JP5771506B2 - Fluid pressure transmission device and robot using the same - Google Patents

Description

  The present invention relates to a fluid pressure transmission device and a robot using the fluid pressure transmission device, and more specifically to a device that discharges air mixed in a fluid pressure cylinder or the like.

  The first fluid pressure (master) cylinder is connected to a reservoir in which the working fluid is stored, and the first piston is housed in a movable manner, and connected to the first fluid pressure (master) cylinder via a fluid pressure transmission pipe. A second fluid pressure (slave) cylinder in which the second piston is accommodated in a movable manner inside is provided, and the fluid pressure generated by the movement of the first piston in the first fluid pressure cylinder is transmitted to the second fluid pressure cylinder. As a fluid pressure transmission device that moves the second piston, for example, a technique described in Patent Document 1 can be cited.

  In the technique described in Patent Document 1, in a movable humanoid robot having a hand having a plurality of finger mechanisms that can bend and stretch through joints, the first fluid pressure cylinder is used as the finger mechanism, A fluid pressure cylinder and the like are disposed on the base body (upper body), and the first fluid pressure cylinder and the reservoir are connected by an air discharge passage. When the first piston moves, the air mixed in the first fluid pressure cylinder is air. It is configured so that the working fluid stored in the reservoir is naturally discharged to the upper space through the discharge passage.

  Further, the technique described in Patent Document 2 is based on a case where a predetermined condition such as when the vehicle is stopped is established in a CBW (Clutch By Wire) type automatic clutch control vehicle in which the connection and disconnection of a mechanical friction clutch is automatically controlled via an actuator. The first fluid pressure (master) cylinder is alternately moved in the forward direction and the backward direction to discharge air mixed in the first fluid pressure cylinder and the like.

  Further, the technique described in Patent Document 3 proposes to determine whether air is mixed into the hydraulic circuit from the hydraulic pressure change in the first fluid pressure (master) cylinder in the vehicle hydraulic brake device.

JP 2011-58564 A Japanese Patent Laid-Open No. 11-241734 Japanese Patent Laid-Open No. 2003-127849

  As in the technique described in Patent Document 1, the configuration can be made compact by connecting the reservoir only to the first fluid pressure (master) cylinder, but on the other hand, the transmission tube and the second fluid pressure (slave) cylinder When air is mixed in, it is difficult to discharge the mixed air and it takes time to discharge.

  In particular, when the fluid pressure transmission device is used for a movable robot as in the technique described in Patent Document 1, it is difficult to provide a reservoir in the second fluid pressure (slave) cylinder, and the second fluid When air is mixed into the pressure cylinder or the like, there is a disadvantage that the response is lowered when performing fine work.

  In the techniques described in Patent Documents 2 and 3, since the second fluid pressure (slave) cylinder is also connected to the reservoir, it is relatively easy to discharge air mixed in the second fluid pressure (slave) cylinder. There is, but the weight and size become large correspondingly.

  Further, when the piston of the first fluid pressure (master) cylinder moves as in the technique described in Patent Document 1, the mixed air is naturally discharged to the reservoir through the air discharge passage. It is difficult to efficiently discharge the air.

  Accordingly, the object of the present invention is to solve the above-described problems, and a first fluid pressure (master) cylinder connected to a reservoir in which a working fluid is stored, and a second fluid pressure (slave) connected to the first fluid pressure (master) cylinder via a transmission pipe. The present invention provides a fluid pressure transmission device that includes a cylinder, is compact in configuration, and efficiently discharges mixed air.

In order to solve the above-described problem, in claim 1, a first fluid pressure cylinder connected to a reservoir in which a working fluid is stored, and a first fluid pressure cylinder movably accommodated in the first fluid pressure cylinder. 1 piston, a second fluid pressure cylinder connected to the first fluid pressure cylinder via a fluid pressure transmission pipe, and a second piston movably accommodated in the second fluid pressure cylinder, while being configured to move the second piston is transmitted to the fluid pressure generated by the movement of the first piston in the first fluid pressure cylinder on the through the fluid pressure transmission line second fluid pressure cylinder , Air mixing determination means for determining whether or not air has entered any one of the first fluid pressure cylinder, the second fluid pressure cylinder and the fluid pressure transmission pipe; and the air mixing by the air mixing determination means Shi If it is determined, a robot using the entrained fluid pressure transmission device Ru and an air removing means for removing air was, the robot has a bending freely plurality of finger mechanisms through the joint And a hand in which the second fluid pressure cylinder is disposed, and a portion in which the first fluid pressure cylinder and the reservoir are disposed, wherein the air removal means is mixed with the air by the air mixing determination means. when it is determined, the direction of movement of the second piston which corresponds to the backward direction of the first piston is configured as that controls the posture of the hand so that upward in the gravity direction.

According to a second aspect of the present invention, the robot includes detection means for detecting a fluid pressure in the first fluid pressure cylinder, and the air mixing determination means is configured to detect the air pressure based on the detected change in the fluid pressure. It was constituted so that it might be judged whether or not.

In the robot according to claim 3, when the air removing unit determines that the air is mixed by the air mixing determining unit, the first piston in the first fluid pressure cylinder is moved to the second fluid. The mixed air is alternately moved in the forward direction in which the fluid pressure transmitted to the pressure cylinder increases and in the reverse direction opposite to the forward direction, and the mixed air is discharged into the upper space in the gravity direction of the working fluid stored in the reservoir. In addition, the moving speed of the first piston in the backward direction is configured to be faster than that in the forward direction.

5. The robot according to claim 4, wherein the air removing unit moves the first piston in the first fluid pressure cylinder to the second fluid when the air mixing determining unit determines that the air is mixed. The mixed air is alternately moved in the forward direction in which the fluid pressure transmitted to the pressure cylinder increases and in the reverse direction opposite to the forward direction, and the mixed air is discharged into the upper space in the gravity direction of the working fluid stored in the reservoir. In addition, the posture of the hand is controlled so that the moving direction of the second piston, which corresponds to the retracting direction of the first piston, is upward in the direction of gravity.

In the robot according to claim 5, the first fluid pressure cylinder and the reservoir are connected by an air discharge passage, and the air removing unit is determined that the air is mixed by the air mixing determining unit. In this case, the mixed air is discharged to an upper space in the direction of gravity of the working fluid stored in the reservoir through the air discharge passage.

In the robot according to claim 6, a plurality of fingers of the hand can be controlled by controlling the movement of the first piston of the first fluid pressure cylinder disposed at a portion where the first fluid pressure cylinder and the reservoir are disposed. A control means for bending and stretching the mechanism is further provided.

In the robot according to claim 7, wherein the second fluid pressure cylinder, said at least one of the plurality of finger mechanisms are placed, the first fluid pressure cylinder and the reservoir to a site other than the previous SL finger mechanism There is disposed, the air removing means, the case where the air is determined to have contaminated by air intrusion determination means, the moving direction of the second piston which corresponds to the backward direction of the first piston is in the direction of gravity The posture of the finger mechanism in which the second fluid pressure cylinder is disposed is controlled to be upward.

In the robot according to claim 8, wherein the second fluid pressure cylinder, said plurality of finger mechanisms are arranged on at least one or the hand, and the first fluid pressure cylinder at a site other than the previous SL Hand reservoir is disposed, the air removing means, the case where the air is determined to have contaminated by air intrusion determination means, the moving direction of the second piston which corresponds to the backward direction of the first piston is in the direction of gravity The posture of the finger mechanism or the hand in which the second fluid pressure cylinder is disposed is controlled to be upward.

In the robot according to claim 1, a first fluid pressure cylinder connected to a reservoir in which the working fluid is stored, and a second fluid pressure cylinder connected to the first fluid pressure cylinder via a fluid pressure transmission pipe, An air mixing determination unit that includes a fluid pressure transmission device that includes a fluid pressure transmission pipe and that determines whether air has entered any of the first fluid pressure cylinder, the second fluid pressure cylinder, and the fluid pressure transmission pipe. If, when it is determined that the air is mixed, since as configured and an air removing means for removing entrained air, only the first hydraulic cylinder is connected to the reservoir, the second fluid pressure cylinder in other words Is not connected to the reservoir, and the configuration can be made compact.

Further, it is determined that the fluid pressure transmission device is mixed with air mixing determination means for determining whether or not air is mixed into any of the first fluid pressure cylinder, the second fluid pressure cylinder, and the fluid pressure transmission pipe. The robot has a plurality of finger mechanisms that can be bent and extended through joints, a hand in which the second fluid pressure cylinder is disposed, and a first fluid. A pressure cylinder and a portion where the reservoir is disposed, and when the air removal means determines that air is mixed by the air mixing determination means, the moving direction of the second piston corresponding to the retreating direction of the first piston is gravity. since it is configured as that controls the posture of the hand so that upward in direction, it is possible to discharge the entrained air efficiently, and in a short time.

Or In the robot according to claim 2, provided with a detecting means for detecting the fluid pressure in the first fluid pressure cylinder, air-containing judging means, air is mixed on the basis of the detected change in fluid pressure Since it is configured to determine whether or not, in addition to the above-described effects, it can be accurately determined whether or not air is mixed.

In the robot according to claim 3, when it is determined that the air is mixed, the air removing means includes a forward direction and a backward direction in which the fluid pressure transmitted from the first piston to the second fluid pressure cylinder increases. The mixed air is discharged to the reservoir, and the moving speed of the first piston in the backward direction is made faster than that in the forward direction. Can be discharged more efficiently.

  That is, the first piston is moved alternately in the forward direction and the backward direction, and the moving speed in the backward direction is made faster than the forward direction, so that the second piston is moved in the same direction (in other words, in the first direction). Can be moved at a speed corresponding to the direction of one fluid pressure cylinder), and the mixed air can be sent to the first fluid pressure cylinder and discharged from there to the reservoir, so that the mixed air can be discharged more efficiently. it can.

In the robot according to claim 4, when it is determined that the air is mixed, the air removing unit moves the first piston alternately in the forward direction and the backward direction to discharge the mixed air to the reservoir. In addition, since the posture of the hand is controlled so that the moving direction of the second piston corresponding to the retreating direction of the first piston is upward in the direction of gravity, in addition to the above-described effects, the mixed air is more efficiently Can be discharged.

That is, the first piston is moved alternately in the forward direction and the backward direction, and the posture of the hand is controlled so that the backward direction of the second piston is upward in the direction of gravity, so that the mixed air floats upward. Therefore, the mixed air can be discharged more efficiently because it can be sent to the first fluid pressure cylinder and discharged to the reservoir.

In the robot according to claim 5, the first fluid pressure cylinder and the reservoir are connected by an air discharge passage, and when it is determined that air is mixed in, the air removal means removes the mixed air into the air discharge passage. In addition to the above-described effects, the mixed air can be discharged more efficiently because the working fluid stored in the reservoir is discharged to the upper space in the direction of gravity .

In the robot according to claim 6, since by controlling the movement of the first piston and composed as a control hand stage bending and stretching the plurality of finger mechanisms of the hand, connected to only the first hydraulic cylinder to the reservoir In addition to being able to make the configuration compact, air mixing determination means for determining whether or not air has mixed into any of the first fluid pressure cylinder, the second fluid pressure cylinder, and the fluid pressure transmission pipe, If it is determined that the air removal unit removes the mixed air, the mixed air can be discharged efficiently and in a short time.

In the robot according to claim 7, the second fluid pressure cylinders, are placed on at least one of the plurality of finger mechanisms, a first fluid pressure cylinder and the reservoir is arranged at a site other than the finger mechanism, et The finger mechanism in which the second fluid pressure cylinder is arranged so that the moving direction of the second piston, which corresponds to the retracting direction of the first piston, is upward in the direction of gravity when it is determined that air has been mixed. Since the configuration can be made compact, the second fluid pressure cylinder is arranged so that the moving direction of the second piston is upward in the direction of gravity when it is determined that air is mixed. By controlling the posture of the finger mechanism, the mixed air can be sent to the first fluid pressure cylinder while floating upward, and discharged to the reservoir, so that the mixed air can be efficiently and in a short time. It can be issued.

In the robot according to claim 8, the second fluid pressure cylinders, are placed in at least one or hand of the plurality of finger mechanisms, a first fluid pressure cylinder and the reservoir is arranged on a site other than C-end , d a removal means, when it is determined that the air is mixed, the moving direction of the second piston and the second fluid pressure cylinder is arranged to be upwards in the direction of gravity, which corresponds to the backward direction of the first piston Since the configuration is such that the posture of the finger mechanism or the hand is controlled, the configuration can be made compact, and when it is determined that air is mixed, the mixed air is floated upward and sent to the first fluid pressure cylinder to the reservoir. Therefore, the mixed air can be discharged efficiently and in a short time.

1 is a schematic view schematically showing a fluid pressure transmission device according to a first embodiment of the present invention. It is explanatory sectional drawing which shows the structure of the 1st fluid pressure (master) cylinder of the fluid pressure transmission apparatus which concerns on 2nd Example of this invention. It is a side view of a humanoid type robot in which the fluid pressure transmission device concerning the 2nd example is used. FIG. 4 is a partial cross-sectional perspective view of the robot shown in FIG. 3 when viewed from the right front of the robot with the arm portion and the like removed from the base body. FIG. 4 is an enlarged plan view of the hand shown in FIG. 3 . It is a side sectional view showing the configuration of the index finger mechanism of the hand of the finger mechanism shown in FIG. FIG. 6 is a cross-sectional plan view illustrating a configuration of a thumb mechanism among the finger mechanisms of the hand illustrated in FIG. 5 . Is a flow chart showing the operation of the ECU shown in FIG. FIG. 9 is a sub-routine flowchart showing the air mixing determination process of FIG. 8. FIG . FIG. 10 is a characteristic diagram illustrating a change in the hydraulic pressure in the first fluid pressure cylinder with respect to the movement amount of the piston of the first fluid pressure cylinder, explaining the air mixing determination process in the flowchart of FIG. 9 . FIG. 9 is a side view of the robot similar to FIG. 4 showing the posture of the robot during the air removal process shown in the flow chart of FIG. 8 .

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, an embodiment for implementing a fluid pressure transmission device and a robot using the fluid pressure transmission device according to the invention will be described with reference to the accompanying drawings.

  FIG. 1 is a schematic view schematically showing a fluid pressure transmission device according to a first embodiment of the present invention.

  As shown in the figure, the fluid pressure transmission device (denoted by reference numeral 10) according to the first embodiment of the present invention includes a first fluid pressure (master) cylinder 12 and a second fluid pressure (slave) cylinder 14. The first fluid pressure cylinder 12 is connected to a reservoir 16 in which incompressible hydraulic oil (working fluid) is stored via a fluid path 20 and is supplied with the stored hydraulic oil. Thus, the first and second fluid pressure cylinders 12 and 14 are configured as hydraulic cylinders.

  The first fluid pressure cylinder 12 and the second fluid pressure cylinder 14 are connected via a fluid pressure transmission pipe 22. A first piston 24 is movably accommodated in the first fluid pressure cylinder 12, and a second piston 26 is movably accommodated in the second fluid pressure cylinder 14. The second piston 26 is connected to an appropriate driven member 30 via a rod, and advances or retracts the driven member 30 or further rotates via an appropriate linear / rotation conversion means (not shown).

  The first piston 24 accommodated in the first fluid pressure cylinder 12 is connected to the actuator 32, and is moved in the first fluid pressure cylinder 12 by the actuator 32. The actuator 32 is composed of, for example, an electric motor connected to the first piston 24 via a ball screw mechanism.

  In the fluid pressure transmission device 10, the first piston 24 is moved inside the first fluid pressure cylinder 12 according to the rotational force of the electric motor (actuator) 32 converted into a linear motion by the ball screw mechanism. The fluid pressure generated by the movement of the first piston 24 in the first fluid pressure cylinder 12 is transmitted to the second fluid pressure cylinder 14 via the fluid pressure transmission pipe 22 to move the second piston 26. The

  That is, when the first piston 24 is moved in the forward direction, the hydraulic oil in the first fluid pressure cylinder 12 is pressed (pressurized) by the first piston 24, and the second fluid pressure cylinder via the fluid transmission pipe 22. 14, the second piston 26 is moved in the forward direction (corresponding to (corresponding to) the forward direction of the first piston 24), and the driven member 30 is moved forward or bent and bent (bent and bent via the linear / rotational conversion means).・ Extend).

  On the other hand, when the first piston 24 is moved in the reverse direction opposite to the forward movement direction, the hydraulic oil in the first fluid pressure cylinder 12 is sucked (depressurized) by the first piston 24 and is stored in the second fluid pressure cylinder 14. The hydraulic oil is sucked into the first fluid pressure cylinder 12 via the fluid transmission pipe 22, and thus the second piston 26 is moved in the backward direction (corresponding to (corresponding to) the backward direction of the first piston 24), and the driven member 30. Is retracted or bent (stretched / bent) via a linear / rotational conversion means.

  Thus, in this specification, the moving direction of the first piston 24 in the first fluid pressure cylinder 12 means the direction in which the forward direction increases the hydraulic pressure (fluid pressure) to be transmitted to the second fluid pressure cylinder 14. The reverse direction means the reverse direction opposite to the forward direction.

  In the fluid pressure transmission device 10, a movement amount detection means 34 that detects the movement amount of the first piston 24 through the operation of the actuator 32 is provided in the vicinity of the actuator 32, and the first fluid pressure cylinder 12 has a first fluid. Pressure detecting means 36 for detecting the hydraulic pressure (fluid pressure) inside the pressure cylinder 12 is provided.

  The fluid pressure transmission device 10 includes an ECU (Electronic Control Unit) 40, and outputs of the movement amount detection means 34 and the pressure detection means 36 are sent to the ECU 40. The ECU 40 includes a microcomputer including a CPU, an input / output circuit, a ROM, a RAM, and the like (not shown).

  The ECU 40 determines whether air has entered any of the first fluid pressure cylinder 12, the second fluid pressure cylinder 14, and the fluid pressure transmission pipe 22 based on the outputs of the detection means 34 and 36 described above. When it is determined by the air mixing determination unit and the air mixing determination unit that air is mixed, the air mixing unit functions as an air removing unit that removes the mixed air.

  Specifically, when the ECU 40 functions as an air mixing determination unit, the first fluid pressure cylinder 12 and the second fluid pressure cylinder are based on a change in hydraulic pressure in the first fluid pressure cylinder 12 detected by the pressure detection unit 36. 14 and the fluid pressure transmission pipe 22 are determined whether or not air is mixed.

  More specifically, the ECU 40 detects the hydraulic pressure in the first fluid pressure cylinder 12 detected by the pressure detection means 36 and the movement amount of the first piston 24 of the first fluid pressure cylinder 12 detected by the movement amount detection means 34. Based on the above, it is determined whether or not air is mixed.

  When the ECU 40 functions as an air removing unit and determines that air has entered, the ECU 40 removes the mixed air. That is, the first piston 24 in the first fluid pressure cylinder 12 is alternately moved in the forward direction and the reverse direction opposite thereto, and the mixed air is discharged into the upper space of the hydraulic oil stored in the reservoir 16. More specifically, the ECU 40 moves the moving speed in the backward direction of the first piston 24 faster than that in the forward direction while moving the mixed air in the forward direction and the backward direction alternately into the reservoir 16. The hydraulic fluid to be stored is discharged into the upper space.

  Further, when the ECU 40 functions as an air removing unit and it is determined that air is mixed, the ECU 40 alternately moves the first piston 24 in the first fluid pressure cylinder 12 in the forward direction and the backward direction, and the mixing is performed. The second fluid pressure cylinder is configured to discharge the discharged air to the upper space of the hydraulic oil stored in the reservoir 16 and to move the second piston 26 in the gravity direction upward in the direction of gravity corresponding to the backward direction of the first piston 24. 14 postures are controlled.

  Further, when the ECU 40 functions as an air removing unit and it is determined that air is mixed, the second fluid pressure cylinder 14 is positioned below the first fluid pressure cylinder 12 in the direction of gravity with respect to the second fluid. The posture of the pressure cylinder 14 is controlled.

  As described above, in the fluid pressure transmission device 10 according to the first embodiment, the first fluid pressure cylinder 12 connected to the reservoir 16 in which the hydraulic oil is stored and the fluid pressure transmission pipe 22 are connected to the first fluid pressure cylinder 12. Air mixing determination means (ECU 40) for determining whether or not air is mixed in one of the second fluid pressure cylinder 14 and the fluid pressure transmission pipe 22, and when it is determined that air is mixed, the mixed air Therefore, only the first fluid pressure cylinder 12 is connected to the reservoir 16, in other words, the second fluid pressure cylinder 14 is not connected to the reservoir 16. The configuration can be made compact. Moreover, since it comprised so that an air mixing determination means (ECU40) and an air removal means (ECU40) might be provided, the mixed air can be discharged | emitted efficiently and in a short time.

  In addition, since the pressure detection means 36 for detecting the hydraulic pressure in the first fluid pressure cylinder 12 is provided and it is configured to determine whether air has been mixed based on the detected change in hydraulic pressure, whether the air has been mixed. Whether or not can be accurately determined.

  The first piston 24 is alternately moved in the forward direction and the backward direction to discharge the mixed air to the reservoir 16, and the moving speed of the first piston 24 in the backward direction is faster than that in the forward direction. Since it comprised so, the mixed air can be discharged | emitted more efficiently.

  That is, the first piston 24 is alternately moved in the forward direction and the backward direction, and the moving speed in the backward direction is made faster than the forward direction, so that the second piston 26 corresponds to the same direction accordingly. The air can be moved at a speed, and the mixed air can be sent to the first fluid pressure cylinder 12 and discharged therefrom to the reservoir 16, so that the mixed air can be discharged more efficiently.

  When it is determined that air is mixed, the posture of the second fluid pressure cylinder 14 is controlled so that the moving direction of the second piston 26 corresponding to the backward direction of the first piston 24 is upward in the gravity direction. Therefore, the mixed air can be discharged more efficiently.

  That is, by moving the first piston 24 alternately in the forward direction and the backward direction, and controlling the posture of the second fluid pressure cylinder 14 so that the backward direction of the second piston 26 is upward in the gravity direction, Since the mixed air can be sent to the first fluid pressure cylinder 12 while being floated upward and discharged to the reservoir 16, the mixed air can be discharged more efficiently.

  Further, when it is determined that air is mixed, the posture of the second fluid pressure cylinder 14 is controlled so that the second fluid pressure cylinder 14 is positioned below the first fluid pressure cylinder 12 in the direction of gravity. Therefore, since the mixed air can be sent to the first fluid pressure cylinder 12 while being suspended upward and discharged to the reservoir 16, the mixed air can be discharged more efficiently.

  FIG. 2 is an explanatory sectional view of a first fluid pressure cylinder of a fluid pressure transmission device according to a second embodiment of the present invention. The second embodiment relates to a robot using a fluid transmission device similar to that of the first embodiment, more specifically, a humanoid robot hand having a person-like shape.

  For convenience of understanding, a robot using a fluid pressure transmission device similar to that of the first embodiment will be described with reference to FIGS. 3 to 7. As shown in the figure, the robot (indicated by reference numeral 100) has two left and right legs. A legged mobile robot including the unit 102 is configured. In the fluid pressure transmission device according to the second embodiment, the same members as those in the first embodiment are denoted by the same reference numerals with the suffix “a”, and description thereof will be omitted as much as possible.

  The leg portion 102 is connected to the lower portion of the base body (upper body) 104, and includes a thigh link 106, a crus link 110, and a foot portion 112, respectively. The thigh link 106 is connected to the base body 104 via the hip joint. The hip joint has a rotation axis around the Z axis (yaw axis), a rotation axis around the Y axis (pitch axis; front and rear direction of the robot 100), and a rotation axis around the X axis (roll axis; left and right direction of the robot 100). Three electric motors having the same are arranged.

  The thigh link 106 and the lower leg link 110 are connected via a knee joint, and the lower leg link 110 and the foot 112 are connected via an ankle joint. An electric motor having a rotation axis around the Y axis is arranged at the knee joint, and an electric motor having rotation axes around the Y axis and the X axis is arranged at the ankle joint.

  A head portion 114 is connected to the upper portion of the base body 104, and two left and right arm portions (links) 116 are connected to the side. Hands (end effectors) 120 are connected to the tips of the left and right arm portions 116, respectively.

  The left and right arm portions 116 include an upper arm link 122 and a lower arm link 124, respectively. The upper arm link 122 is connected to the base body 104 through a shoulder joint 126. The upper arm link 122 and the lower arm link 124 are connected via an elbow joint 130, and the lower arm link 124 and the hand 120 are connected via a wrist joint 132.

  The shoulder joint 126 has three electric motors having a rotation axis around the Y axis, a rotation axis around the X axis, and a rotation axis around the Z axis, and the elbow joint 130 has an electric motor having a rotation axis around the Y axis. The wrist joint 132 is provided with three electric motors having a rotation axis around the Z axis, a rotation axis around the Y axis, and a rotation axis around the X axis.

  A storage portion 134 is provided on the back of the base 104, and the ECU (control means) 40a, a battery (not shown), and the like are accommodated therein. The robot 100 is covered with a cover for protecting the internal structure. The ECU 40a is a microcomputer including a CPU, an input / output circuit, a ROM, a RAM, and the like (not shown). The ECU 40a controls the operation of the electric motor of the leg portion 102 to move the robot 100, and the electric motor of the arm portion 116, etc. To control the operation.

  FIG. 4 is a partial cross-sectional perspective view of the right arm portion 116 and the like shown in FIG. In FIG. 4, for convenience of understanding, a cover for protecting the internal structure and the like are shown in a properly removed state.

  As shown in FIG. 4, in the robot 100, the first fluid pressure (master) cylinder 12a, the actuator 32a, the reservoir 16a, and the like are integrally formed in a portion of the arm portion 116 near the shoulder joint 126 (described above). Thirteen cylinder units 12aA are provided. The 13 cylinder units 12aA are composed of a first group in which two units are arranged in parallel in four rows and a second group in which two units and three units are arranged in parallel.

  FIG. 5 is an enlarged plan view of the hand 120 shown in FIG.

  The hand 120 is manufactured by imitating a human hand, and has five finger mechanisms 136 having a bending / extending function, specifically, a thumb mechanism 136A, an index finger mechanism 136B, a middle finger mechanism 136C, a ring finger mechanism 136D, and a little finger mechanism 136E. Prepare.

  The thumb mechanism 136A has an IP joint (joint interphalangeal joint) 136A1 and an MP joint (fingerfiddle metacarpophalangeal joint) 136A2 each consisting of a single axis of rotation that rotates the thumb mechanism 136A in the direction toward the palm of the hand in order from the fingertip side. And CM1 joint (phalangeal carpal joint) 136A3 and a CM2 joint (phalangeal carpal joint) comprising a single axis of rotation that intersects them and rotates the thumb mechanism 136A in the direction toward the palm of the hand, etc. ) 136A4.

6 is a side cross-sectional view of the finger mechanism 136B among the finger mechanisms 136 shown in FIG.

  As shown in the figure, the index finger mechanism 136B is composed of a DIP joint (distal interphalangeal joint) 136F and a PIP joint (proximal), each consisting of a single axis of rotation that rotates the finger mechanism 136B in the direction toward the palm of the hand in order from the fingertip side. (Interphalangeal joint) 136G and MP1 joint (middle phalangeal joint) 136H, and a rotating shaft of one axis that intersects with them and rotates the finger mechanism 136B in a direction approaching / separating from another adjacent finger mechanism The MP2 joint (metacarpal joint) 136I is provided. Although not shown, the other middle finger mechanism 136C, ring finger mechanism 136D, and little finger mechanism 136E also have the same structure.

Returning to the description of FIG. 5, two second fluid pressure (slave) cylinders 14 a are arranged at the base 120 </ b> A of the fingertip side and the rear hand 120 of the MP 1 joint 136 </ b> H of each finger mechanism 136. The second fluid pressure cylinders 14a are supplied with working fluid pressure (hydraulic pressure) from the first fluid pressure cylinder 12a via the fluid pressure transmission pipe 22a and / or discharge it to the first fluid pressure cylinder 12a.

  The two second fluid pressure cylinders (hereinafter referred to as “14a1 and 14a2”) in the index finger mechanism 136B will be described with reference to FIG. Explaining from the base side, the cylinder body 14a21 of the second fluid pressure cylinder 14a2 is fixed to the base 120A, and the rod 26a22 attached to the second piston 26a21 is connected to the middle finger segment (the driven member 30a).

  The cylinder body 14a11 of the second fluid pressure cylinder 14a1 on the fingertip side is fixed to the metacarpal phalanx, and the rod 26a12 attached to the second piston 26a11 includes a proximal phalanx at the tip and a distal phalanx (fingertip; driven member 30a). ) Through a connecting member 26a13 and a link member 26a14.

  In this configuration, when the working fluid pressure is supplied to the second fluid pressure cylinder 14a2 on the base side through the fluid pressure transmission pipe 22a as the first fluid pressure cylinder 12a (not shown) moves in the forward direction, the second piston 26a21 also moves in the forward direction (correspondingly) and bends the distal end portion from the metacarpophalangeal joint around the MPI joint 136H.

Further, as the first fluid pressure cylinder 12a moves in the forward direction, hydraulic oil is supplied to the second fluid pressure cylinder 14a1 on the fingertip side via a transmission pipe (not shown) disposed around the MP 1 joint 136H. Then, the second piston 26a11 also moves in the forward direction, and the proximal phalanx is bent around the PIP joint 136G, and the distal phalanx is bent via the connecting member 26a13 and the link member 26a14.

  On the other hand, when the working fluid pressure is discharged from the second fluid pressure cylinders 14a1 and 14a2 to the first fluid pressure cylinder 12a through the fluid pressure transmission pipe 22a as the first fluid pressure cylinder 12a moves in the backward direction. The index finger mechanism 136B operates to extend in the reverse direction. The operation around the MP2 joint 136I is performed by a third second fluid pressure cylinder (shown as “14aa” in FIG. 5) (not shown).

  Although not shown, the other finger mechanism, that is, the middle finger mechanism 136C, the ring finger mechanism 136D, and the little finger mechanism 136E also do not have the third second fluid pressure cylinder 14aa in the ring finger mechanism 136D and the little finger mechanism 136E. Except for the points, it has the same structure.

Next, the thumb mechanism 136A will be described with reference to FIG. 7. The thumb mechanism 136A includes a second fluid pressure cylinder (hereinafter referred to as “14a3”) that rotates the rotation shaft 136A31 of the CM1 joint 136A3 and a rotation shaft 136A21 of the MP joint 136A2. the second fluid pressure cylinder you want to rotate. comprises (hereinafter referred to as "14a4").

  The cylinder body 14a31 of the second fluid pressure cylinder 14a3 is used as the rotation shaft of the CM2 joint 136A4, and is disposed on the base 120A of the hand 120, specifically, rotatably supported. The cylinder body 14a41 of the next second fluid pressure cylinder 14a4 is rotatably connected to the second fluid pressure cylinder 14a3 via the rotation shaft 136A31 of the CM1 joint 136A3.

  The fluid pressure transmission pipe 22a that supplies the working fluid pressure to the second fluid pressure cylinder 14a4 is accommodated in the rotation shaft 136A31 of the CM1 joint 136A3. The rod 26a42 attached to the second piston 26a41 of the second fluid pressure cylinder 14a4 is fixed to the proximal phalanx and distal phalanx (fingertip, driven member 30a) at the tip via a connecting member 26a43 and a link member 26a44.

  In this configuration, when the working fluid pressure is supplied to the second fluid pressure cylinder 14a4 through the fluid pressure transmission pipe 22a as the first fluid pressure cylinder 12a (not shown) moves in the forward direction, the second piston 26a41 also ( Correspondingly, it moves in the advancing direction and bends the distal-side segment from the proximal phalanx around the MP joint 136A2.

  Further, as shown in the figure, the fluid pressure transmission pipe 22a for supplying the working fluid pressure to the second fluid pressure cylinder 14a3 is disposed in the vicinity of the upper non-finger mechanism 136B to 136E in FIG.

  When the working fluid pressure is supplied to the second fluid pressure cylinder 14a3 via the transmission pipe 22a as the first fluid pressure cylinder 12a moves in the forward direction, the second piston 26a31 also moves forward (upward in FIG. 7). ) To rotate the thumb mechanism 136A around the CM1 joint 136A3, thereby rotating the thumb mechanism 136A.

  As is clear from the figure, the advance direction of the second piston 26a31 of the second fluid pressure cylinder 14a3 of the thumb mechanism 136A (arranged in the hand 120) is the same as that of the second fluid pressure cylinder 14a4 for bending and stretching of the same thumb mechanism 136A. The direction is opposite to that of the second fluid pressure cylinder 14a for bending and stretching the non-thumb mechanism 136B to 136E.

  Further, as shown in FIG. 5, the CM2 joint 136 </ b> A <b> 4 is connected to a third second fluid pressure cylinder (shown as “14ab”) arranged in the lateral direction, and the second fluid pressure cylinder 14 ab is the base of the hand 120. When the supply of working fluid pressure is received from the 120A side, it moves forward in the lateral direction in FIG.

  The finger mechanism 16 and the hand 120 are provided with the 13 second fluid pressure cylinders 14a and the corresponding number of the 13 fluid pressure transmission pipes 22a. In FIG. 3, only six fluid pressure transmission pipes 22a are shown. . Since the above-described configuration is described in detail in Japanese Patent Application Laid-Open No. 2010-264546 previously proposed by the present applicant, further description is omitted.

  As described above, in the finger mechanism 136 of the hand 120, the joint bends and extends (bends) in response to supply / discharge of the hydraulic fluid (working fluid pressure) from the first fluid pressure cylinder 12a to the second fluid pressure cylinder 14a. For example, an operation such as gripping an object or pointing in an appropriate direction can be performed.

  Returning to the description of FIG. 2 on the assumption of the above, FIG. 2 shows the fluid pressure transmission device (reference numeral 10a) according to the second embodiment, which is arranged near the shoulder joint 126 of the arm portion 116 of the robot 100 as described above. It is explanatory sectional drawing of the 1st fluid pressure (master) cylinder 12a (cylinder unit 12aA).

  As shown in the figure, the first fluid pressure cylinder 12a includes a cylinder body 12a1, in which a hydraulic chamber is filled and a pressure chamber 12a11 in which the first piston 24a is movable is formed. A guide member 12a3 is connected to the cylinder body 12a1 at the other end via a connecting block 12a2.

  The first piston 24a is connected to the actuator 32a via the ball screw mechanism 50 inside the guide member 12a3. The actuator 32a is an electric motor, and its rotational force is transmitted to the ball screw mechanism 50 via the belt / pulley 52 to move (reciprocate) the first piston 24a in the cylinder body 12a1.

  The connecting block 12a2 has an inner diameter larger than that of the cylinder main body 12a1, and when the first piston 24a is retracted to a limit as shown in the drawing, an accommodating portion 12a31 that accommodates the distal end portion of the first piston 24a is formed. The cylinder body 12a1 is formed with a tapered portion 12a12 that gradually increases in diameter from the pressure chamber 12a11 toward the accommodating portion 12a31. Therefore, even when the first piston 24a is retracted as shown in the drawing, the pressure chamber 12a11 has the tapered portion 12a12. And communicates with the accommodating portion 12a31.

  A reservoir 16a for storing hydraulic oil is disposed adjacent to the guide member 12a3. The lower portion of the reservoir 16a (hydraulic oil storage portion) and the accommodating portion 12a31 are connected by a fluid passage 20a, and the upper portion of the reservoir 16a (the upper space of the hydraulic oil) is connected by an air discharge passage 54.

  Therefore, when air enters any one of the first fluid pressure cylinder 12a, the fluid pressure transmission pipe 22a, and the second fluid pressure cylinder 14a, the air moves toward the upper pressure chamber 12a11 in the direction of gravity. At that time, when the first piston 24a is retracted to the position shown in the drawing and its tip is retracted to the accommodating portion 12a31, the air is discharged from the tapered portion 16a12 to the space above the hydraulic oil in the reservoir 16a1 through the air discharge passage 54. Is done.

  Also in the fluid pressure transmission device 10a according to the second embodiment, an output indicating the amount of movement of the first piston 24a of the first fluid pressure cylinder 12a is generated (detected) through the amount of movement of the actuator 32a in the actuator (electric motor) 32a. ), A moving amount detecting means 34a comprising a rotary encoder is provided.

  In the fluid pressure transmission pipe 22a, an output indicating the oil pressure (fluid pressure) inside the first fluid pressure cylinder 12a is generated (detected) through the oil pressure inside the fluid pressure transmission pipe 22a at a position close to the first fluid pressure cylinder 12a. ), A pressure detecting means 36a comprising a pressure sensor is provided.

The outputs of the movement amount detection unit 34a and the pressure detection unit 36a are sent to the ECU 40a stored in the storage unit 134 behind the base body 104 of the robot 100. The ECU 40a, based on the output of the detection means 34a described above, more specifically the output of the two detection means 34a and 36a, out of the first fluid pressure cylinder 12a, the second fluid pressure cylinder 14a, and the fluid pressure transmission pipe 22a. It is determined whether or not air is mixed in any of them, and when it is determined that air is mixed, the mixed air is removed.

  FIG. 8 is a flowchart showing the operation of the ECU 40a.

  The illustrated program is executed when the robot 100 is activated.

  In the following, it is determined in S10 whether air has entered the first fluid pressure cylinder 12a or the like.

  FIG. 9 is a sub-routine flowchart showing the processing.

As will be described below, a pressure change is detected in S100. That is, the actuator (electric motor) 32a is operated to detect the angular displacement [rad] (corresponding to the movement amount of the first piston 24a) of the actuator 32a obtained from the output of the movement amount detection means 34a, and the pressure detection means 36a. The hydraulic pressure [Mpa] in the first fluid pressure cylinder 12a is detected from the output of.

Next, in S102, it is determined whether or not the quotient (pressure change) obtained by dividing the detected hydraulic pressure by the detected angular displacement is below a threshold value (for example, 1.2 [Mpa / rad] ). If yes, the process proceeds to S104, and it is determined that there is air mixing. If not, the process proceeds to S106, where it is determined that there is no air mixing.

FIG. 10 is a characteristic diagram showing a change in the hydraulic pressure in the fluid pressure cylinder 12 with respect to the movement amount of the first piston 24a. In the figure, the solid line shows no air mixing, and the broken line shows air mixing. That is, when air is mixed into the first fluid pressure cylinder 12a or the like, the response of the change in the hydraulic pressure with respect to the movement amount of the first piston 24 is lower than when the air is not mixed.

  Therefore, by setting an appropriate threshold value in the process of S102 and comparing the detected value with it, it is possible to accurately determine the presence or absence of air contamination. For example, the threshold value is selected and set to a value that does not hinder the operation of the hand 120 of the robot 100.

  In the process of S102, a temporal change in the hydraulic pressure when the first piston 24a is moved by a predetermined amount may be detected and compared with a threshold value set as appropriate.

  Returning to the description of the flow chart of FIG. 8, the process then proceeds to S12, where it is determined whether or not there is air mixing. When the determination is negative, the subsequent processing is skipped, while when the determination is positive, the process proceeds to S14. Remove the mixed air.

  That is, the actuator 32a is operated to move the first piston 24a in the first fluid pressure cylinder 12a alternately in the forward direction and the reverse direction opposite to the appropriate number of times, and the mixed air passes through the air discharge passage 54. Thus, the rotation direction of the actuator 32a is switched so that the hydraulic oil stored in the reservoir 16a is discharged into the upper space. That is, the ECU 40a functions as a control unit that controls the movement of the first piston 24a of the first fluid pressure cylinder 12a to bend and extend the plurality of finger mechanisms 136 of the hand 120.

  At this time, while moving the moving speed of the first piston 24a in the backward direction faster than that in the forward direction, the mixed air that is moved alternately in the forward direction and the backward direction via the air discharge passage 54 is stored in the reservoir. The hydraulic oil stored in 16a is discharged into the upper space.

  Further, at this time, the first piston 24a in the first fluid pressure cylinder 12a is alternately moved in the forward direction and the backward direction to discharge the mixed air to the upper space of the hydraulic oil stored in the reservoir 16, and The posture of the second fluid pressure cylinder 14a is controlled so that the moving direction of the second piston 26a (corresponding to the backward direction of the first piston 24a) of the second fluid pressure cylinder 14a is upward in the direction of gravity.

  More specifically, as shown in FIG. 3, they are arranged in the non-thumb mechanism, that is, the index finger mechanism 136B, the middle finger mechanism 136C, the ring finger mechanism 136D, and the little finger mechanism 136E (corresponding to the backward direction of the first piston 24a). The posture of the non-finger mechanism in which the second fluid pressure cylinder 14a is arranged is controlled so that the moving direction of the second piston 26a is upward in the direction of gravity.

  On the other hand, as shown in FIG. 11, for the second fluid pressure cylinder 14a3 that is rotatably supported (arranged) on the hand 120, more specifically, the base 120A, the air removing means determines that air has entered. The finger mechanism 136 or the hand 120 in which the second fluid pressure cylinder 14a3 is arranged so that the moving direction of the second piston 14a31 corresponding to the backward direction of the first piston 24a is upward in the direction of gravity. Controls the posture of the hand 120.

  Since the fluid pressure transmission device 10a according to the second embodiment is configured in the same manner as the first embodiment, only the first fluid pressure cylinder 12a is connected to the reservoir 16a, in other words, the second embodiment. Since the fluid pressure cylinder 14a is not connected to the reservoir 16a, the configuration can be made compact. Further, since the air mixing determination means (ECU 40a) and the air removal means (ECU 40a) are provided, the mixed air can be discharged efficiently and in a short time. Can be obtained.

  Furthermore, in the fluid pressure transmission device 10a according to the second embodiment, the hand 120 in which the second fluid pressure cylinder 14a is disposed on at least one of a plurality of finger mechanisms that can bend and stretch by the robot 100 via joints. And a part where the first fluid pressure cylinder 12a and the reservoir 16a are disposed, and an ECU 40a that controls the movement of the first piston 24a of the first fluid pressure cylinder 12a to bend and extend the plurality of finger mechanisms 136 of the hand 120. Since it was comprised as mentioned above, while being able to make a structure compact, the mixed air can be discharged | emitted efficiently and in a short time.

  If it is determined that air is mixed, the posture of the finger mechanism 126 in which the second fluid pressure cylinder 14a is arranged is controlled such that the moving direction of the second piston 26a is upward in the direction of gravity, more specifically. The movement direction of the second piston 26a disposed in the non-thumb mechanism 136B to 136E is upward in the gravity direction, while the movement direction of the second piston 26a disposed in the thumb mechanism 136A is downward in the gravity direction. Since the posture of the finger mechanism 126 in which the second fluid pressure cylinder 14a is disposed is controlled, the mixed air can be sent to the first fluid pressure cylinder 12a while being floated upward and discharged to the reservoir 16a. Air can be discharged efficiently and in a short time.

As described above, the first present invention, in the second embodiment, a first fluid pressure Cylinders 1 2a working fluid (operating oil) is connected to the reservoir 16,16a being stored, the first a first piston 2 4a which is movably accommodated in the fluid pressure cylinder, a second hydraulic cylinders 1 4a which is connected through the fluid pressure transmission line 2 2a in the first fluid pressure cylinder, said first and a second piston 2 6a which is movably accommodated in the two-fluid pressure cylinder, a fluid pressure generated by the movement of the first piston in the first fluid pressure cylinder via the fluid pressure transmission line It is configured to move the second piston by transmitting to the second fluid pressure cylinder, and air is supplied to any of the first fluid pressure cylinder, the second fluid pressure cylinder, and the fluid pressure transmission pipe. Air mixing to determine whether or not Determination means and (E CU40a, from S 100 S106), the case where the air by air intrusion determination unit is determined to be contaminated and air removal means (E CU40a, S12 from S14) for removing air that the mixed The robot 100 includes a plurality of finger mechanisms 136 that can be bent and extended via joints 136A2, 136A3, 136G, and 136H, and includes a plurality of finger mechanisms 136. A hand 120 on which at least one of the second fluid pressure cylinders is disposed, and a portion on which the first fluid pressure cylinder and a reservoir are disposed (a portion near the shoulder joint 126 of the arm portion 116). When the air removal means determines that the air is mixed by the air mixing determination means, the retraction method of the first piston Since the moving direction of the second piston the corresponding is configured as that controls the posture of the hand so that upward in the gravity direction, only the first hydraulic Cylinders 1 2a is connected to Riza server 1 6a, the second fluid pressure cylinder 14,14a other words becomes not connected to Riza server 1 6a, it can be made compact configuration.

Further, it is configured to include an air mixing determination unit (EC U4 0a) for determining whether or not air is mixed, and an air removing unit (EC U4 0a) for removing the mixed air when it is determined that the air has been mixed. Therefore, the mixed air can be discharged efficiently and in a short time.

  In addition, a detection unit that detects a fluid pressure in the first fluid pressure cylinders 12 and 12a is provided, and the air mixing determination unit determines whether the air is mixed based on the detected change in the fluid pressure. Since it is configured as determined (ECU 40a, S100 to S106), in addition to the effects described above, it can be accurately determined whether or not air is mixed.

Further, the air removing means, the case where the air is determined to have contaminated by air intrusion determining means, said first fluid pressure Cylinders 1 2a the first piston wherein the 2 4a second fluid pressure cylinder Da upper in the gravity direction of the working fluid fluid pressure transmitted to 1 4a is stored the air moved by the mixed alternately in the forward direction and the forward direction and the backward direction opposite to increase the Riza server 1 6a In addition to the effects described above, the air is mixed into the space, and the moving speed in the backward direction of the first piston is made faster than that in the forward direction (ECU 40a, S12 to S14). Can be discharged more efficiently.

Further, the air removing means, the case where the air is determined to have contaminated by air intrusion determining means, said first fluid pressure Cylinders 1 2a the first piston wherein the 2 4a second fluid pressure cylinder Da upper in the gravity direction of the working fluid fluid pressure transmitted to 1 4a is stored the air moved by the mixed alternately in the forward direction and the forward direction and the backward direction opposite to increase the Riza server 1 6a Since the posture of the hand 120 is controlled so that the movement direction of the second piston, which corresponds to the retraction direction of the first piston, is upward in the direction of gravity (ECU 40a, S12 to S14). In addition to the above effects, the mixed air can be discharged more efficiently.

In the second embodiment, the first fluid pressure cylinder 12a and the reservoir 16a are connected by an air discharge passage 54, and the air removal means determines that the air is mixed by the air mixing determination means. In this case, since the mixed air is discharged to the upper space in the gravity direction of the working fluid stored in the reservoir 16a through the air discharge passage 54, the above-described effects are obtained. In addition, mixed air can be discharged more efficiently.

Further, in the second embodiment, the first piston 24a of the first fluid pressure cylinder 12a disposed at the portion where the first fluid pressure cylinder 12a and the reservoir 16a are disposed (portion in the vicinity of the shoulder joint 126) . since movement and further comprising as constituting a control means for bending (ECU 40A) controlled by a plurality of finger mechanisms of the hand, and it is possible to configure a compact, air was entering mixed efficiently, and in a short time discharge Can be made.

The second fluid pressure cylinder 14a has at least one of the plurality of finger mechanisms 136, are placed on all More specifically, said at a site other than the finger mechanism (site near the shoulder joint 126) When the first fluid pressure cylinder 12a and the reservoir 16a are disposed, and the air removal means determines that the air is mixed by the air mixing determination means, the second piston corresponding to the retraction direction of the first piston. Since the posture of the finger mechanism in which the second fluid pressure cylinder is arranged is controlled so that the moving direction of the piston is upward in the direction of gravity (ECU 40a, S12 to S14), the configuration can be made compact and the air When the second fluid pressure cylinder 14a is arranged so that the moving direction of the second piston 26a is upward in the direction of gravity. By controlling the posture of the structure, the mixed air can be sent to the first fluid pressure cylinder 12a while being floated upward and discharged to the reservoir 16a, so that the mixed air can be discharged efficiently and in a short time. .

The second fluid pressure cylinder 14a3, the plurality in at least one or hand 120 of the finger mechanisms 136 are placed, the first fluid pressure to a site other than the hand (portion near the shoulder joint 126) When the cylinder 12a and the reservoir 16a are disposed and the air removal means determines that the air is mixed by the air mixing determination means, the air removal means is configured to move the second piston 26a31 corresponding to the backward direction of the first piston 24a. Since the posture of the finger mechanism 136A or the hand 120 in which the second fluid pressure cylinder 14a3 is arranged is controlled so that the moving direction is upward in the direction of gravity (ECU 40a, S12 to S14), the configuration can be made compact. At the same time, when it is determined that the air is mixed, the first fluid pressure series is suspended while the mixed air is floated upward. Sent to da 12a be discharged into the reservoir 16a, thus contaminating the air efficiently, and can be discharged in a short time.

  In the above description, the fluid pressure transmission device 10a is used for the finger mechanism 136 of the hand 120 of the robot 100. However, the present invention is not limited to this, and a finger mechanism may be provided on the foot 112 of the robot 100 and used there. Furthermore, the present invention is not limited to the mobile robot 100, and may be used for a joint mechanism of a fixed industrial robot.

  10, 10a Fluid pressure transmission device, 12, 12a First fluid pressure (master) cylinder, 14, 14a (14a3) Second fluid pressure (slave) cylinder, 16, 16a Reservoir, 22, 22a Fluid pressure transmission pipe, 24, 24a 1st piston, 26, 26a 2nd piston, 30, 30a Driven member, 32, 32a Actuator, 34, 34a Movement amount detection means, 36, 36a Pressure detection means, 40, 40a ECU (electronic control unit), 54 Air Discharge passage, 100 robot, 102 legs, 104 base, 112 legs, 116 arms, 120 hands, 136 finger mechanism

Claims (8)

A first fluid pressure cylinder connected to a reservoir in which the working fluid is stored, a first piston movably accommodated in the first fluid pressure cylinder, and a fluid pressure transmission pipe in the first fluid pressure cylinder. And a second fluid pressure cylinder connected to the second fluid pressure cylinder and a second piston movably accommodated in the second fluid pressure cylinder, the fluid generated by the movement of the first piston in the first fluid pressure cylinder while being configured to move the second piston is transmitted to pressure in the second fluid pressure cylinder via the fluid pressure transmission line, the first hydraulic cylinder and second hydraulic cylinder and the fluid pressure transmission Air mixing determination means for determining whether or not air is mixed in any of the pipes, and air for removing the mixed air when the air mixing determination means determines that the air is mixed A robot using a fluid pressure transmission device Ru and a removed by means, said robot and having a bending freely plurality of finger mechanisms through the joint, and hand the second fluid pressure cylinder is arranged The first fluid pressure cylinder and a portion where the reservoir is disposed, and when the air removal means determines that the air is mixed by the air mixing determination means, it corresponds to a backward direction of the first piston. The robot is configured to control the posture of the hand so that the moving direction of the second piston is upward in the direction of gravity . The apparatus further comprises detection means for detecting a fluid pressure in the first fluid pressure cylinder, and the air mixing determination means determines whether or not the air is mixed based on the detected change in the fluid pressure. The robot according to claim 1. In the air removal unit, when the air mixing determination unit determines that the air is mixed, the fluid pressure transmitted from the first piston in the first fluid pressure cylinder to the second fluid pressure cylinder increases. The forward movement direction and the backward movement direction opposite to the forward movement direction are alternately moved to discharge the mixed air into the upper space in the gravity direction of the working fluid stored in the reservoir, and the backward movement direction of the first piston. The robot according to claim 1, wherein the moving speed of the robot is faster than that in the forward direction. In the air removal unit, when the air mixing determination unit determines that the air is mixed, the fluid pressure transmitted from the first piston in the first fluid pressure cylinder to the second fluid pressure cylinder increases. The mixed air is alternately moved in a forward direction and a reverse direction opposite to the forward direction to discharge the mixed air into an upper space in the gravity direction of the working fluid stored in the reservoir, and in the reverse direction of the first piston. The robot according to any one of claims 1 to 3, wherein the posture of the hand is controlled so that a corresponding movement direction of the second piston is upward in the direction of gravity. When the first fluid pressure cylinder and the reservoir are connected by an air discharge passage, and the air removal means determines that the air is mixed by the air mixing determination means, the mixed air is transferred to the air discharge passage. 5. The robot according to claim 1, wherein the working fluid stored in the reservoir is discharged to an upper space in a gravitational direction through the first and second reservoirs. Control means for controlling the movement of the first piston of the first fluid pressure cylinder disposed at the portion where the first fluid pressure cylinder and the reservoir are disposed to bend and extend the plurality of finger mechanisms of the hand. The robot according to any one of claims 1 to 5, wherein: Said second fluid pressure cylinder, the disposed in at least one of the plurality of finger mechanisms, the a part other than the finger mechanism first fluid pressure cylinder and the reservoir are disposed, said air removal means, the air If the air is determined to have contaminated by contamination determining means, the first and the second fluid pressure cylinder as the direction of movement of the second piston which corresponds to the retraction direction of the piston becomes upward in the gravity direction is arranged The robot according to claim 1 , wherein the posture of the finger mechanism is controlled. Said second fluid pressure cylinder, said plurality of finger mechanisms are arranged on at least one or the hand, the first fluid pressure cylinder and the reservoir is arranged at a site other than the hand, the air removal means, If the air is determined to be contaminated by the air intrusion determination means, said as the direction of movement of the second piston which corresponds to the backward direction of the first piston is upward in the gravity direction second fluid pressure cylinder The robot according to any one of claims 1 to 6, wherein a posture of a finger mechanism or a hand on which the robot is disposed is controlled.