JP3752546B2 - Robot jaw apparatus and control method thereof - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a device for operating a jaw part of a robot in a natural form while having a simple configuration, and a control method therefor.
[0002]
[Prior art]
Robots are used in a wide range of fields, starting with the production field of industrial products, including construction, civil engineering, agriculture and forestry, education, medical care, and services. Robots used in these fields, such as welding robots and paint robots in automobile production, work in poor environments where humans are difficult to work, work efficiency improvement, or human work It can be said that it is a work robot having a clear work function.
On the other hand, as a toy, there is a pet-type robot as a pseudo pet that can express emotions and communicate with people. This is a communication robot because it has a communication function instead of a work function.
[0003]
In recent years, research and development of robots have progressed and are being put to practical use. For example, use in a wide range of fields, such as security, medical care, facilities, and homes, has progressed from work in environments where humans cannot work, such as space environments and radioactivity management facilities.
Some communication robots are used to improve mental disorders by communicating with robots in medical facilities, and are used as guidance in facilities in public facilities.
[0004]
The human temporomandibular joint has a characteristic movement. That is, the lower jaw does not simply rotate as shown in FIG. 1, but translates slightly forward and downward when expanded. When chewing an object or creating a facial expression, it moves in parallel from side to side. In particular, when speaking, it is known that the tip of the lower jaw moves linearly at an angle of about 15 ° from the vertical as shown in FIG.
[0005]
As a robot that opens and closes the mouth by rotating the lower jaw, for example,
[Patent Document 1]
JP 2001-29364 “Jaw movement device”
Etc.
However, the lower jaw according to the prior art as described above has a simple rotational movement with its upper end as an axis as shown in FIG. Therefore, unlike the actual human jaw movement, it gave an unnatural impression.
Further, the mandibular portion according to the prior art does not move substantially in the front-rear and left-right directions, and the apparatus is large.
[0006]
[Problems to be solved by the invention]
Accordingly, it is an object of the present invention to provide a device that allows a robot jaw part to be operated in a natural form while having a simple structure, and a control method therefor.
[0007]
[Means for Solving the Problems]
To achieve the above object, a robot jaw apparatus according to the present invention comprises the following arrangement.
That is, in a robot having at least a head skeleton and a lower jaw connected to the head skeleton, the lower jaw is pivotally supported by pivotally supporting a substantially U-shaped lower jaw and the left and right upper ends of the lower jaw. A pair of left and right lower jaw rotation support joints that are freely supported, and a pair of left and right lower jaw rotation driving means for opening and closing the mouth by rotating the lower jaw relative to the left and right lower jaw rotation support joint; Left and right lower jaw part rotation support joint and a pair of left and right link parts respectively connecting a pair of left and right bases fixed to the head skeleton, and rotating the left and right link parts with respect to the left and right bases respectively, It is characterized by comprising a pair of left and right link part rotation driving means for moving the part also in the front-rear and left-right directions.
[0008]
Here, an elastic body may be provided between the lower jaw rotation support joint and the base to contribute to the position stability of the lower jaw.
[0009]
A guide member that moves the lower jaw portion in a substantially front-rear direction may be provided so as to be inclined forward and downward by about 15 ° to contribute to a natural speech form.
[0010]
The lower jaw part rotation driving means may be constituted by a motor built in the arm of the lower jaw part to contribute to space saving.
[0011]
The robot jaw device control method according to the present invention includes a robot having at least a head skeleton and a lower jaw connected to the head skeleton, and a substantially U-shaped lower jaw and upper left and right upper portions of the lower jaw. A pair of left and right lower jaw rotating support joints that pivotally support each of the lower jaws, and a pair of left and right lower jaw rotations that rotate the lower jaw relative to the left and right lower jaw rotating support joints. A movable drive means, and the lower jaw part is rotated by driving the lower jaw part rotation drive means to open and close the mouth, and the left and right lower jaw part rotation support joints are fixed to the head skeleton. A pair of left and right link portions for connecting the pair of left and right bases, and a pair of left and right link portion rotation driving means for rotating the left and right link portions with respect to the left and right bases, respectively. By driving By rotating the click portion, and characterized in that also moves in a substantially longitudinal and lateral directions mandible.
[0012]
Here, when opening and closing the mouth part, the lower jaw part is moved forward and downward along with the opening of the mouth part by linking the driving of the lower jaw part turning driving means and the link part turning driving means. And may contribute to natural speech forms.
[0013]
The drive of the left and right link part rotation driving means may be controlled independently to contribute to the movement of the lower jaw part in the substantially left-right direction.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below based on examples shown in the drawings. It should be noted that the embodiment can be appropriately changed in design without departing from the gist of the present invention.
FIG. 2 is an explanatory side view of a main part of the jaw device of the present invention, which clearly shows the difference from the conventional example shown in FIG. FIGS. 3A and 3B are a front view and a plan view showing the link system of the jaw device of the present invention when the mouth is closed, and FIGS. 4A and 4B show the main part of the jaw device of the present invention when the mouth is closed. It is a perspective view and a side view.
Similarly, FIGS. 5A and 5B are a front view and a plan view showing the link system of the jaw device of the present invention at the time of opening, and FIGS. 6A and 6B are the main points of the jaw device of the present invention at the time of opening. It is the perspective view and side view which show a part.
[0015]
An upper jaw (10) and a pair of left and right bases (11) (11) are fixed to the skeleton (1) of the head.
The upper jaw (10) is provided with at least a substantially U-shaped upper gum or upper lip, and represents opening and closing of the mouth by correspondence with the lower jaw (20) described later.
The base (11) indirectly connects the lower jaw (20) to the head skeleton (1) and is disposed at a height substantially equal to the upper end of the lower jaw (20).
[0016]
The lower jaw (20) is generally U-shaped and includes an opening / closing part (21) composed of a lower gum or lower lip corresponding to the upper gum or upper lip of the upper jaw (10), and both left and right ends thereof. It includes at least a pair of arms (22) and (22) continuous upward.
[0017]
A shaft hole (23) is opened at the upper end of the arm (22), and the arm (22) is pivotally supported by a lower jaw rotation shaft (30) inserted therethrough.
The lower jaw rotation shaft (30) is supported by the lower jaw rotation support joint (31) adjacent to the upper end of the arm (22).
Thereby, the lower jaw part (20) is rotatably supported with respect to the lower jaw part rotation support joint (31) via the lower jaw part rotation shaft (30).
[0018]
A gap is provided in the center of the arm (22), and a lower jaw rotation motor (40) is fitted therein.
A bevel gear is mounted on the lower jaw rotating motor (40), and the driving force is transmitted to the gear mounted on the lower jaw rotating shaft (30).
Therefore, the lower jaw rotation driving means for rotating the lower jaw (20) to express opening and closing of the mouth is governed by the lower jaw rotation motor (40) installed by utilizing the surplus space effectively. Yes.
[0019]
A link part (32) is arranged between the lower jaw part rotation support joint (31) and the base (11), and connects both.
The illustrated link portion (32) is provided with two drive pieces (33) and (34) and an elastic body (35).
The lower jaw rotation support joint (31) is connected to the drive piece (33) via the shaft (36), and the drive piece (33) is connected to the drive piece (34) via the shaft (37), The drive piece (34) is connected to the base (11) via the shaft (38).
A link part rotation motor (41) is provided at a connecting portion between the drive piece (33) and the drive piece (34), and the drive part (33) (34) serves as a link part rotation drive means. ) Is moved substantially in the front-rear direction.
As will be described later, the pair of left and right link section rotating motors (41) (41 ') are driven independently.
[0020]
An elastic body (35) made of a spring or the like is connected between the lower jaw rotation support joint (31) and the base (11).
Since the elastic body (35) controls the movement of the drive pieces (33) and (34) by the link part rotation motor (41), the position of the lower jaw part (20) is stabilized. That is, if the positions of the left and right drive pieces (33) (34) (33 ') (34') are determined by the control of the left and right link part rotation motors (41) (41 '), the lower jaw (20) The position is uniquely determined, and the lower jaw (20) smoothly rotates within a range that does not interfere with the upper jaw (10).
In addition, when an external force is applied to the lower jaw (20), the position is safely displaced by the elastic body (35).
[0021]
It is preferable that the lower jaw rotation motor (40) and the left and right link rotation motors (41) (41 ') are driven in cooperation.
That is, the rotation of the lower jaw part (20) by the lower jaw part rotation motor (40) and the substantially back-and-forth movement of the lower jaw part (20) by the left and right link part rotation motors (41) and (41 ') are interlocked. Then, along with the opening of the mouth, the lower jaw (20) can be moved forward and downward to express a natural speech form.
In order to guide the lower jaw portion (20) forward and downward, as shown in FIG. 2, the guide member (2) for controlling the movement of the upper end portion and the like of the lower jaw portion (20) is moved forward by about 15 °. Inclined.
[0022]
7 (a) and 7 (b) are plan views showing the link system of the jaw device of the present invention when the lower jaw is moved in the left-right direction, and FIGS. 8 (a) and 8 (b) are the present invention when the lower jaw is moved in the left-right direction. It is the perspective view and side view which show the principal part of a jaw apparatus.
As described above, the left and right link portion rotating motors (41) and (41 ′) are driven independently. Therefore, if the drive amount is different, the left drive pieces (33) and (34) and the right drive pieces (33) are driven. A shift occurs in the positions of ') (34').
In the illustrated example, the lower jaw (20) has moved to the right.
[0023]
In this way, the lower jaw (20) operates substantially in the front-rear and left-right directions with only three degrees of freedom by the three motors (40), (41), and (41 '), and expresses a natural opening / closing mode.
Furthermore, since the moment of the lower jaw part (20) which is a movable part is small, it can be operated with small electric power with a small driving device.
Moreover, since the inner side of the lower jaw part (20) is a space | gap, an artificial tongue can be integrated or it can be utilized for the installation place of auxiliary equipments, such as a speech apparatus.
[0024]
【The invention's effect】
The robot jaw apparatus and the control method thereof according to the present invention have the above-described configuration, and thus have the following effects.
That is, according to the jaw device according to claim 1 or the control method according to claim 5, the lower jaw portion is pivotally supported by the lower jaw portion rotation support joint and rotated by the lower jaw portion rotation driving means. On the other hand, since it is also rotated in the left-right direction by the link part rotation drive means through the link part connected to the lower jaw part rotation support joint, it is a simple configuration but in a natural form. It can be operated.
[0025]
According to the jaw device of the second aspect, since the elastic body is provided between the lower jaw part rotation support joint and the base, the control and stability of the position of the lower jaw part can be achieved.
[0026]
According to the jaw device of the third aspect, since the lower jaw portion is guided by the guide member provided to be inclined forward and downward, a natural speech form can be expressed.
[0027]
According to the jaw device of the fourth aspect, since the motor for rotationally driving the lower jaw portion is built in the arm of the lower jaw portion, space saving is achieved.
[0028]
According to the control method of claim 6, since the driving of the lower jaw part rotation driving means and the link part rotation driving means are linked, the lower jaw part is moved forward and downward along with the opening of the mouth, Natural speech forms can be expressed.
[0029]
According to the control method of the seventh aspect, since the left and right link part rotation driving means are controlled independently, the lower jaw part can be moved substantially in the left-right direction.
[Brief description of the drawings]
FIG. 1 is an explanatory side view of an essential part of a jaw device according to the prior art. FIG. 2 is an explanatory side view of an essential part of the jaw device according to the present invention. FIG. 5 is a front view and a plan view showing a link system at the time of opening. FIG. 6 is a perspective view and a side view showing the main part at the time of opening. FIG. FIG. 8 is a perspective view and a side view showing the main part when the lower jaw moves in the left-right direction.
DESCRIPTION OF SYMBOLS 1 Head frame 2 Guide member 10 Upper jaw part 11 Base 20 Lower jaw part 21 Opening and closing part 22 Arm 23 Shaft hole 30 Lower jaw part rotation shaft 31 Lower jaw part rotation support joint 32 Link part 33, 33 ', 34, 34' Drive piece 35 Elastic body 36-38 Shaft 40, 41, 41 'Motor for lower jaw rotation

Claims (7)

In a robot having at least a head skeleton and a lower jaw connected to the head skeleton,
A lower U-shaped lower jaw,
A pair of left and right lower jaw rotation support joints that pivotally support the lower left and right upper ends of the lower jaw and pivotally support the lower jaw,
A pair of left and right lower jaw rotation driving means for opening and closing the mouth by rotating the lower jaw relative to the left and right lower jaw rotation support joint;
A pair of left and right link parts connecting the left and right lower part rotation support joint and a pair of left and right bases fixed to the head skeleton,
A robot jaw apparatus comprising a pair of left and right link part rotation driving means for rotating the left and right link parts with respect to the left and right bases and moving the lower jaw part in a substantially front-rear and left-right direction. The robot jaw apparatus according to claim 1, wherein an elastic body is provided between the lower jaw rotating support joint and the base. The robot jaw apparatus according to claim 1 or 2, wherein the guide member for moving the lower jaw portion substantially in the front-rear direction is inclined about 15 ° forward and downward. The robot jaw device according to any one of claims 1 to 3, wherein the lower jaw rotation driving means is a motor built in an arm of the lower jaw. In a robot having at least a head skeleton and a lower jaw connected to the head skeleton,
A lower U-shaped lower jaw,
A pair of left and right lower jaw rotation support joints that pivotally support the lower left and right upper ends of the lower jaw and pivotally support the lower jaw,
A pair of left and right lower jaw rotation driving means for rotating the lower jaw with respect to the left and right lower jaw rotation support joint,
By rotating the lower jaw by driving the lower jaw rotation driving means, the mouth is opened and closed,
Also,
A pair of left and right link parts connecting the left and right lower part rotation support joint and a pair of left and right bases fixed to the head skeleton,
A pair of left and right link part rotation drive means for rotating the left and right link parts with respect to the left and right bases,
A method for controlling a jaw device of a robot, wherein the lower jaw portion is also moved substantially in the front-rear and left-right directions by rotating the link portion by driving the link portion rotation driving means. When opening and closing the mouth,
By opening the mouth part by rotating the lower jaw part by driving the lower jaw part turning drive means ,
By moving the link part by driving the link part rotation driving means via the guide member that is inclined forward and inclined to guide the lower jaw part in the substantially front-rear direction, the lower jaw part is also moved in the substantially front-rear and left-right direction. Let me
The robot jaw device control method according to claim 5, wherein the lower jaw portion is moved forward and downward along with the opening of the mouth. The method for controlling a jaw device of a robot according to claim 5 or 6, wherein the driving of the left and right link part rotation driving means is independently controlled.

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