JP5476362B2 - robot - Google Patents

Description

  Embodiments described herein relate generally to a robot.

  Conventionally, there is a robot that moves a movable part by a driving part such as a motor.

  The robot is required to suppress the temperature rise because the temperature of the drive unit and the robot rises due to heat generated by the drive unit.

The robot of the embodiment includes a structure, a temperature detection unit, and a control unit. The structure includes a movable part and a drive part that drives the movable part. The temperature detection means is provided in the structure and detects the temperature of the structure. When the temperature detected by the temperature detecting unit exceeds a specified value, the control unit controls the driving unit to suppress a temperature rise of the structure. When the temperature detected by the temperature detection unit exceeds a specified value, the control unit is a portion other than a portion where a maximum load of a load acting on the drive portion from the movable portion acts on the movable region of the movable portion. The movable part is operated in the area of

FIG. 1 is a perspective view illustrating an appearance of a robot according to the embodiment. FIG. 2 is a front view illustrating a part of the appearance of the robot according to the embodiment. FIG. 3 is a bottom view illustrating an appearance of the robot according to the embodiment. FIG. 4 is a side view illustrating an appearance of the robot according to the embodiment, and is a diagram illustrating a state in which an arm portion is rotated. FIG. 5 is a plan view showing the appearance of the head of the robot according to the embodiment. FIG. 6 is a side view showing the appearance of the head of the robot according to the embodiment. FIG. 7 is a block diagram illustrating electrical connection of each unit of the robot according to the embodiment. FIG. 8 is a flowchart illustrating a flow of operation control processing executed by the control unit of the robot according to the embodiment.

  A robot according to an embodiment will be described below with reference to the drawings. As shown in FIG. 1, the robot 1 is installed on an installation table 100 provided in a shopping center or the like as an example. The robot 1 moves each part and performs operations such as dancing. In the present embodiment, the state shown in FIG. For example, the robot 1 operates using a built-in battery as a power source.

  The robot 1 includes a base portion 2, a body portion 3, a head portion 4, and left and right arm portions 5 and 6. The body part 3, the head part 4, and the arm parts 5 and 6 can be relatively moved (rotated) relative to the base part 2, as will be described in detail later. The body part 3, the head part 4, and the arm parts 5 and 6 are examples of a movable part. The head 4 is provided with a pair of left and right camera units 11, and the body unit 3 is provided with a voice input / output unit 12. The voice input / output unit 12 includes a speaker 13 and a microphone 14 (both of which are shown in FIG. 7).

  As shown in FIGS. 2 and 3, the base 2 has a base housing 2a and left and right feet 2b. The left and right feet 2b are integrally formed with the base housing 2a. When the robot 1 is placed on the installation table 100 (FIG. 1), the bottom of the base housing 2a and the bottoms of the left and right feet 2b are in contact with the installation table 100.

  As shown in FIGS. 1 and 2, the body portion 3 is disposed above the base portion 2. The body part 3 has a body housing 3a. An opening 3b is provided in the front portion of the body housing 3a. The opening 3b is closed by the voice input / output unit 12, and the speaker 13 and the microphone 14 of the voice input / output unit 12 are located inside the body housing 3a. The body portion 3 is connected to the base portion 2 so as to be rotatable around a rotation axis A1 (FIGS. 2 and 4) by a connection mechanism (not shown). In other words, the connecting mechanism is, for example, a joint. As shown in FIG. 3, the movable range of the body portion 3 is a specified angle α1 that is specified to the left and right with respect to the reference posture. An arrow B <b> 1 in FIG. 3 indicates the rotation direction of the body portion 3. The body part 3 is connected to a first motor 15a (FIG. 7), and is rotated about the rotation axis A1 by the first motor 15a. The rotation operation around the rotation axis A1 of the body part 3 is also referred to as a hip swinging operation.

  As shown in FIG. 4, the left and right sides of the body housing 3a are provided with recesses 3c (only one recess 3c is shown in the drawing). Each concave portion 3 c receives the arm portion 5 or 6. Each recess 3c is provided with a vent 3d. A plurality of vents 3d are provided as an example, and have a mesh shape. The vent 3d communicates with the inside and outside of the body housing 3a. By ventilating the vent 3d, the inside of the body housing 3a is cooled, and the temperature rise in the body housing 3a is suppressed.

  As shown in FIG. 1, the left and right arm portions 5 and 6 are disposed on the side of the body portion 3 and are located at positions sandwiching the body housing 3 a of the body portion 3. Since the configuration of the left (one) arm portion 5 and the configuration of the right (other) arm portion 6 are bilaterally symmetrical, the left arm portion 5 will be described in detail below, and the right arm portion 6 will be duplicated. The description to be omitted is omitted.

  As shown in FIG. 1 and FIG. 2, the arm portion 5 is formed in a substantially disc shape and increases in thickness from the outer peripheral portion toward the inner peripheral portion. The arm portion 5 is coupled to the upper portion of the body portion 3 by a coupling mechanism 7. The arm portion 5 is connected to the base portion 2 so as to be rotatable about a rotation axis A2 (FIG. 1) by a connecting mechanism 7, and can open and close the vent 3d of the recess 3c. Specifically, the arm portion 5 can be rotated up and down, and can be rotated between a closed position (FIG. 1) and an open position (FIG. 2). In the closed position, the arm portion 5 is in a state of being overlapped with the recess 3c, and closes the vent 3d. In the open position, the arm 5 is in a state of being separated from the recess 3c and opening the vent 3d. As shown in FIG. 2, the movable range around the rotation axis A <b> 2 of the body portion 3 is a prescribed angle α <b> 2 defined upward with respect to the reference posture. An arrow B2 in FIGS. 1 and 2 indicates the rotation direction of the body portion 3 around the rotation axis A2. The arm 5 is connected to the second motor 15b (FIG. 7) and is driven to rotate about the rotation axis A2 by the second motor 15b. The rotation operation of the arm 5 around the rotation axis A2 is also referred to as a flapping operation. The motor for flapping operation of the right arm 6 is the third motor 15c (FIG. 7). That is, a flapping motor is provided for each arm 5 and 6.

  The arm 5 is connected to the base 2 by a connecting mechanism 7 so as to be rotatable around a rotation axis A3 (FIG. 1). In detail, the arm part 5 can be rotated back and forth. As shown in FIG. 4, the movable range of the body part 3 around the rotation axis A3 is defined in a specified angle α3 in one direction (forward) with respect to the reference posture and in another direction (backward) with respect to the reference posture. The specified angle α4. An arrow B3 in FIGS. 1 and 4 indicates the rotation direction of the body portion 3 around the rotation axis A3. The arm portion 5 is connected to the fourth motor 15d (FIG. 7), and is rotated about the rotation axis A3 by the fourth motor 15d. The turning operation of the arm portion 5 about the turning axis A3 is also referred to as an arm swinging operation. Note that the motor for swinging the right arm 6 is the fifth motor 15e (FIG. 7). That is, an arm swinging motor is provided for each of the arm portions 5 and 6.

  As shown in FIGS. 1 and 4, the head 4 is disposed above the body portion 3. The head 4 has a head housing 4a. A pair of left and right camera parts 11 are provided on the front part of the head housing 4a.

  The head 4 is connected to the body 3 so as to be rotatable around a rotation axis A4 (FIG. 4) by a connection mechanism (not shown). Specifically, the head 4 is rotatable left and right. As shown in FIG. 5, the movable range of the head 4 around the rotation axis A4 is a specified angle α5 left and right with respect to the reference posture. An arrow B4 in FIG. 5 indicates a rotation direction around the rotation axis A4 of the body part 3. The head 4 is connected to a sixth motor 15f (FIG. 7), and is rotated about the rotation axis A4 by the sixth motor 15f. The turning operation of the head 4 around the turning axis A4 is also referred to as a neck swinging operation.

  The head 4 is connected to the body 3 so as to be rotatable around a rotation axis A5 (FIG. 5) by a connection mechanism (not shown). Specifically, the head 4 can be turned up and down. As shown in FIG. 6, the movable range of the head 4 around the rotation axis A <b> 5 is a specified angle α <b> 6 that is vertically defined with respect to the reference posture. An arrow B5 in FIG. 6 indicates the rotation direction around the rotation axis A5 of the body portion 3. The head 4 is connected to a seventh motor 15g (FIG. 7), and is rotated about the rotation axis A5 by the seventh motor 15g. The rotation operation of the head 4 around the rotation axis A5 is also referred to as a neck vertical swing operation.

  The first to seventh motors 15a to 15g for driving the movable part (the body part 3, the head part 4, the left and right arm parts 5 and 6) are accommodated in the body housing 3a and fixed to the body housing 3a. . The first to seventh motors 15a to 15g are examples of driving units (actuators) that drive the movable unit. The first to seventh motors 15a to 15g constitute a structure 16 together with the base 2 and the movable part (the body part 3, the head part 4, the left and right arm parts 5 and 6). In the following description, the first motor 15a to the seventh motor 15g may be simply referred to as the motor 15 for convenience.

  Further, the robot 1 has a temperature sensor 22 (FIG. 7) in the body part 3. The temperature sensor 22 detects the temperature of the structure 16 and is accommodated in the body housing 3a. The temperature sensor 22 is an example of a temperature detection unit. Only one temperature sensor 22 may be provided in the body housing 3a, or a plurality of temperature sensors 22 may be provided. In addition, the temperature sensor 22 may detect the ambient temperature in the body housing 3a as the temperature of the structure body 16, and each movable part (the body part 3, the head part 4, the left and right arm parts 5, 6). It may be provided and the temperature of each movable part may be detected.

  Moreover, the robot 1 is provided with the control part 20, as shown in FIG. The control part 20 is accommodated in the trunk | drum housing 3a as an example. The control unit 20 is, for example, a computer including a CPU (Central Processing Unit), a ROM (Read Only Memory) storing a program, a RAM (Random Access Memory), and the like. The CPU executes various processes according to the program.

  A camera unit 11, a speaker 13, a microphone 14, first to seventh motors 15a to 15g, a temperature sensor 22, a communication unit 23, and the like are connected to the control unit 20 via a bus line 21 and the like. For example, the communication unit 23 communicates with a host device such as an information processing device.

  The control unit 20 performs assist processing for the customer using the camera unit 11, the speaker 13, the microphone 14, and the like. As an example, the control unit 20 discriminates customer attributes (for example, gender and age) from the customer image captured by the camera unit 11, and provides information (for example, advertisement of products) according to the customer to the speaker (output unit). 14 is used.

  Moreover, the control part 20 controls the motor 15 and suppresses the temperature rise of the structure 16 when the temperature detected by the temperature sensor 22 exceeds the specified value as the operation control process. Specifically, the robot 1 has a first operation mode and a second operation mode operation as operation modes, and the controller 20 controls the temperature when the motor 15 is controlled in the first operation mode. When the temperature detected by the sensor 22 exceeds a specified value, the operation mode shifts to the second operation mode that suppresses the temperature increase of the structure 16. Here, the first operation mode is a mode for causing each part to perform a normal operation, and the second operation mode is a mode for causing each part to perform a temperature rise suppression operation.

  Below, an example of the operation control process which the control part 20 performs is demonstrated in detail, referring the flowchart of FIG.

  First, the control unit 20 controls the motor 15 in the first operation mode (step S1). Specifically, in the first operation mode, the control unit 20 controls the motor 15 so that the body unit 3, the head unit 4, and the left and right arm units 5, 6 are swung, flapping, and arm swinging operations. , Swing the neck and swing the neck. One operation may be performed, or a plurality of types of operations may be performed. The robot 1 performs a dance operation or the like by combining a plurality of types of operations. In the first operation mode, the entire movable region of the movable part (the body part 3, the head part 4, the left and right arm parts 5, 6) can be used. Further, in the first operation mode, the entire operation speed range including the maximum operation speed of the movable part (the body part 3, the head part 4, the left and right arm parts 5, 6) can be used.

  The control unit 20 monitors the temperature of the structure 16 using the temperature sensor 22 while controlling the movable unit (the body unit 3, the head unit 4, and the left and right arm units 5 and 6). As described above, the temperature of the structure 16 is the ambient temperature in the body housing 3a and the temperatures of the movable parts (the body part 3, the head part 4, the left and right arm parts 5 and 6). And the control part 20 continues control of the motor 15 in a 1st operation mode, when the temperature of the structure 16 which the temperature sensor 22 detected does not exceed the 1st regulation value (No of step S2). (Step S1).

  On the other hand, when the temperature of the structure 16 detected by the temperature sensor 22 exceeds the first specified value (Yes in step S2), the control unit 20 shifts from the first operation mode to the second operation mode. Then, the motor 15 is controlled in the second operation mode (step S3). In the second operation mode, the control unit 20 controls the second and third motors 15b and 15c to open the vent 3d of the body housing 3a in the left and right arm portions 5 and 6 as a first example. The temperature rise of the structure 16 is suppressed by performing the operation to be performed. This operation is performed, for example, when the ventilation port 3d is closed by the left and right arm portions 5 and 6 in the first operation mode and the operation mode is shifted to the second operation mode. In addition, as another example, the above operation is performed in the second operation mode when the left and right arms 5 and 6 are flapping including the operation of closing the vent 3d in the first operation mode. This is done when moving to. In another example, the left and right arms 5 and 6 are controlled so as not to rotate to a position (closed position) where the vent 3d is closed. By the operation described above, the vent 3d is always open during the second operation mode, and the ventilation path is secured. Thereby, the ventilation in the fuselage housing 3a is well ventilated by the vent 3d, and the heat in the fuselage housing 3a is released to the outside of the fuselage housing 3a, and the temperature of the structure 16 (the temperature in the fuselage housing 3a and each motor 15). Temperature) decreases.

  Further, as a second example of control in the second operation mode, the control unit 20 controls the second and third motors 15b and 15c to blow air from the vent 3d into the body housing 3a. The left and right arms 5 and 6 are caused to suppress the temperature rise of the structure 16. This air blowing operation is performed by a flapping operation. As an example, this air blowing operation is performed when the operation mode is shifted to the second operation mode from the state where the vent 3d is closed by the left and right arms 5 and 6 in the first operation mode. By this air blowing operation, air is forcibly blown from the vent 3d into the body housing 3a. Moreover, the flow velocity of the air passing through the vent 3d is increased by the blowing operation. By this air blowing operation, the heat in the body housing 3a is released to the outside of the body housing 3a, and the temperature of the structure 16 (the temperature in the body housing 3a and the temperature of each motor 15) decreases.

  As a third example of the control in the second operation mode, the control unit 20 includes the second and third motors 15b, 5b from the left and right arm portions 5 and 6 in the movable region of the left and right arm portions 5 and 6. The left and right arm portions 5 and 6 are operated in a region other than the portion where the maximum load acts among the loads acting on 15c (restricted movable region). The region other than the portion where the maximum load acts is also referred to as a limited movable region. Here, of the loads acting on the second and third motors 15b and 15c from the arm portions 5 and 6, the portion on which the maximum load acts is the second and the second weights of the arm portions 5 and 6 in this embodiment. This is the position where the moment (rotational moment) acting on the third motors 15b, 15c is maximized. In this embodiment, this position is a position where the arms 5 and 6 are in a horizontal state, that is, a position where the center of gravity of the arms 5 and 6 coincides with the horizontal line D in FIG. 2 (maximum moment position). As an example, the limited movable region is a defined region (region of the prescribed angle α7 in FIG. 2) including the above-mentioned maximum moment position from the movable region of the arms 5 and 6 (the range of the prescribed angle α2 in FIG. 2). ) Is a region excluding). This prescribed area is an area smaller than the movable area of the arms 5 and 6. And the control part 20 controls the 3rd motors 15b and 15c so that the gravity center of the arm parts 5 and 6 may be located in a restriction | limiting movable area | region. By limiting the movable region in this way, the heat generation of the second and third motors 15b and 15c is suppressed and the amount of heat generated by the second and third motors 15b and 15c is suppressed as compared with the case where the movable region is not limited. Becomes smaller. Thereby, the temperature rise of the structure 16 is suppressed as compared with the case where the movable region is not limited.

  Further, as a fourth example of control in the second operation mode, the control unit 20 has a speed higher than the maximum operation speed among the operation speeds of the movable parts (the body part 3, the head part 4, and the left and right arm parts 5 and 6). Move the moving part at a low operating speed. By limiting the operation speed in this way, the output (drive speed, rotation speed) of the motor 15 is suppressed to be lower than that in the case where the operation speed is not limited, and an increase in the heat generation amount of the motor 15 is suppressed. Thereby, the temperature rise of the structure 16 is suppressed. Note that the first to fourth examples of control in the second operation mode described above may be implemented independently or in combination.

  Then, the control unit 20 that has shifted to the second operation mode uses the temperature sensor 22 while controlling the movable unit (the body unit 3, the head unit 4, and the left and right arm units 5 and 6) in the second operation mode. The temperature of the structure 16 is monitored. And the control part 20 continues control of the motor 15 in a 2nd operation mode, when the temperature of the structure 16 which the temperature sensor 22 detected does not exceed the 2nd regulation value (No of step S4). (Step S3). The second specified value is a temperature equal to or lower than the first specified value, but is more preferably a temperature lower than the first specified value.

  The structure 16 is cooled by the operation of the movable part (the body part 3, the head 4, the left and right arm parts 5, 6) in the second operation mode, and the temperature of the structure 16 becomes equal to or lower than the second specified value. If it is (Yes in step S4), the control unit 20 shifts from the second operation mode to the first operation mode, and controls the motor 15 in the first operation mode (step S1).

  As described above, in the present embodiment, when the temperature detected by the temperature sensor 22 exceeds the specified value, the control unit 20 controls the motor 15 to suppress the temperature rise of the structure 16. Therefore, the temperature rise of the structure 16 such as the temperature rise of the motor 15 and the temperature rise in the body housing 3a can be suppressed. Thereby, it can suppress that the lifetime of the motor 15 or the control part 20 becomes short.

  As mentioned above, although embodiment of this invention was described, this embodiment is shown as an example and is not intending limiting the range of invention. The novel embodiment can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. This embodiment and its modifications are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  DESCRIPTION OF SYMBOLS 1 ... Robot, 3 ... Body part (movable part), 3a ... Body housing (housing), 3d ... Vent, 4 ... Head (movable part), 5, 6 ... Arm part (movable part), 15 ... 1st ˜7th motor (drive unit), 16... Structure, 20... Control unit, 22 .. temperature sensor (temperature detection means).

JP-A-7-112394

Claims (5)

A structure including a movable part and a drive part for driving the movable part;
A temperature detecting means provided in the structure for detecting the temperature of the structure;
When the temperature detected by the temperature detection means exceeds a specified value, the controller that controls the drive unit to suppress the temperature rise of the structure,
Equipped with a,
When the temperature detected by the temperature detection unit exceeds a specified value, the control unit is a portion other than a portion where a maximum load of a load acting on the drive portion from the movable portion acts on the movable region of the movable portion. A robot that moves the movable part in the area of   The control unit is configured to suppress a temperature rise of the structure when the temperature detected by the temperature detection unit exceeds the specified value when the drive unit is controlled in the first operation mode. The robot according to claim 1, wherein the robot shifts to the operation mode. The housing includes the drive unit and the temperature detection unit, and includes a housing in which a vent is formed.
The movable part can open and close the vent.
The control unit according to claim 1 or 2, wherein when the temperature detected by the temperature detection unit exceeds a specified value, the control unit controls the driving unit to cause the movable unit to open the vent. The robot described. The housing includes the drive unit and the temperature detection unit, and includes a housing in which a vent is formed.
The movable part can open and close the vent.
The said control part makes the said movable part perform the ventilation operation | movement which controls the said drive part and ventilates from the said vent into the said housing, when the temperature detected by the said temperature detection means exceeds predetermined value. Item 4. The robot according to any one of Items 1 to 3. Wherein, when the temperature where the temperature detected by the detecting means exceeds a prescribed value, of claims 1 to 4 for operating said movable part at a lower operating speed than the maximum operating speed of the operating speed of the movable part The robot according to any one of the above.

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