WO2024257834A1 - Robot - Google Patents

Robot Download PDF

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Publication number
WO2024257834A1
WO2024257834A1 PCT/JP2024/021568 JP2024021568W WO2024257834A1 WO 2024257834 A1 WO2024257834 A1 WO 2024257834A1 JP 2024021568 W JP2024021568 W JP 2024021568W WO 2024257834 A1 WO2024257834 A1 WO 2024257834A1
Authority
WO
WIPO (PCT)
Prior art keywords
axis
arm
torso
robot
base
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/JP2024/021568
Other languages
English (en)
Japanese (ja)
Inventor
正義 孫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SoftBank Group Corp
Original Assignee
SoftBank Group Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SoftBank Group Corp filed Critical SoftBank Group Corp
Publication of WO2024257834A1 publication Critical patent/WO2024257834A1/fr
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/06—Program-controlled manipulators characterised by multi-articulated arms

Definitions

  • the disclosed embodiment relates to a robot.
  • Patent Document 1 describes a robot with joints in the torso.
  • the present invention was made in consideration of the above, and aims to provide a robot with a simple structure that has a torso and arms.
  • the robot has a first torso supported on a base and a second torso rotatably supported on the first torso and supporting one or more arms.
  • a robot with a simple structure having a torso and arms can be provided.
  • FIG. 1 is a perspective view of a robot according to an embodiment.
  • FIG. 2 is a front view of a first body and an arm of the robot according to the embodiment.
  • FIG. 1 is a perspective view of a robot according to an embodiment. As shown in FIG. 1, the robot 1 has a first torso 11, a second torso 12, an arm 13, and an arm 14.
  • Figs. 1 and 2 show an orthogonal coordinate system including an x-axis, a y-axis, and a z-axis.
  • the positive direction of the y-axis is vertically upward.
  • Both the x-axis and the z-axis are perpendicular to the y-axis.
  • the x-axis and the z-axis are perpendicular to each other.
  • the first body 11 is supported by the base 20.
  • the first body 11 may also be supported so as to be rotatable relative to the base 20. For example, the first body 11 rotates around the y-axis.
  • the base 20 may also be equipped with a means for moving.
  • the means for moving is wheels or legs. This allows the robot 1 to move together with the base 20.
  • the second body 12 extends from the end supported by the base 20 in a first direction away from the base 20, while curving in a direction perpendicular to the first direction.
  • the second body 12 extends in the positive direction of the y axis, while curving in the positive direction of the z axis.
  • the second torso 12 is rotatably supported by the first torso 11.
  • the second torso 12 also has an arm 13 and an arm 14.
  • the arm 13 and the arm 14 each have one or more joints and gripping parts.
  • the arm 13 and the arm 14 can, for example, grasp and move an object on the base 30.
  • the second body 12 further has an extension that extends in a direction different from both the first body 11 and the arm.
  • a sensor is provided at the tip 121 of the extension.
  • the sensor is, for example, a camera.
  • the extension functions as a balancer.
  • the gripping portions (tips of the arms) of arms 13 and 14 may move further in the negative direction of the z axis than first body 11 to grip an object.
  • the extension functions as a balancer, preventing robot 1 from tipping over in the negative direction of the z axis.
  • the first torso 11 and the second torso 12 are fixed. In other words, the first torso 11 and the second torso 12 do not have joints. This simplifies (or rather complicates) the structure of the robot 1 and improves its robustness.
  • the second body 12 is supported rotatably relative to the first body 11. This allows flexible movement of the second body 12 and the arm.
  • FIG. 2 is a front view of the second torso and arm of the robot according to the embodiment.
  • the second torso 12 and arm 14 are viewed from the positive direction to the negative direction of the z-axis.
  • the first axis 111 is the axis about which the second body 12 rotates relative to the first body 11.
  • the first axis is parallel to the z-axis.
  • the second body 12 rotates around the first axis 111, which is parallel to the z-axis.
  • the arm 14 has one or more joints that rotate around an axis perpendicular to the first axis 111, and one or more joints that rotate around an axis parallel to the first axis.
  • Joints 141 and 144 rotate around an axis parallel to first axis 111.
  • Joints 142, 143, and 145 rotate around an axis perpendicular to first axis 111.
  • gripper 146 grips an object on base 30.
  • arm 13 is the same as that of arm 14 shown in FIG. 2. However, arm 13 has a structure that is symmetrical to arm 13 with respect to a plane that is parallel to the yz plane and passes through first axis 111. If arm 14 is modeled after a human left arm, then arm 13 can be said to be modeled after a human right arm. The first torso 11 and second torso 12 can be said to be modeled after a human lower body and upper body, respectively.
  • the robot 1 has a first torso 11 and a second torso 12.
  • the first torso 11 is supported on a base 20.
  • the second torso 12 is rotatably supported on the first torso 11 and supports one or more arms. This allows the arms to be moved flexibly even if the first torso 11 and the second torso 12 do not have joints. As a result, a robot with a simple structure equipped with a torso and arms can be provided.
  • the second body 12 extends from the end supported by the base 20 in a first direction away from the base 20, while curving in a direction perpendicular to the first direction. This allows the range of motion of the second body 12, arm 13, and arm 14 to be expanded while maintaining the stability of the entire robot 1.
  • the first body 11 is supported rotatably relative to the base 20. This allows the arm's range of motion to be further expanded.
  • the second torso 12 further has an extension that extends in a different direction from both the first torso 11 and the arm. This allows the robot 1 to have a balancer.
  • the extension section may also be provided with a sensor at the tip 121. This ensures that the sensor is not affected by the movement of the arm, for example, while the second body section 12 is not rotating.
  • the arm has one or more joints that rotate about an axis perpendicular to a first axis about which the second body 12 rotates relative to the first body 11, and one or more joints that rotate about an axis parallel to the first axis.
  • each joint of the arm 14 is connected to a straight line portion.
  • the straight line portion is the portion between the joints.
  • the straight line portion may be called a bone in contrast to the joint.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Un robot selon un mode de réalisation comprend : une première partie tronc (11) qui est supportée par une base ; et une seconde partie tronc (12) qui est supportée de manière rotative par la première partie tronc (11) et supporte un ou plusieurs bras.
PCT/JP2024/021568 2023-06-13 2024-06-13 Robot Pending WO2024257834A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2023-097051 2023-06-13
JP2023097051A JP2024178705A (ja) 2023-06-13 2023-06-13 ロボット

Publications (1)

Publication Number Publication Date
WO2024257834A1 true WO2024257834A1 (fr) 2024-12-19

Family

ID=93852190

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2024/021568 Pending WO2024257834A1 (fr) 2023-06-13 2024-06-13 Robot

Country Status (2)

Country Link
JP (1) JP2024178705A (fr)
WO (1) WO2024257834A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010158763A (ja) * 2008-12-12 2010-07-22 Yaskawa Electric Corp ハンドリングシステム
JP2010162666A (ja) * 2009-01-19 2010-07-29 Yaskawa Electric Corp 多関節ロボットおよびそれを用いたロボットシステム
JP2014210306A (ja) * 2013-04-18 2014-11-13 株式会社安川電機 移動ロボット、移動ロボットの位置決めシステム、及び、移動ロボットの位置決め方法
JP2015085456A (ja) * 2013-10-31 2015-05-07 セイコーエプソン株式会社 ロボット、及びロボットシステム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010158763A (ja) * 2008-12-12 2010-07-22 Yaskawa Electric Corp ハンドリングシステム
JP2010162666A (ja) * 2009-01-19 2010-07-29 Yaskawa Electric Corp 多関節ロボットおよびそれを用いたロボットシステム
JP2014210306A (ja) * 2013-04-18 2014-11-13 株式会社安川電機 移動ロボット、移動ロボットの位置決めシステム、及び、移動ロボットの位置決め方法
JP2015085456A (ja) * 2013-10-31 2015-05-07 セイコーエプソン株式会社 ロボット、及びロボットシステム

Also Published As

Publication number Publication date
JP2024178705A (ja) 2024-12-25

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