JP4478313B2 - Biped robot with storage battery - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a biped walking robot equipped with a storage battery as an operating power source, and more particularly to the arrangement of the storage battery mounted on the biped walking robot.
[0002]
[Prior art]
Known biped robots include those described in Japanese Patent Laid-Open Nos. 62-97005 and 63-150176.
A biped robot is basically a humanoid robot, with two legs extending from the waist at the lower end of the torso and two arms extending from the shoulders on the left and right sides of the torso. And a head equipped with an imaging device for visualizing the robot is mounted on the upper end of the body.
[0003]
By the way, as a posture stabilization control device for a biped robot, the present applicant has proposed a technology for performing posture stabilization control of a robot based on an inverted pendulum type dynamic model in Japanese Patent Laid-Open No. 5-337849.
The posture stability control of the robot based on the inverted pendulum type dynamic model disclosed in this publication performs the torque control around the ankle of the robot by simulating the behavior characteristic of the vibration of the upper body position of the robot. In a robot that performs this kind of posture stability control, it is easier to ensure the posture stability of the robot when the center of gravity is higher than when the center of gravity of the entire robot is lower.
[0004]
[Problems to be solved by the invention]
By the way, there are some power sources for operating the legs, arms, etc. in the biped robot, which are supplied to the robot from the outside via a cable. However, it is preferable to mount a storage battery as a power source for operation of the robot.
[0005]
The present invention has been made in view of the above problems, and the object of the present invention is to prevent a robot from biped walking and interfering during operation in a robot equipped with a storage battery as a power source for operation, and has a large capacity. A bipedal robot equipped with a storage battery that can be equipped with a storage battery is provided.
Another object of the present invention is to install a storage battery that ensures the retention of each storage battery during bipedal walking of the robot and improves the retention and stability of the storage battery during bipedal walking and operation of the robot. Provide biped robot.
Still another object of the present invention is to provide a bipedal robot equipped with a storage battery in which the storage battery is a plurality of storage battery modules and the quality of each storage battery module can be confirmed.
[0006]
[Means for Solving the Problems]
In order to solve the above-described problem, claim 1 is a lower body in which two legs are extended from the lower end of the body, and an upper body in which two arms are extended from the shoulders on both sides. A two-legged structure in which a head is provided at the upper end of the upper body , the upper body and the lower body are rotatable relative to each other around a rotation axis provided in the vertical direction, and a storage battery is mounted on the back of the upper body. In the walking robot , the storage battery is covered with a sub- body provided on the back of the upper body and the back of the head, and the sub- body covering the storage battery has an upper end below the upper end of the head. The sub body is mounted with the storage battery in a range inside the shoulder width of the upper body , and a control unit housed in the sub body is provided on the back of the lower body. characterized in that was.
[0007]
In claim 1, since the storage battery is disposed at the upper body of the robot and below the head, the storage battery is disposed at the upper part of the robot, and is disposed inside the shoulder width. , The width that the robot can pass can be set as narrow as the shoulder width, it can prevent interference with the surroundings during walking movement, and a storage battery is installed in the shoulder width on the back of the upper torso, so the capacity A large storage battery can be installed.
[0008]
A second aspect of the present invention is characterized in that, in the first aspect, the storage battery has a structure in which storage battery modules divided into a central portion and left and right portions thereof are electrically coupled.
[0009]
According to the second aspect of the present invention, since the storage battery is divided and mounted on the central module and the modules on both sides, the individual cells of the storage battery can be securely held as modules, and the storage battery can be used when the robot is walking or operating. The stability of holding is improved.
[0010]
A third aspect of the present invention is characterized in that in each of the storage battery modules, the connection terminal is exposed on the outer surface of the storage battery module.
[0011]
In claim 3, each of the plurality of modules constituting the storage battery can be connected to a voltmeter or the like via a connection terminal provided on the outer surface, and accordingly, the voltage of each storage battery module constituting the storage battery can be checked. This makes it possible to check the quality of each storage battery module, to relatively easily replace defective storage cells or modules, and to prevent inconveniences such as replacement of the entire storage battery due to defective cells or defective modules.
[0012]
Claim 4, claim 1, Oite to claim 2 or claim 3, storage battery, characterized in that the Lithium-ion battery.
[0013]
According to the fourth aspect of the present invention, since the storage battery is a lithium ion battery, the energy density is large, the battery is light, and the battery can be driven for a long time.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the accompanying drawings. The drawings are viewed in the direction of the reference numerals.
In the figure, the direction indicated by the arrow Fr is the front, and the direction indicated by the arrow Rr is the rear.
The front-rear direction of the robot is a direction perpendicular to the direction in which the two legs of the robot are arranged side by side (the left-right direction of the robot) and the vertical direction (vertical direction) in the upright state of the robot.
FIG. 1 is a side view showing an upright state of a biped robot according to an embodiment of the present invention.
[0015]
An outline of the biped robot 1 will be described with reference to FIG.
The biped walking robot 1 is a humanoid robot including a body 2, legs 3, arms 4, and a head 5 provided at the upper end of the body 2. Since the figure shows one side, the leg body 3 and the upper body 4 are shown one by one, but the leg body 3 and the arm body 4 are provided as a pair of left and right, and the leg body shown in the figure. 3 and the arm body 4 showed the right leg body and arm body toward the front of the robot. In FIG. 2 to be described later, since the front of the upper half of the robot is shown, the left and right arm bodies 4 and 4 are shown.
[0016]
The body 2 of the robot 1 is divided into an upper body 6 above the imaginary line X and a lower body 7 below, and left and right arm bodies 4 are connected to both sides of the upper body 6. A head 5 is supported at the upper end. The head 5 is provided with an imaging device for visualizing a robot (not shown).
A storage battery 30, which will be described in detail later, is mounted on the back surface of the upper body 6. A subbody 8 that covers the storage battery 30 is provided on the back surface of the upper body 2.
The left and right legs 3 are connected to the lower end of the lower body 7, and a control unit 10 (electronic circuit unit “ECU” having a microcomputer, etc.) for controlling the operation of the robot is installed and mounted on the back of the lower body 7. The sub-body 9 is provided.
[0017]
The sub-body 8 of the upper body 6 is a box-like body that is detachably attached to the back surface of the upper body 6, and the sub-body 9 of the lower body 7 is detachably attached to the back surface of the lower body 7. It is a box-like object that resembles a back sac.
The storage battery 30 housed and mounted in the subbody 8 of the upper body 6 is detachably supported by the support frame 14 on the upper body 6 side, and is housed and mounted in the subbody 9 of the lower body 7. 10 is detachably supported by the support frame 15 on the lower body 7 side.
[0018]
Inside the upper body 6 and the lower body 7, a rotating mechanism 11 that rotates the other of the upper body 6 and the lower body 7 relative to the other is installed and installed with its rotating shaft 12 facing up and down. ing. The upper part 11a and the lower part 11b of the rotating mechanism 11 are attached to and supported by the upper body 6 and the lower body 7, respectively.
Thereby, the upper body 6 and the lower body 7 are connected to each other around the rotation shaft 12 by the rotation mechanism 11 so as to be relatively rotatable.
[0019]
FIG. 1 shows a basic posture state in which the front and rear directions of the upper body 6 and the lower body 7 are matched, and shoulders 13 are provided on the left and right sides of the upper body 6.
A shoulder joint mechanism (not shown) is built in the shoulder 13, and each arm body 4 is extended from this, and each arm body 4 has joints 4 b and 4 c between the hand portion 4 a and the shoulder portion 13. Prepare.
Each leg 3 includes a knee joint 3c and an ankle joint 3d between the foot 3a and the hip joint 3b.
[0020]
The outline of one embodiment of the biped robot has been described above.
Although not shown in the drawings, in addition to the above-described configuration, an electric motor for driving the imaging apparatus built in the head 5 to be lying down, an electric motor for driving the joints of the legs 3 and the arm body 4, and the like A sensor for detecting the rotational position of each electric motor (rotational position of each joint), a sensor for detecting the load and moment acting on the foot 3a of the leg 3 and the hand 4a of the arm 4; A sensor for detecting an inclination angle and an inclination angular velocity is also provided.
[0021]
By the way, the center of gravity in the present embodiment of the biped robot 1 is the center of gravity in the state where the storage battery 30 is removed in the upright state as shown in the figure, for example, the position of the point a, and the center of gravity of the storage battery 30 is When the robot is supported by the support member 14 in the sub-body 8 and mounted on the robot, the point b is P higher than the barycentric point a, and the barycentric point b is located Q behind the barycentric point a.
The center c of the shoulder portion 13 is provided on the upper body 6 so as to be positioned in front of the center of gravity a.
[0022]
With the above-described arrangement of the center of gravity, the center of gravity b of the storage battery 30 that is a heavy object is positioned above the reference center of gravity point a, so that the center of gravity of the entire robot when the storage battery 30 is mounted on the robot is It exists in the high place (position higher than the reference | standard gravity center point a) from an upper end.
For this reason, the behavioral characteristics of the robot's posture are better matched to the behavioral characteristics of the inverted pendulum, and as a result, the posture stabilization control is performed appropriately based on the inverted pendulum type model. And the stability of the posture of the robot can be ensured satisfactorily.
Further, since the center portion c of the shoulder portion 13 is located in front of the reference center of gravity point a and closer to the front surface of the robot, by extending the arm body 4 forward, the hand portion 4a of the arm body 4 is It reaches a relatively distant place in front and can grasp an object at a distant place.
[0023]
FIG. 2 is a front view of the body 2 of the robot 1 of FIG.
As shown in the figure, the shoulder portions 13 are disposed on the left and right sides of the upper body 6 of the body 2, and left and right arm bodies 4, 4 are extended from the shoulder portions 13, 13.
The storage battery 30 mounted and supported on the back surface of the upper body 6 by the support member 14 has a width in the left-right direction that is sufficiently smaller than the shoulder width W and is located inside the shoulder width W. The width W1 of the sub-body 8 that houses the storage battery 30 indicated by the broken line is sufficiently narrower than the shoulder width W, and is positioned inside the shoulder width W.
And as for the storage battery 30, the upper end part 30a arrange | positions below the upper end part of the head 5. As shown in FIG.
[0024]
FIG. 3 is an explanatory plan view of the upper body 6 of the robot and includes another embodiment. Although the width of the storage battery 30 in the left-right direction is the width inside the shoulder width W, it is wider than W 2 in FIG. The sub-body 8A that covers the outside of the storage battery 30 is wider than the sub-body 8 described above, but has a width inside the shoulder width W, does not protrude outside the shoulder width W, and is inside this.
In FIG. 2, the wide sub-body 8A is indicated by a chain line.
[0025]
As described above, in the robot 1, the storage battery 30 is mounted on the back surface of the upper body 6 of the body 2, below the head 5 provided at the upper end of the body, and within the range of the shoulder width of the body. As a result, the center of gravity of the entire robot in a state where the storage battery 30 is mounted on the robot can be present at a position higher than the upper end of the entire robot, and the robot posture stabilization control is performed based on an inverted pendulum type model. Can be performed properly, and the stability of the posture of the robot can be ensured satisfactorily.
[0026]
The important thing is that when the robot 1 walks, the sub-body 8 including the storage battery 30 carried by the upper body is slightly wider than the width of the robot 1 because the left and right ends 8a, 8a are inside the shoulder width W. When walking in places, for example, narrow passages or hallways, the storage battery 30 and the sub-body 8 storing the battery 30 do not interfere with the passages or hallways.
Accordingly, the robot can walk without being interfered by the surroundings while carrying a storage battery on a narrow passage or hallway.
Further, since the storage battery 30 is mounted within the shoulder width W on the back surface of the upper body 6, a large capacity storage battery can be mounted using the large back surface of the opened upper body and the space behind this.
[0027]
FIG. 4 is a partially broken perspective view showing an embodiment of a storage battery and a structure for supporting the storage battery to the upper body of the robot.
The storage battery 30 includes an outer case 31 including a main body 32 having a bottom and a cover 33 serving as a lid, and a plurality of storage battery modules 40 housed and held in the outer case 31, and the storage battery modules 40 are described later. A plurality of storage battery cells are housed and held in the inner case.
In the figure, the housing 16 of the rotating mechanism 11 installed in the upper body 6 is provided with a through hole 16a of the rotating shaft 12, and a substantially L-shaped support member 14 is extended rearward on the rear surface of the housing 16.
[0028]
A C-shaped lock claw 19 is rotatably provided on the rear surface of the housing 16. The lock claw 19 is connected to an L-shaped link 18, and the L-shaped link 18 is connected to a support table 17 provided on the support member 14. .
A lock rod 34 is horizontally installed on the front surface of the main body 32 of the outer case 31, and the upper presser plate 20 is provided above the cover 33 constituting the lid.
The figure shows a state immediately before the storage battery 30 is mounted and supported. When the storage battery 30 is moved in the forward Fr direction, the lock rod 34 engages with the valley portion 19a opened to the rear of the lock claw 19 and rotates it. As a result, the L-shaped link 18 swings, the support table 17 on the support member 14 connected thereto moves up, supports and lifts the bottom of the storage battery 30 (the bottom of the outer case), and the cover 33 is the upper press plate. The lower surface of 20 holds and holds the upper surface of the storage battery 30.
[0029]
FIG. 5 is an exploded perspective view of the storage battery 30, and FIG. 6 is a transverse plan view of the storage battery module. The storage battery 30 will be described with reference to these drawings.
The storage battery 30 is provided with a bottom as described above, and there are a plurality of storage battery modules in the outer case 31 including a case body 32 opened upward and an inverted concave dish-shaped cover 33 constituting a lid, in the embodiment, six storage battery modules. 40 ... is stored.
Specifically, the storage battery modules 40 are composed of four side modules 40A disposed on both sides and stacked one above the other and two center modules 40B and 40B disposed above and below the center.
[0030]
The four storage battery modules 40A... Stacked in the left and right upper and lower sides, and the upper and lower storage battery modules 40B and 40B are collectively made into one unit, and the case main body 30 is opened from the open portion 32a above the case main body 32. Insert and store inside.
After storage, the cover 33 is placed on the cover body 32 to form the storage battery 30.
[0031]
The storage battery modules 40A on the both sides have the same shape, and the storage battery modules 40B in the central portion have the same shape vertically.
As is apparent from FIGS. 5 and 6, the storage battery modules 40 </ b> A on both sides are provided with a bottom inner cover 41 and a cover plate 42, the inner cover 41 is long in the front and rear in a plan view, and the front portion 41 a is tapered. In the embodiment, one storage battery cell 43 is accommodated in the taper front part 41a, one in the wide body part 41b, two in the left and right, three in the front and rear, and six in convenience.
Each of the upper and lower storage battery modules 40A ... has the same shape and the same size.
[0032]
The central storage battery module 40B includes a rectangular inner case 44 and a cover plate 45 that are long in the front and rear, and stores a total of six storage battery cells 43...
Seven storage battery cells 43 are accommodated in the inner case 41 and the cover plate 42, and the storage battery modules 40A on both sides held are stacked one above the other, and the six storage battery cells 43 are accommodated in the inner case 44 and the cover plate 45, The storage battery modules 40B and 40B in the central portion held were stacked one above the other and collectively stored in the outer case 31 shown in FIG.
The storage battery modules 40A ... containing and holding the seven storage battery cells 43 ... and the storage battery modules 40B, 40B holding and holding the six storage battery cells 43 ... are connected in series in each module. Moreover, each storage battery module 40A ..., 40B, 40B is connected in series.
[0033]
As described above, the storage battery is divided and mounted on the central module 40B and the left and right side modules 40A and 40A, and the storage battery modules are electrically coupled. The cell can be stored and securely held in the inner cases 41 and 44 as a storage battery module.
Therefore, a storage battery composed of a large number of storage battery cells during walking of the robot does not rattle during the operation of the robot and can improve the holding stability of the storage battery composed of a large number of cells. This improves the stability of holding the storage battery when the robot is walking or operating. The biped robot walks biped, but the influence of the center of gravity movement during walking can be reduced.
[0034]
FIG. 7 is an exploded perspective view of the storage battery modules 40A on both sides.
The inner case 41 is formed of an insulating synthetic resin. In the embodiment, the arcuate concave portions 41c following the outer half of the storage battery cells 43 housed therein are formed on the left and right sides of the front portion 41a and the body portion 41b. Three pieces are provided at the front and back inside the part. The bottom is closed by a bottom plate 41c.
Seven cylindrical storage battery cells 43 are accommodated in the front part 41a and six in the body part 41b, and the storage battery cells 43 are positioned by fitting a part of the outer periphery into the recesses 41c. Positioning within the case 41 is achieved by engagement with the inner bottom portion of the case 41 and the protrusion provided on the lower surface of the top portion of the lid plate 42, thereby preventing backlash in the inner case 41 and the lid plate 42.
[0035]
The storage battery cells 43 are inserted into the inner case 41 for positioning and storage, and the rear cover plate 42 is placed on the upper end opening portion 41d of the inner case 41, and the cover plate 42 is attached to the upper end portion of the inner case 41 via screws 46. Stick.
FIG. 8 shows a state in which the cover plate 42 is placed on the inner case 41 and fixed with screws 46 to configure the storage battery modules 40A on both sides.
[0036]
FIG. 9 is a perspective view showing the storage battery module 40B in the center.
The module 40B includes a bottom-side rectangular inner case 44 that is long in the front-rear direction and a lid plate 45 that closes the upper rear portion of the case 44.
The front and rear inner walls and the left and right inner walls of the inner case 44 are provided with arc-shaped concave portions similar to those described above, and six storage battery cells are provided on the inner top surface of the lid plate 43 and the inner bottom portion of the inner case 44. 43 is positioned and stored and held while preventing rattling.
[0037]
FIG. 10 is an exploded vertical cross-sectional view of the case main body 32 of the outer case 31 and the cover 33 that is a cover plate that form the outer shape of the storage battery 30.
On the bottom upper surface 32b of the case main body 32 and the top lower surface 33b of the cover 33, positioning protrusions 32a, 33a,... That engage with the bottom and top of the storage battery modules 40A, 40B stacked vertically are provided.
The positioning protrusions 32a and 33a have a shape surrounding the bottom and top of the storage battery modules 40A and 40B. The storage battery module 40A has a rectangular shape that is long in the front-rear direction and has a tip that surrounds the outside of the tapered shape. 40B has a shape surrounding the outside of a rectangle that is longer by one storage battery cell than the left and right.
[0038]
As shown in FIG. 10, the left and right storage battery modules 40 </ b> A and the intermediate storage battery module 40 </ b> B, which are stacked two vertically, are inserted from the open part 32 b above the body case 32 of the outer case, and the inner bottom upper surface 32 b of the case body 32 is inserted. Are fitted to the projections 32a, and the cover 33 is covered from above, and the projections 33a protruding from the lower surface of the inner top 33b of the cover 33 are fitted to the tops of the storage battery modules 44A, 44B. .
After that, screws 46 were screwed from appropriate positions around the periphery of the cover 33, and the cover 33 was joined to the case main body 32 to constitute the storage battery 30. This state is shown in FIG.
[0039]
FIG. 12 is a schematic explanatory view showing a connection state of the storage battery modules 40.
In the embodiment, the storage battery 30 is composed of four storage battery modules 40A ... containing seven storage battery cells on both sides, and two storage battery modules 40B, 40B storing six storage battery cells in the center, These storage battery modules are denoted by reference signs A to F.
The storage battery modules 40A,..., 40B, 40B are connected in series via a wiring 47 and a terminal 48, and in the embodiment, a fuse 49 is interposed on the positive electrode side and connected to the general terminal 50 together with the negative electrode.
[0040]
FIG. 14 is an explanatory perspective view showing an example of quality confirmation using a connection terminal provided outside the storage battery module.
Connection terminals 50 and 51 are provided outside the back surface of the inner case body 41 of the storage battery module 40A. The external connection terminals 50 and 51 are connected in series with the adjacent storage battery module 40A or 40B and the wiring 47. This is shown externally in FIG. 5 and schematically in FIG.
[0041]
The external connection terminals 50 and 51 of the storage battery module 40A are exposed to the outside of the back surface of the inner case body 41. For example, a voltmeter 52 can be connected to the external connection terminals 50 and 51 to measure the voltage of the storage battery module 40A. The result is displayed on the display unit 53 as digital or analog information.
Thereby, the voltage of the individual storage battery modules 40A, 40B, 40B constituting the storage battery 30 can be measured. Thereby, the quality check of charge / discharge of each storage battery module can be performed.
[0042]
Therefore, it is possible to check the voltage of each of the storage battery modules constituting the storage battery individually, enabling the quality check of each storage battery module, and if there is a storage battery failure, quality storage defects such as insufficient voltage can be easily performed. Therefore, it is possible to relatively easily replace defective cells and modules of the battery, and to prevent inconveniences such as replacement of the entire storage battery caused by the defective cells and defective modules.
[0043]
By the way, although it is a storage battery cell, in the embodiment, it has a large energy density, is lightweight, can be driven for a long time, and is preferable for performing a walking, working, etc. of a biped robot. The next battery was used.
[0044]
FIG. 14 is a perspective view showing another embodiment of the storage battery.
The whole code | symbol of the storage battery was set to 130, and the storage battery module was shown by 140A. The storage battery module 140A has the same structure as the storage battery module 40A that houses and holds seven storage battery cells.
Two storage battery modules 140A and 140A (storage battery module 140-2) stacked vertically are arranged side by side adjacent to the two storage battery modules 140A and 140A (storage battery module 140A-1) stacked vertically. Two storage battery modules 140A and 140A (storage battery module 140-3) stacked one above the other are disposed between the tapered tip portions 141a and 141a of the storage battery modules 140A-1 and 140-2 in different directions. Is stored and held in the outer case 131 indicated by an imaginary line.
[0045]
FIG. 15 is a perspective view showing still another embodiment of the storage battery.
A storage battery corresponding to a storage battery module in which the entire storage battery code is 230, a storage battery module corresponding to the storage battery module storing the six storage battery cells in the storage battery module is 240B, and a storage battery module storing the seven storage battery cells described above. The module was 240A.
In the center portion, 240A and 240A are stacked and arranged with a storage battery module having a tapered portion in which seven storage battery cells are stored vertically. Storage battery modules (storage battery modules 240B-1 and 240B-2) formed by stacking storage battery modules 240B and 240B containing six storage battery cells are arranged on both sides of this, and the front part of the storage battery module 240A in the central part 240a protrudes.
These storage battery modules 240 </ b> A..., 240 </ b> B, 240 </ b> B are housed and held in an outer case 231 indicated by an imaginary line.
[0046]
【The invention's effect】
The present invention exhibits the following effects by the above configuration.
Claim 1 comprises a lower body with two legs extending from the lower end of the body and an upper body with two arms extending from the shoulders on both sides , the upper end of the upper body A biped robot that has a head in its upper part , and the upper body and the lower body can be rotated relative to each other around a rotation axis provided in the vertical direction, and a storage battery is mounted on the back of the upper body. The sub-body covered with the sub-body provided on the back surface of the head and the back surface of the head and covering the storage battery is provided with its upper end disposed below the upper end of the head . The storage battery is mounted in a range inside the shoulder width, and a control unit housed in the sub-body is provided on the back of the lower body.
[0047]
In claim 1, since the storage battery is an upper body of the robot and is disposed below the head, the center of gravity of the entire robot in a state where the storage battery is mounted on the robot can be located at a height above the upper end of the entire robot. Therefore, the robot posture stabilization control performed based on the inverted pendulum type model can be appropriately performed, and the posture stability of the robot can be ensured satisfactorily.
Also, since the storage battery is mounted in the range inside the shoulder width of the torso, when the robot walks, the storage battery carried on the upper body is inside the shoulder width, so the part slightly wider than the width of the robot, for example, When walking in a passage or hallway, the storage battery and the sub-body storing the battery do not interfere with the passage or hallway.
[0048]
Accordingly, the robot can walk without being interfered by the surroundings while carrying a storage battery on a narrow passage or hallway. Thereby, the width that the robot can pass can be set as narrow as the shoulder width, and interference with the surroundings during walking movement can be prevented,
Further, since the storage battery 30 is mounted within the shoulder width W on the back surface of the upper body, a large capacity storage battery can be mounted using the large back surface of the opened upper body and the space behind this.
[0049]
A second aspect of the present invention has a structure in which, in the first aspect, the storage battery is electrically coupled with a storage battery module that is divided into a central portion and left and right portions thereof.
[0050]
According to the second aspect of the present invention, since the storage battery is divided and mounted in the central module and the left and right side modules, and the storage battery modules are electrically connected to each other. Can be securely held as.
Therefore, a storage battery composed of a large number of storage battery cells during walking of the robot does not rattle during the operation of the robot and can improve the holding stability of the storage battery composed of a large number of cells. This can reduce the influence of the movement of the center of gravity during walking of the robot, and improve the stability of holding the storage battery during operation of the robot.
[0051]
A third aspect of the present invention is the storage battery module according to the second aspect, wherein each of the storage battery modules is provided with the connection terminal exposed on the outer surface thereof.
[0052]
In claim 3, it becomes possible to check the voltage of each storage battery module constituting the storage battery for each storage battery module, and the quality of each storage battery module can be checked. It is possible to easily detect poor quality storage. This makes it relatively easy to replace a battery cell or a module with a defective one, and prevents inconvenience such as replacement of the entire storage battery caused by the defective cell or module.
[0053]
Claim 4, claim 1, Oite to claim 2 or claim 3, the battery was Lithium ion batteries.
[0054]
In claim 4, since the storage battery is a lithium ion battery, it has a high energy density, is lightweight, can be driven for a long time, and is preferable for performing the walking, working, etc. of the biped walking robot.
[Brief description of the drawings]
FIG. 1 is a side view showing an upright state of a biped robot according to an embodiment of the present invention. FIG. 2 is a front view of the body of the robot 1 in FIG. FIG. 4 is a partially broken perspective view showing an embodiment of a structure for supporting the storage battery and the storage battery to the upper body of the robot. FIG. 5 is an exploded perspective view of the storage battery. FIG. 7 is an exploded perspective view of the storage battery module on both sides. FIG. 8 is an external perspective view of the storage battery module in FIG. 7. FIG. 9 is a perspective view of the storage battery module in the center. FIG. 11 is a longitudinal sectional view of a case main body and a cover, which is a cover plate, disassembled. FIG. 11 is a longitudinal sectional view of the case main body and the cover in FIG. Schematic explanatory diagram shown [Figure 13] Storage FIG. 14 is a perspective view showing another embodiment of the storage battery. FIG. 15 shows still another embodiment of the storage battery. Perspective view [Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Biped walking robot, 2 ... Torso, 3 ... Leg, 4 ... Arm, 5 ... Head, 6 ... Upper torso, 7 ... Lower torso, 12 ... Rotating shaft, 30 ... Storage battery, 40, 40A, 40B ... storage battery module, 50, 51 ... connection terminal, W ... shoulder width.

Claims (4)

It consists of a lower torso with two legs extending from the lower end of the torso and an upper torso with two arms extending from the shoulders on both sides , and a head at the upper end of the upper torso A bipedal walking robot in which the upper body and the lower body are relatively rotatable around a rotation axis provided in the vertical direction, and a storage battery is mounted on the back of the upper body ,
The storage battery is covered with a sub- body provided on the back of the upper body and the back of the head,
The sub-body that covers the storage battery is provided with its upper end disposed below the upper end of the head ,
The sub body is mounted with the storage battery in a range inside the shoulder width of the upper body ,
On the back of the lower fuselage, a control unit housed in a sub-body was provided.
Biped robot equipped with a storage battery characterized by that.   2. The biped robot with a storage battery according to claim 1, wherein the storage battery has a structure in which storage battery modules divided into a central portion and left and right portions thereof are electrically coupled.   The biped robot with the storage battery according to claim 2, wherein each of the storage battery modules is provided with a connection terminal exposed on an outer surface thereof. The biped walking robot equipped with the storage battery according to any one of claims 1 to 3, wherein the storage battery is a lithium ion battery.

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