and each link part. It may have a plurality of joint parts.

  The foot portion 60 is rotatably connected to the second leg link portion 50b of the leg link 50 via an ankle joint mechanism 61 corresponding to a human ankle joint.

  Next, with reference to FIG. 2, the freedom degree of the joint mechanism of the robot 1 of this embodiment is demonstrated.

  In the description of the present embodiment, the direction in which each joint mechanism rotates each member is a posture in which any joint mechanism does not rotate the connected member (hereinafter referred to as “reference posture”). "). In the case of the robot 1 of the present embodiment, the reference posture is a state in which the robot 1 stands (a state in which the upper base body 10, the lower base body 11, the arm links 30, and the leg links 50 are extended in a substantially vertical direction).

  In the description of the present embodiment, the yaw axis, the pitch axis, and the roll axis are respectively the vertical axis (Z axis) of the robot 1 when the robot 1 is in the reference posture, and the horizontal axis as shown in FIG. An axis (Y axis) and an axis in the front-rear direction (X axis) are meant. In this case, the yaw axis is the trunk axis of the upper base body 10 and the lower base body 11.

  The lumbar joint mechanism 12 includes a first lumbar joint mechanism 12 a (first coupling mechanism) disposed below the upper base 10 and a second lumbar joint disposed between the first hip joint mechanism 12 a and the lower base 11. It is comprised with the mechanism 12b (2nd connection mechanism).

  The first waist joint mechanism 12a connects the upper base body 10 to the lower base body 11 and the second waist joint mechanism 12b so as to be rotatable around the pitch axis. The second waist joint mechanism 12b connects the upper base body 10 and the first waist joint mechanism 12a to the lower base body 11 so as to be rotatable around the yaw axis.

  The neck joint mechanism 21 connects the environment recognition unit 20a to the upper base 10 so as to be rotatable around the pitch axis.

  The elbow joint mechanism 30c of the arm link 30 connects the second arm link part 30b corresponding to the human forearm to the first arm link part 30a corresponding to the human upper arm so as to be rotatable around the pitch axis. Yes.

  The shoulder joint mechanism 31 is located on the side of the first shoulder joint mechanism 31a and the first shoulder joint mechanism 31a disposed so as to be positioned within the range of the vertical width and the horizontal width of the upper base body 10. The second shoulder joint mechanism 31b disposed outside the upper base 10 and the third shoulder joint mechanism 31c disposed between the second shoulder joint mechanism 31b and the first arm link portion 30a of the arm link 30 are configured. ing.

  Here, the “width” of the substrate refers to a portion from the highest position to the lowest position of the substrate in the normal direction in the vertical direction. Similarly, in the horizontal direction, in a normally used state, it indicates a position from the frontmost position to the rearmost position of the base, or a position from the rightmost position to the leftmost position.

  The first shoulder joint mechanism 31a connects the second shoulder joint mechanism 31b to the upper base 10 so as to be rotatable around the yaw axis. The second shoulder joint mechanism 31b connects the third shoulder joint mechanism 31c to the first shoulder joint mechanism 31a so as to be rotatable about the pitch axis and the roll axis. The third shoulder joint mechanism 31c connects the arm link 30 to the second shoulder joint mechanism 31b so as to be rotatable about the yaw axis.

  The wrist joint mechanism 41 includes a first wrist joint mechanism 41a disposed on the hand part 40 side of the second arm link part 30b of the arm link 30 and a first joint part disposed between the hand part 40 of the first wrist joint mechanism 41a. It consists of a two wrist joint mechanism 41b.

  The first wrist joint mechanism 41a connects the second wrist joint mechanism 41b to the second arm link portion 30b so as to be rotatable around the yaw axis. The second wrist joint mechanism 41b connects the hand portion 40 to the first wrist joint mechanism 41a so as to be rotatable about the roll axis and the pitch axis.

  The knee joint mechanism 50c of the leg link 50 is configured such that the second leg link portion 50b corresponding to the human lower limb is connected to the first leg link portion 50a corresponding to the human thigh so as to be rotatable around the pitch axis. Yes.

  The hip joint mechanism 51 includes a first hip joint mechanism 51a disposed below the lower base 11, and a second hip joint mechanism 51b disposed on the leg link 50 side of the first hip joint mechanism 51a.

  The first hip joint mechanism 51a connects the second hip joint mechanism 51b to the lower base 11 so as to be rotatable around the yaw axis. The second hip joint mechanism 51b connects the leg link 50 to the first hip joint mechanism 51a so as to be rotatable about the pitch axis and the roll axis.

  The ankle joint mechanism 61 connects the foot portion 60 to the second leg link portion 50b so as to be rotatable about the pitch axis and the roll axis.

  The configurations of the neck joint mechanism, the shoulder joint mechanism, the elbow joint mechanism, the wrist joint mechanism, the knee joint mechanism, the hip joint mechanism, and the ankle joint mechanism in the robot of the present invention are not limited to the above-described configurations. You may change suitably according to a use or the arrangement space of the joint in a robot. For example, one of the joint mechanisms may be omitted, or a joint mechanism other than the above may be added.

  Next, two walking modes of the robot 1 of the present embodiment will be described with reference to FIGS. In FIG. 3, the arm link 30 is not shown for easy understanding.

  In the description of the present embodiment, “grounding” the hand part 40 or the foot part 60 means that the hand part 40 or the foot part 60 receives a contact reaction force that resists the force acting on the robot 1. This means that the hand part 40 or the foot part 60 is brought into contact with the external environment.

  As shown in FIG. 3, in the biped walking mode, the foot 60 at one end of the pair of leg links 50 is in contact with the ground A (the one leg link 50 is used as a supporting leg). The foot portion 60 at the tip of the other leg link 50 is moved in the air and further grounded (the other leg link 50 is operated as a free leg) is repeated. In this case, the operation of each leg link 50 as a free leg is performed alternately. The arm link 30 (not shown) is not grounded.

  As shown in FIG. 4, in the quadruped walking mode, two or three of the hand part 40 at the tip of the arm link 30 and the foot part 60 at the tip of the leg link 50 are grounded to the ground A ( With the two or three arm links 30 and leg links 50 as supporting legs), the remaining two or one hand part 40 or foot part 60 is moved in the air and further grounded (the remaining parts) The operation of operating two or one arm link 30 or leg link 50 as a free leg) is repeated. In this case, the arm link 30 or the leg link 50 operated as a free leg is periodically switched according to a predetermined rule.

  However, the operation in the quadruped walking mode is not limited to the above operation. For example, one of the hand part 40 at the tip of the arm link 30 and the foot part 60 at the tip of the leg link 50 is grounded to the ground A (the one hand part 40 or the foot part 60 is supported by the leg). The remaining three hand portions 40 and the foot portions 60 are moved in the air and further grounded (the remaining three hand portions 40 or the foot portions 60 are operated as swing legs). It is also possible to repeat.

  Further, the hand portion 40 at the tip of the arm link 30 and the foot portion 60 at the tip of the leg link 50 are simultaneously moved into the air (that is, the robot 1 is jumped) and further grounded. It is also possible.

  Next, with reference to FIGS. 5-8, the structure of the upper base | substrate 10, the lower base | substrate 11, and the connection mechanism 12 of the robot 1 of this embodiment is demonstrated in detail. In FIG. 5, for ease of understanding, the upper base 10 shows only the portion corresponding to the human chest, and the arm link 30 and the hand portion 40 show only the right side. 6 to 8, the components of the robot 1 other than the upper base 10, the lower base 11, and the coupling mechanism 12 are not shown for easy understanding.

  First, the structures of the upper base body 10, the lower base body 11 and the coupling mechanism 12 of the robot 1 will be described in detail with reference to FIGS.

  As shown in FIG. 5, the first shoulder joint mechanism 31 a that allows the arm link 30 to rotate about the yaw axis with respect to the upper base 10 has a pivot point P about the yaw axis of the arm link 30 as the upper base. 10 is configured to be positioned within the range of the width of the upper base 10 in the vertical direction (Z-axis direction) and the horizontal direction (X-axis direction and Y-axis direction). That is, in the robot 1, the first shoulder joint mechanism 31 a which is a part of the shoulder joint mechanism 31 is within the range of the width of the upper base body 10.

  As shown in FIG. 6, the upper base body 10 of the robot 1 and the lower base body 11 disposed below the upper base body 10 are coupled by a hip joint mechanism 12 so as to be relatively rotatable. The upper base 10 has a power storage device 70 disposed therein.

  The lumbar joint mechanism 12 passes through the central axis AL1 of rotation about the pitch axis (Y axis), and is connected to the lower portion of the upper base 10 and the rotation about the yaw axis (Z axis). And the second waist joint mechanism 12b connected to the lower part of the first waist joint mechanism 12a and the upper part of the lower base body 11.

  As shown in FIG. 7, the center axis AL1 of rotation in the first hip joint mechanism 12a is located between the upper base 10 and the lower base 11 in the vertical direction (Z-axis direction). In the front-rear direction (X-axis direction), it is located on the front side of the upper base 10 and the lower base 11.

  With respect to the lower base body 11, the upper base body 10 is inclined from the reference posture state (state shown in FIG. 7A) to the front side of the robot 1 (state shown in FIG. 7B) around the central axis AL <b> 1. Thus, it can be rotated around the pitch axis (Y axis).

  Further, as shown in FIG. 6, the central axis AL2 of rotation in the second hip joint mechanism 12b is located at the center of the lower base in the left-right direction (Y-axis direction). In the front-rear direction (X-axis direction), the upper base 10 is located at the center (that is, the center between the center axis AL1 of rotation about the pitch axis and the center of gravity G of the power storage unit 71).

  The upper base 10 is placed on the lower base 11 so that the upper base 10 is turned to the side (the state shown in FIG. 6B) from the reference posture state (the state shown in FIG. 6A) around the central axis AL2. On the other hand, it can be rotated around the yaw axis (Z axis).

  The power storage device 70 includes a power storage unit 71 and a power storage unit control circuit 72 (second circuit unit) disposed inside the upper base 10.

  The power storage unit 71 is positioned below the recess 10a for arranging the shoulder joint mechanism 31 of the upper base 10 in the vertical direction (Z-axis direction). In the front-rear direction (X-axis direction), it is located on the rear side of the upper base 10. The power storage unit 71 can be inserted into and removed from the back surface of the upper base 10 with respect to the upper base 10. Therefore, in the robot 1, the power storage unit 71 can be easily replaced regardless of whether the robot 1 is in the biped walking mode or the quadruped walking mode.

  Thus, in the robot 1 of the present embodiment, the first hip joint mechanism 12a that is a part of the hip joint mechanism 12 and rotates around the pitch axis (Y axis) is disposed on the front side of the upper base body 10. doing. Further, since the power storage device 70 is not disposed on the lower base 11 (that is, the lower base 11 is prevented from being enlarged), the rotation of the upper base 10 around the pitch axis (Y axis) is applied to the lower base 11. It is hard to be obstructed, and the rotatable range around the pitch axis of the upper base 10 relative to the lower base 11 is larger than that of the conventional robot.

  Corresponding to the first waist joint mechanism 12a being arranged on the front side of the upper base body 10, the power storage unit 71 of the heavy power storage device 70 is arranged on the rear side inside the upper base body 10, and the pitch axis is rotated. Since the second waist joint mechanism 12b for rotation around the yaw axis (Z axis) is located at the center between the center axis AL1 of rotation and the center of gravity G of the power storage unit 71, the longitudinal direction (X The balance of the center of gravity of the substrate in the axial direction is good.

  By the way, the upper base body 10 configured as described above has the power storage unit control circuit 72 and the environment recognition unit control circuit 20b of the power storage device 70 disposed therein, so that it is necessary to sufficiently cool them. is there. On the other hand, it is necessary to ensure sufficient waterproofness.

  Hereinafter, the cooling device for the upper base body 10 of the robot 1 will be described in detail with reference to FIGS.

  As shown in FIG. 8, in the upper base 10, the environment recognition unit 20 a (see FIG. 1) of the environment recognition device 20 is controlled on the rear side of the recess 10 a for arranging the shoulder joint mechanism 31. The environment recognition unit control circuit 20b is arranged.

  Further, in the upper base 10, in the vertical direction (Z-axis direction), below the recess 10 a for arranging the shoulder joint mechanism 31 of the upper base 10, in the front-rear direction (X-axis direction), the upper base 10. The power storage unit 71 of the power storage device 70 is disposed at the rear side position. A storage unit control circuit 72 for controlling the storage unit 71 is disposed on the front side of the storage unit 71.

  The environment recognition unit control circuit 20b and the power storage unit control circuit 72 are introduced from the outside of the robot 1 into the first duct 10c (upstream duct portion) provided in the upper base 10, and then the second The air is indirectly cooled by the air that passes through the duct 10d and the third duct 10e (downstream duct portion) and is discharged from the slit 10b formed in the lower portion of the front surface of the upper base 10.

  The first duct 10c is provided adjacent to the environment recognition unit control circuit 20b so that air flows in the vertical direction (Z-axis direction) on the rear side of the environment recognition unit control circuit 20b. The opening on the inflow side is located above the upper base 10, and air is introduced into the first duct 10 c from above the upper base 10.

  The second duct 10d is disposed below the recess 10a of the upper base 10 so as to be adjacent to the upper surface of the power storage unit 71, and is provided so that air flows in the horizontal direction (X-axis direction). The opening on the inflow side is connected to the opening on the discharge side of the first duct 10c. A fan 80a is disposed at the center of the second duct 10d.

  The third duct 10e is adjacent to the power storage unit control circuit 72 arranged on the front side of the power storage unit 71, and is arranged in the vertical direction (Z-axis direction) on the front side of the power storage unit control circuit 72. Is provided to flow. The opening on the inflow side is connected to the opening on the discharge side of the second duct 10d. The air discharged from the opening on the discharge side is discharged to the outside of the upper substrate 10 through a slit 10b (see FIG. 6) provided in the lower portion of the front surface of the upper substrate 10.

  Since the robot 1 according to this embodiment includes the first duct 10c, the second duct 10d, and the third duct 10e, the environment recognition unit control circuit 20b and the power storage unit control circuit 72 are adjacent to these. It is cooled by the air passing through a duct provided to do so.

  The internal space in which the environment recognition unit control circuit 20b and the storage unit control circuit 72 are arranged is sealed with respect to the outside of the upper base 10, and the first duct 10c, the second duct 10d, and the third duct are sealed. The inside of 10e is also sealed with respect to the internal space. Therefore, cooling using this duct is different from cooling in which the object to be cooled is directly exposed to air, and even if water enters the duct, the water does not come into contact with internal equipment outside the duct, and is waterproof. Secured.

  The environment recognition unit control circuit 20b generates a larger amount of heat than the power storage unit control circuit 72, but the environment recognition unit control circuit 20b is adjacent to the upstream side of the duct (that is, the first duct 10c). Since it is arranged, cooling is performed efficiently.

  A main control circuit 90 that controls the entire robot 1 is disposed below the power storage unit 71 inside the upper base 10. In the robot 1 of the present embodiment, the upper base 10 and the lower part of the upper base 10 (that is, the lower part of the power storage unit 71) are in the biped walking mode or the quadruped walking mode. This is because the lower base 11 is least likely to come into contact with the external environment.

  The main control circuit 90 includes air passing through a fourth duct 10f (main control circuit cooling duct) provided in the upper base 10 and air guided to a fan 80b attached to the lower surface of the main control circuit 90. To be cooled.

  The fourth duct 10f is provided adjacent to the main control circuit 90 so that air flows in the horizontal direction (X-axis direction) above the main control circuit 90. The opening on the inflow side faces downward between the upper base 10 and the first waist joint mechanism 12a. A fan 80c is disposed in the opening on the inflow side. The opening on the discharge side is located in the lower part on the rear side of the upper base 10.

  The internal space in which the main control circuit 90 is disposed is sealed with respect to the fourth duct 10f, and air passing through the fourth duct 10f does not enter the internal space in which the main control circuit 90 is disposed.

  In the robot 1 of the present embodiment, the main control circuit 90 is cooled by using the fourth duct 10f and the fan 80b (that is, duct cooling independent of the duct for cooling other internal devices is performed. As a result, the main control circuit 90, which is required to have higher waterproofness than other internal devices, achieves sufficient waterproof performance as well as sufficient cooling performance.

  In addition, the power storage unit 71 of the power storage device 70 is cooled not only by indirect air cooling by the second duct 10d and the third duct 10e but also by direct air cooling.

  In the upper base 10, a fifth duct 10 g through which air flows in the vertical direction (Z-axis direction) is provided between the power storage unit 71 and the power storage unit control circuit 72. The opening on the inflow side faces downward between the upper base 10 and the first waist joint mechanism 12a. The discharge side opening is located on the front side of the power storage unit 71.

  The air introduced into the arrangement space of the power storage unit 71 by the fifth duct 10g passes through the gap between the members constituting the power storage unit 71 and passes through the back side opening 10h formed on the back side of the upper base 10 to the upper part. It is discharged outside the substrate 10. A fan 80d is fitted in the rear side opening 10h.

  Since the power storage unit 71 is cooled by using direct air cooling in this way, the constituent members may get wet with water. However, unlike the power storage unit control circuit 72 and other control circuits, the power storage unit 71 does not cause a problem even if it gets wet slightly. Moreover, since the arrangement space of the power storage unit 71 is provided independently of the arrangement space of the control circuit, the control circuit does not get wet with water.

  Here, with reference to FIG.9 and FIG.10, the structure of the electrical storage unit 71 is demonstrated.

  As shown in FIG. 9, the power storage unit 71 includes a large number of battery cells 71 a regularly arranged at intervals, and a pair of end fixing members 71 b and a central part fixing the battery cells 71 a. It is comprised by fixing with the member 71c.

  A large number of holes are formed in the end fixing member 71b so as to correspond to the arrangement positions of the battery cells 71a.

  As shown in FIG. 10, a hole is also formed in the center fixing member 71c so as to correspond to the hole of the end fixing member 71b.

  Moreover, the hole of the edge part fixing member 71b and the hole of the center part fixing member 71c are provided with a beam part 71d in the middle thereof, and the air flowing in between the battery cells is diffused by the beam. Therefore, the battery cell 71a is efficiently cooled by the air flowing between the battery cells.

  The robot 1 of the present embodiment having the above-described configuration has a large rotation range of the upper base 10 with respect to the lower base 11, a good balance of the center of gravity, high waterproofness, and sufficient cooling function. It has become.

  Further, in the robot 1 of the present embodiment, the fulcrum P in the first shoulder joint mechanism 31a is set to the width of the upper base 10 in the vertical direction (Z-axis direction) and the horizontal direction (X-axis direction and Y-axis direction) of the upper base 10. The environment recognition unit 20a is disposed on the rear side of the recess 10a of the upper base body 10 in which the first shoulder joint mechanism 31a is disposed. Further, the power storage device 70 is disposed below the recess 10 a, and the main control circuit 90 is disposed below the power storage device 70. Moreover, the duct which passes between them is used for those cooling.

  Therefore, the robot 1 of the present embodiment has not only high waterproofness and sufficient cooling function, but also has a more compact structure than the conventional robot.

  Although the illustrated embodiment has been described above, the present invention is not limited to such a form.

  For example, in the above embodiment, the power storage unit 71 of the power storage device 70 can be inserted and removed from the back surface of the robot 1. However, the present invention is not limited to such a configuration, and may be configured to be insertable / removable from the front or top surface of the robot.

  Further, the duct of the present invention is not limited to the configuration as the duct shown as the above embodiment, and the duct shape and arrangement position may be appropriately changed as long as it is a position adjacent to each control circuit. Good.

  In addition, the environment recognition unit control circuit and the main control circuit of the present invention may be arranged in places other than those shown as the above embodiment.

DESCRIPTION OF SYMBOLS 1 ... Robot, 10 ... Upper base | substrate, 10a ... Recessed part, 10b ... Slit, 10c ... 1st duct (upstream side duct part), 10d ... 2nd duct, 10e ... 3rd duct (downstream side duct part), 10f ... 1st 4 ducts, 10g ... 5th duct, 10h ... back side opening, 11 ... lower base, 12 ... waist joint mechanism (connection mechanism), 12a ... first waist joint mechanism (first connection mechanism), 12b ... second waist Joint mechanism (second coupling mechanism), 20 ... environment recognition device, 20a ... environment recognition unit, 20b ... control circuit for the environment recognition unit (first circuit section), 21 ... neck joint mechanism, 30 ... arm link (movable link) 30a ... first arm link part, 30b ... second arm link part, 30c ... elbow joint mechanism, 31 ... shoulder joint mechanism, 31a ... first shoulder joint mechanism, 31b ... second shoulder joint mechanism, 31c ... third shoulder Joint mechanism, 40 ... hand part, 4 ... wrist joint mechanism, 41a ... first wrist joint mechanism, 41b ... second wrist joint mechanism, 50 ... leg link (movable link), 50a ... first leg link part, 50b ... second leg link part, 50c ... knee joint Mechanism: 51 ... Hip joint mechanism, 51a ... First hip joint mechanism, 51b ... Second hip joint mechanism, 60 ... Foot part, 61 ... Ankle joint mechanism, 70 ... Power storage device, 71 ... Power storage unit, 71a ... Battery cell, 71b ... End fixing member, 71c ... center fixing member, 71d ... beam part, 72 ... storage unit control circuit (second circuit part), 80a, 80b, 80c, 80d ... fan, 90 ... main control circuit, A ... ground , AL1 and AL2 central axes, G... Center of gravity of the power storage unit 71, P... Pivot point around the yaw axis of the arm link 30.

Claims (7)

An upper base body having a sealed internal space, a lower base body disposed below the upper base body, a connecting mechanism for rotatably connecting the upper base body and the lower base body, and built in the upper base body A storage unit and a control circuit, and a duct that is provided in the upper base and allows air flowing in from the outside to pass through,
The power storage unit is disposed on the rear side inside the upper base,
The duct is disposed inside the upper base so as to be adjacent to the control circuit,
The connection mechanism is configured to connect the upper base to the lower base so as to be rotatable around a pitch axis, and to connect the upper base to the lower base so as to be rotatable around a yaw axis. A second coupling mechanism that
The pitch axis is positioned between the upper base and the lower base in the vertical direction, and is positioned on the front side of the upper base and the lower base in the front-back direction.
The robot is characterized in that the yaw axis is located in a central portion of the lower base body in the left-right direction and is located in a central portion of the first coupling mechanism and the power storage unit in the front-rear direction. The robot according to claim 1,
The control circuit includes a first circuit unit having a relatively high calorific value and a second circuit unit having a relatively low calorific value,
An environment recognition unit that is provided on the upper base or the lower base and recognizes the surrounding environment, and an environment recognition unit control circuit that is disposed inside the upper base and controls the operation of the environment recognition unit. An environment recognition device having
The duct is provided on the downstream side of the upstream duct portion disposed adjacent to the first circuit portion, and on the downstream side disposed adjacent to the second circuit portion. A robot having a duct portion. The robot according to claim 1 or 2, wherein
The robot according to claim 1, wherein the control circuit is disposed below the power storage unit in the upper base. The robot according to claim 3,
The robot according to claim 1, wherein the control circuit is a main control circuit that performs overall control. The robot according to any one of claims 1 to 4, wherein:
The upper base is configured such that external air flows only into the arrangement space of the power storage unit in the internal space,
The power storage unit includes a plurality of battery cells and a fixing member that fixes the battery cells at intervals and diffuses air flowing between the battery cells. robot. The robot according to any one of claims 1 to 5,
A plurality of movable links, and a plurality of joint mechanisms for rotatably connecting each of the movable links to the upper base body or the lower base body,
The plurality of movable links include arm links provided in a pair of left and right on the upper base, and leg links provided in a pair of left and right on the lower base,
A robot capable of switching between a biped walking mode using only the leg link or the arm link and a quadruped walking mode using the leg link and the arm link. The robot according to claim 6,
The robot according to claim 1, wherein the power storage unit is insertable / removable from a back surface of the upper base.