JP2007021655A - Self-propelled robot - Google Patents

Abstract

【Task】
A self-running robot that uses a piezoelectric element to run smoothly is realized.
[Solution]
In a self-propelled mechanism in which a pair of orthogonal movable frames are coupled to each other by four drive members having piezoelectric elements, a drive member is formed during the self-propelled operation of the self-propelled mechanism by forming hinge portions at both ends of the drive member. The deformation given to is absorbed in the hinge portion.
[Selection] Figure 1

Description

  The present invention relates to a self-propelled robot, and is particularly suitable for application to a small self-propelled robot capable of moving on the moving base surface by an inch worm operation.

Conventionally, as a small robot that accurately travels on a moving base surface, as proposed in Patent Document 1, four piezoelectric elements are interposed between a pair of movable frames arranged orthogonal to each other. A pair of movable frames are alternately moved so that they move like inchworms by an inch worm action.
JP 2002-254398 A

  This type of self-propelled robot has a structure in which the ends of piezoelectric element members, which are self-propelled driving means, are connected between adjacent ends of a pair of movable frames. Since the piezoelectric element members are expanded and contracted, there is a problem in that the piezoelectric element members are given a deformation force having a deformation component in a direction perpendicular to the expansion / reduction operation direction.

  For example, if the piezoelectric element itself is deformed in a direction perpendicular to the extending / reducing operation direction, there is a possibility that the extending / reducing operation may be defective, and as a result, the driving force cannot be efficiently transmitted to the movable frame.

  The present invention has been made in consideration of the above points. When a deformation force is generated between the movable frame and the piezoelectric element member, the driving force generated in the piezoelectric element can be efficiently transmitted to the movable frame while adapting to the deformation force. I would like to propose a self-propelled robot.

  In order to solve such a problem, in the present invention, a driving member 21A that expands and contracts by a piezoelectric element 22J2 between the first and second movable frames 2 and 3 arranged so as to be movable and orthogonal to each other. A self-propelled mechanism 1 that moves on the moving base BS by fixing both ends of ˜21D and alternately moving the first and second movable frames 2 and 3 by the extension / reduction operations of the drive members 21A to 21D. In the self-propelled robot, the driving members 21A to 21D include an extension operation portion 22J that is extended and reduced by the piezoelectric element 22J2, a pair of hinge portions 22J11 and 22J12 formed at both ends of the extension operation portion 22J, and a pair of hinges. A pair of attachments formed on the outer ends of the portions 22J11 and 22J12 and fixed to the first and second movable frames 2 and 3 22K and be provided and 22L.

  When the first and second movable frames are alternately moved by extending / reducing the driving member by the piezoelectric element, the driving member has a component perpendicular to the original extending / reducing operation direction of the piezoelectric element. However, the drive member can be appropriately extended and reduced by absorbing the deformation force with a hinge portion provided between the extension operation portion and the attachment portion.

  Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

(1) Configuration of self-propelled mechanism In FIG. 1, reference numeral 1 denotes a self-propelled mechanism of a self-propelled robot as a whole. And 3.

  As shown in FIG. 2, the first movable frame 2 is formed with a pair of legs 2B and 2C extending downward from both ends of a main body 2A having a rectangular section extending in the horizontal direction. The fulcrum parts 2D and 2E from which the lower end surfaces of 2B and 2C protrude downward in the shape of a quadrangular pyramid are formed.

  The fulcrum portions 2D and 2E support the movable frame 2 at a position where the fulcrum portions 2D and 2E come into contact with the movable frame 2 when the self-propelled mechanism 1 is placed on the moving base BS made of a magnetic material.

  Excitation coils 11A and 11B are wound around the legs 2B and 2C (FIG. 1), and the excitation coils 11A and 11B are in contact with the moving base BS made of a magnetic material while the fulcrum portions 2D and 2E of the movable frame 2 are in contact with each other. When excited, a magnetic circuit is formed by the movable frame 2 and the moving base BS, so that the fulcrum portions 2D and 2E are attracted to the surface of the moving base BS, whereby the movable frame 2 is moved to the fulcrum portions 2D and 2E. Adsorbed and held in position.

  As shown in FIG. 3, the second movable frame 3 is formed with a pair of legs 3B and 3C so that a cross section extending in the horizontal direction extends downward from both ends of the rectangular main body 3A. An excitation coil 21A is wound around the leg 3B (FIG. 1), and a fulcrum 3D protruding downward in a quadrangular pyramid shape is formed on the lower end surface of the leg 3B.

  On the other hand, the other leg 3C is formed with exciting coil storage grooves 3G so as to leave the upper and lower ends 3E and 3F in the middle of the downward extension, and the upper and lower ends 3E and 3F have cross sections. Triangular dividing grooves 3EX and 3FX are formed.

  A joint leg member 4 as shown in FIG. 4 is attached to the exciting coil housing groove 3G and the split grooves 3EX and 3FX of the leg 3C.

  The joint leg member 4 has a leg main body 4A made of a bar-shaped magnetic material having a circular cross section and an excitation coil 4B wound around the central portion thereof, and a fulcrum projecting downward conically on the lower end surface of the leg main body 4A. Part 4C is formed.

  As shown in FIG. 1, the joint leg member 4 having such a configuration inserts the excitation coil 4B into the excitation coil housing groove 3G from the outside with respect to the leg portion 3C of the movable frame 3, and the upper end portion of the leg main body 4A and After being positioned in a state where the lower end portion is pressed against the split grooves 3EX and 3FX, the joint leg locking member 5 having a pair of belt-like locking tools 5A and 5B is locked in a state in which the position can be adjusted in the vertical direction. .

  Thus, when the self-propelled mechanism 1 is placed on the moving base BS, the joint leg member 4 locked to one leg portion 3C of the second movable frame 3 is used by using the joint leg locking member 5. By adjusting the vertical position, the fulcrum part 3D of the leg part 3B of the movable frame 3 in a state where the fulcrum parts 2D and 2E of the pair of leg parts 2B and 2C of the movable frame 2 abut on the moving base BS. Further, the fulcrum portion 4C of the joint leg member 4 can be brought into contact with the surface of the moving base BS without looseness without leaving the moving base BS.

  Thus, when the exciting coils 12A and 4B of the second movable frame 3 are excited, the movable frame 3 can be attracted and held on the moving base BS by forming a magnetic circuit with the movable frame 3 and the moving base BS.

  The first and second movable frames 2 and 3 are formed at a clearance groove 2G (FIG. 2) formed at the center lower edge of the main body 2A of the movable frame 2 and at the center upper edge of the main body 3A of the movable frame 3. The upper surfaces of the main body portions 2A and 3A of the movable frames 2 and 3 are arranged on substantially the same plane by being arranged orthogonal to each other so that the escape grooves 3G (FIG. 3) are inserted into each other.

  Drive members 21A, 21B, 21C, and 21D are fixed to the upper surfaces of the main body portions 2A and 3A between the adjacent end portions of the movable frames 2 and 3 in the same plane. 3 are joined together.

  In this embodiment, both ends of the drive member 21A are attached to the mounting pins 23A with respect to the one end 2AX on the leg 2C side of the first movable frame 2 and the one end 3AX on the leg 3B side of the second movable frame 3. Similarly, the drive member 21B is fixed to the one end 3AX on the leg 3B side of the second movable frame 3 and the other end 2AY on the leg 2B side of the second movable frame 2 in the same manner. Both ends of the second movable frame 2 are fixed integrally with the mounting pins 24A and 24B, with respect to the other end 2AY on the leg 2B side of the second movable frame 2 and the other end 3AY on the leg 3C side of the second movable frame 3. Both ends of the drive member 21C are integrally fixed by mounting pins 25A and 25B, and are connected to the other end 3AY on the leg 3C side of the second movable frame 3 and the one end 2AX on the leg 2C side of the first movable frame 2. Of the drive member 21D End is fixed integrally by the mounting pins 26A and 26B.

  As shown in FIG. 5, these four drive members 21 (21A, 21B, 21C, 21D) have a rectangular plate-like appearance as a whole, and have an extension operation portion 22J at the center in the longitudinal direction. Attachment portions 22K and 22L are provided at both ends of the extension operation portion 22J.

  The extension operation portion 22J holds the piezoelectric element 22J2 in the holding frame body 22J1 made of a flexible metal material, so that the length of the holding frame body 22J1 in the longitudinal direction is increased when the piezoelectric element 22J2 is extended. It is designed to perform an elongate operation.

  Both end portions of the holding frame body 22J1 in the longitudinal direction are coupled to the mounting portions 22K and 22L via the hinge portions 22J11 and 22J12, respectively.

  Mounting holes 22K1 and 22L1 are formed in the mounting portions 22K and 22L of the drive member 21 (21A, 21B, 21C, and 21D) so as to penetrate at positions offset laterally with respect to the center line L1 in the longitudinal direction. The mounting portions 22K and 22L are integrated with the movable frames 2 and 3 by the mounting pins (23A, 23B), (24A, 24B), (25A, 25B) and (26A, 26B) that pass through the mounting holes 22K1 and 22L1. It is fixed to.

  Thus, when the piezoelectric element 22J2 of the driving member 21 (21A to 21D) extends outward on the center line L1 when the driving voltage is applied, the distance between the mounting portions 22K and 22L is set to the driving voltage along the center line L1. It operates so as to be expanded by a corresponding length, whereby the interval between the end portions of the movable frames 2 and 3 to which the mounting portions 22K and 22L are fixed is expanded according to the driving voltage.

  In the case of this embodiment, the hinge portions 22J11 and 22J12 form a pair of cuts 22M1 and 22M2 in the direction from the lateral direction toward the center line L1 at both ends of the holding frame body 22J1, and thereby the center line is not cut. Centering on the continuous portion 22N remaining on L1, the attachment portions 22K and 22L rotate clockwise or counterclockwise with respect to the holding frame body 22J1 on the upper surfaces of the main body portions 2A and 3A of the movable frames 2 and 3. It is designed to be able to perform a hinge operation that moves.

  In the case of this embodiment, the drive member 21 (21A1 to 21D1), as shown in FIG. 6 (A), prepares a barrel-shaped member that bulges in the horizontal direction in advance as the holding frame 22J1, By applying a reduction pressure as indicated by an arrow a to the holding frame 22J1, the holding frame 22J1 is deformed so as to be substantially rectangular in a direction along the center line L1, as indicated by an arrow b. In this state, the rectangular piezoelectric element 22J1 shown in FIG. 6B is inserted along the center line L1, and then the processing pressure a is removed, so that the holding frame body is shown in FIG. 6C. An equilibrium state is obtained in a state in which a restoring force for 22J1 to return to the original bulging shape is applied to both ends of the piezoelectric element 22J2 as a pressure c in a direction along the center line L1.

  Thus, by applying pressure to the piezoelectric element 22J2 in advance, it is possible to prevent the piezoelectric element 22J2 from being pulled and broken by an external force.

  Further, in the case of this embodiment, as shown in FIGS. 7 (A) and 7 (B), the belt-like locking members 5A and 5B of the joint leg locking member 5 are made of a thin steel belt and have a “U” shape. The belt mounting plates 26A and 26B which have the bent locking belt 25 and are in contact with both side surfaces of the leg 3C of the movable frame 3 are integrally fixed to both ends thereof.

  As shown in FIG. 7 (B), a long hole 27 extending in the longitudinal direction is formed in the front end portion of the belt mounting plates 26A and 26B, and the leg 3C is penetrated laterally through the long hole 27. The mounting bolts 28 are inserted so that the tension adjusting tightening bolts 29A and 29B are fastened to both ends of the mounting bolt 28, thereby attaching the belt mounting plates 26A and 26B to the leg 3C.

  A receiving seat 31 for holding a locking member 30 made of a Teflon (registered trademark) resin material is provided on the inner side of the locking belt 25, whereby the mounting positions of the belt mounting plates 26 </ b> A and 26 </ b> B are set to be long holes 27. By adjusting using the above, the leg body 4A of the joint leg member 4 is pressed against the split grooves 3EX and 3FX and held.

  Thus, as shown in FIG. 8, the joint leg stopping portion 5 has the split groove 3EX and the upper and lower ends 3E and 3F in the state where the locking belts 25 of the belt-like locking tools 5A and 5B are loosened. By aligning the joint leg member 4 in the vertical direction with respect to 3FX, it is possible to adjust the lower end surface of the fulcrum part 4C of the leg main body 4A so as to contact the surface of the moving base BS without excess or deficiency.

(2) Self-propelled operation (a) Stop operation In the above-described configuration, the self-propelled mechanism 1 is operated from the self-propelled control unit (not shown) in the stop operation state of FIG. A stop drive signal as shown in FIG. That is, by providing an ON operation signal as shown in FIGS. 10A and 10B to the exciting coils 11A, 11B, 12A, and 4B of the first and second movable frames 2 and 3, the leg portion 2B. 2C and 3B and 3C are adsorbed on the mobile board BS.

  At this time, as shown in FIGS. 10C to 10F, the drive member 21 (21A to 21D) expands due to the stop operation voltage V0 being applied to the piezoelectric elements 22J2 of the drive members 21A to 21D. It is in a state of exhibiting a reference length in which neither operation nor reduction operation is performed. At this time, since the drive members 21 (21A to 21D) are in an equilibrium state with the same reference length, the movable frames 2 and 3 are held in a relatively orthogonal state, and the drive members 21A to 21D The holding frame 22J1 is in a reference state (the hinge portions 22J11 and 22J12 are not deformed) in which the piezoelectric element 22J2 is directed in the direction of the center line L1.

(B) Forward / Reverse Operation When the forward drive signal as shown in FIG. 12 is given, the self-propelled mechanism 1 moves to move leftward as indicated by the arrow f in FIG.

  That is, in the section from time t1 to time t2 in FIG. 12, the exciting coils 11A and 11B are turned on (FIG. 12A), and the exciting coils 12A and 4B are turned off, whereby the first movable frame 2 is moved. Whereas the second movable frame 3 is not attracted to the moving base BS, the second movable frame 3 becomes movable while being attracted to the moving base BS.

  In this state, the drive members 21A and 21D on the right side of the second movable frame 3 are extended and the drive member 21B on the left side of the movable frame 3 as shown in FIGS. And 21C perform the reduction operation as shown in FIGS.

  At this time, the leg 3B of the movable frame 3 is moved to the left by the extending and reducing operations of the drive members 21A and 21B, and at the same time, the opposite leg 3C is moved to the left by the extending and reducing operations of the driving members 21D and 21C. Moved to.

  After this operation, the excitation coils 11A and 11B are turned off at time t2 (FIG. 12A) and the excitation coils 12A and 4B are turned on (FIG. 12B), whereby the legs of the movable frame 3 are moved. At the position where the parts 3B and 3C have moved to the left, they are adsorbed onto the moving base BS, and the leg parts 2B and 2C of the movable frame 2 become movable.

  Thus, the self-propelled mechanism 1 uses the legs 2B and 2C of the movable frame 2 adsorbed to the moving base BS at the time points t1 to t2 as fulcrums, so that the movable frame 3 corresponds to the length of the extension / reduction operation of the driving means 21A to 21D. It moves to the position moved only to the left by inch warm operation.

  Subsequently, the right drive members 21A and 21D of the movable frame 3 adsorbed by the moving base BS are contracted (FIGS. 12C and 12D) and the left drive members 21B and 21C are expanded ( FIG. 12 (B) and (C)).

  At this time, both the leg portions 2C and 2B of the movable frame 2 move to the left, and at the subsequent time t3, the exciting coils 11A and 11B are turned on (FIG. 12A), and the leg portions 2B and 2B of the movable frame 2 are turned on. 2C is attracted to the moving base BS, and the exciting coils 12A and 4B are turned off (FIG. 12B), whereby the leg portions 3B and 3C of the movable frame 3 become movable.

  Thus, the self-propelled mechanism 1 has the movable frame 2 extending and contracting operation length of the driving members 21A to 21D with the legs 3B and 3C of the movable frame 3 adsorbed to the moving base BC between time points t2 and t3 as fulcrums. Move to the position moved to the left by the minute by worm motion.

  Similarly, after time t3, the exciting coils 11A, 11B and 12A, 4B, and the drive members 21A to 21D repeat the same operation as described above for the times t1 to t3, so that the self-propelled mechanism 1 moves to the arrow f. Inch warm operation will be performed to the left indicated by.

  In the case of this embodiment, the drive voltage (FIGS. 12C to 12F) applied to the piezoelectric elements 22J2 (FIG. 5) of the drive members 21A to 21D has a sine waveform with the stop operating voltage V0 as the operating point. Thus, when the drive voltage changes from the minimum voltage value to the maximum voltage value through the stop operation voltage V0 at the time points t1 to t2, t2 to t3, t3 to t4..., The drive members 21A to 21D When the drive voltage changes from the maximum voltage value to the minimum voltage value through the stop operation voltage V0, the drive members 21A to 21D perform the reduction operation according to the voltage change. To do.

  In the leftward movement operation of the self-propelled mechanism 1, the driving members 21A to 21D generate an original expansion / contraction force in the direction indicated by the dotted arrow w1 in FIG. 13, whereas one end side is along the arrow f. By being coupled to the movable frame 3 that moves in the direction, it is deformed so as to have a deformation component perpendicular to the original extending / reducing operation direction (shear direction) as indicated by a solid arrow w2.

  At this time, as shown in FIG. 14 (A), the drive members 21A to 21D receive the deformation force from the hinge portions 22J11 and 22J12 formed between the holding frame 22J1 and the attachment portions 22K and 22L at both ends. As shown in FIG. 14B, the holding frame 22J1 of the piezoelectric element 22J2 held by the holding frame 22J1 is deformed so as to absorb the deforming force (being tilted in the horizontal plane). The center line rotates in a direction so as to approach the deformation operation direction w2.

  Thus, even when a deforming force is applied to the drive members 21A to 21D when the self-propelled mechanism 1 moves forward, the deforming force can be absorbed by the hinge portions 22J11 and 22J12, so that the piezoelectric element 22J2 can be absorbed. In this case, the extension force generated in the piezoelectric element 22J2 can be transmitted to the movable frames 2 and 3 orthogonal to each other without giving a deformation force in the vertical direction (shear direction).

  Incidentally, the piezoelectric element cannot be extended in the direction perpendicular to the direction of extension, and there is a possibility that a malfunction may occur if a deformation force is continuously applied in the vertical direction. Therefore, the self-propelled mechanism 1 can be repeatedly advanced without causing the problem.

  In the left forward operation mode of FIGS. 11 to 13, the drive members 21 </ b> A and 21 </ b> D are extended between time points t <b> 1 and t <b> 2 (FIGS. 12C and 12F) and the drive members 21 </ b> B and 21 </ b> C are reduced. (FIGS. 12D and 12E), the drive members 21A and 21D are contracted during the subsequent time points t2 to t3 (FIGS. 12C and 12F) and the drive members 21B and 21C are extended. (FIGS. 12D and 12E), the self-propelled mechanism 1 is moved forward to the left. Instead, the driving members 21A and 21D are contracted at the time points t1 to t2, and the driving member 21B is operated. And 21C are extended, and the drive members 21A and 21D are extended and the drive members 21B and 21C are contracted between time points t2 and t3. Run mechanism 1 performs backward operation to move to the right in the direction opposite to the arrow f.

  Also during this backward movement, as described above with reference to FIGS. 11 and 13, the drive members 21 </ b> A to 21 </ b> D can effectively absorb the deformation force by the hinge operation of the hinge portions 22 </ b> J <b> 11 and 22 </ b> J <b> 12.

(C) Skew operation The self-propelled mechanism 1 shown in FIG. 15 is driven by the skew drive signal shown in FIG.

  In this case, as in the case of the forward drive signal described above with reference to FIG. 12, the excitation coils 11A and 11B of the movable frame 2 are turned on (FIG. 16A) in the section from the time point t11 to t12, and the movable frame 3 Excitation coils 12A and 4B are turned off (FIG. 16B).

  Subsequently, in the interval from time t12 to t13, the exciting coils 11A and 11B are turned off, and the exciting coils 12A and 4B are turned on.

  Similarly, the exciting coils 11A and 11B and 12A and 4B are alternately turned on / off, whereby the movable frames 2 and 3 are alternately attracted onto the moving base BS, thereby performing an inch warm operation.

  In this case, in the section between time points t11 and t12, the drive member 21A expands (FIG. 16C) and the drive member 21C contracts (FIG. 16E).

  At the same time, the drive members 21B and 21D are supplied with the stop operation voltage V0 so as to maintain the reference length without performing the extension / reduction operation (FIGS. 16D and 16F).

  Thus, when the drive member 21A extends, the leg 3B of the movable frame 3 is pressed in a direction farther from the leg 2C of the movable frame 2, whereas the drive member 21C contracts to move the movable frame 3. Are attracted in a direction approaching the leg 2B of the movable frame 2.

  At this time, the distance between the leg 3B of the movable frame 3 and the leg 2B of the movable frame 2 is not changed by the drive member 21B in the reference length state, and the leg of the movable frame 2 is not changed. Since the distance between the portion 2C and the leg 3C of the movable frame 3 is not changed by the driving member 21D having the reference length, the legs 3B and 3C of the movable frame 3 are connected to the moving base BS. The adsorbed movable frame 2 is moved diagonally to the upper left with the fulcrum as a fulcrum.

  Following this, in the interval from time t12 to t13, the drive member 21A contracts (FIG. 16C) and the drive member 21C expands (FIG. 16E).

  At the same time, the drive members 21B and 21D are supplied with the stop operation voltage V0 so as to maintain the reference length without performing the extension / reduction operation (FIGS. 16D and 16F).

  Thus, the leg 3B of the movable frame 3 is attracted in the direction approaching the leg 2C of the movable frame 2 by the reduction operation of the drive member 21A, whereas the leg of the movable frame 3 is extended by the extension of the drive member 21C. The part 3C is pressed in a direction farther from the leg part 2B of the movable frame 2.

  At this time, the distance between the leg 3B of the movable frame 3 and the leg 2B of the movable frame 2 is not changed by the drive member 21B in the reference length state, and the leg of the movable frame 2 is not changed. Since the distance between the portion 2C and the leg 3C of the movable frame 3 is not changed by the driving member 21D having the reference length, the legs 3B and 3C of the movable frame 3 are connected to the moving base BS. The adsorbed movable frame 3 is moved diagonally to the upper left with the fulcrum as a fulcrum.

  Similarly, after time t13, the exciting coils 11A, 11B and 12A, 4B, and the drive members 21A to 21D repeat the same operation as described above for the times t11 to t13, whereby the self-propelled mechanism 1 moves to the arrow g. Inch worm operation is performed obliquely at the upper left of the line.

  When the drive member 21A and 21C are moved in the diagonally upper left direction as described above, when the drive members 21A and 21C are extended / reduced in the direction of the original extension / reduction direction w1, as shown in FIG. Deformation force is generated in the direction of a solid arrow w2 having a component.

  The solid arrows w2 having components perpendicular to the original extension / reduction operation direction (shear direction) based on the movement operation of the movable frame 3 also for the drive members 21B and 21D that have not been extended / reduction operation. Deformation force acts in the direction of.

  As shown in FIG. 15, the hinge portions 22J11 and 22J12 of the drive members 21A to 21D perform an absorbing operation against the deformation force acting on the drive members 21A to 21D, whereby the piezoelectric element 22J2 is deformed in the shear direction. The state where the force is not applied is maintained, and this can effectively prevent the possibility that the piezoelectric element 22J2 is defective.

  15 to 17, for the pair of drive members 21A and 21C facing each other, the extension operation of the drive member 21A and the reduction operation of the drive member 21C, the reduction operation of the drive member 21A, and the extension operation of the drive member 21C. In the above description, the self-propelled mechanism 1 is self-propelled diagonally to the upper left of the arrow g by alternately repeating the above. On the contrary, the reduction operation of the drive member 21A and the expansion operation of the drive member 21C, and the drive If a skew driving signal that alternately repeats the extending operation of the member 21A and the reducing operation of the driving member 21C is given, the self-propelled mechanism 1 can be self-propelled in the diagonally downward right direction.

  Further, in a state where the driving members 21A and 21C are not expanded / reduced, the extending operation of the driving member 21B and the reducing operation of the driving member 21D, and the reducing operation of the driving member 21B and the extending operation of the driving member 21D are alternately repeated. By doing so, the self-propelled mechanism 1 can be self-propelled diagonally right upward, and conversely, the reduction operation of the drive member 21B and the extension operation of the drive member 21D, and the extension operation and drive of the drive member 21B By alternately repeating the reduction operation of the member 21D, the self-propelled mechanism 1 can be self-propelled in the diagonally lower left direction.

  Even in such a case, the deformation in the shearing direction is absorbed by the piezoelectric element 22J2 using the hinge operation of the hinge portions 22J11 and 22J12 in the same manner as described above with reference to FIG. 17 with respect to the deformation of the drive members 21A to 21D. can do.

(D) Rotation Operation When the self-propelled mechanism 1 performs the rotation operation shown in FIG. 18, the excitation coils 11A and 11B of the movable frame 2 are turned on (FIG. 19A) and movable as shown in FIG. In the section from time t21 to t22 when the excitation coils 12A and 4B of the frame 3 are turned off (FIG. 19B), the drive member 21A is extended (FIG. 19C) and the drive member 21B is reduced. (FIG. 19D). At the same time, the drive member 21C is extended (FIG. 19E) and the drive member 21D is reduced (FIG. 19F).

  Thus, the drive member 21A operates so as to widen the space between the leg portions 2C and 3B with respect to the leg portions 2B and 2C of the movable frame 2 adsorbed on the moving base BS, and the drive member 21B is moved to the leg portion 2B. And the operation | movement which pulls the leg part 3B of the movable frame 3 to the left is carried out by the operation | movement which narrows the space | interval between 3B.

  On the other hand, the drive member 21C operates to increase the distance between the leg portions 2B and 3C, whereas the drive member 21D operates to decrease the distance between the leg portions 3C and 2C. The operation of pulling the part 3C to the right is performed.

  Thus, the upper end of the movable frame 3 is pulled leftward with respect to the movable frame 2 adsorbed on the moving base BS, while the lower end is pulled rightward, so that the movable frame 3 is entirely As shown by an arrow h, the moving operation is performed so as to rotate counterclockwise around the center position of the movable frame 2.

  Subsequently, at the time point t22 to t23, the excitation coils 12A and 4B of the movable frame 3 are turned on (FIG. 19B), and the excitation coils 11A and 11B of the movable frame 2 are turned off (FIG. 19A). )), The drive member 21A contracts (FIG. 19C), and the drive member 21B expands (FIG. 19D). At the same time, the drive member 21C performs the reduction operation (FIG. 19E) and the drive member 21D performs the extension operation (FIG. 19F).

  As a result, the distance from the leg 3B to the leg 2C is reduced by the drive member 21A with respect to the movable frame 3 adsorbed on the moving base BS by the legs 3B and 3C, and the leg 3C is reduced by the drive member 21D. By extending the distance from the leg 2C to the leg 2C, the leg 2C of the movable frame 2 in the movable state is pulled upward.

  At the same time, the distance from the leg 3B to the leg 2B is widened by the drive member 21B, and the distance from the leg 3C to the leg 2B is narrowed by the drive member 21C, whereby the leg 2B of the movable frame 2 is Pulled down.

  Thus, the self-propelled mechanism 1 moves so that the movable frame 2 is rotated counterclockwise in the direction of the arrow h around the center of the movable frame 3.

  Thereafter, by repeating the same effect, the self-propelled mechanism 1 moves so as to rotate counterclockwise around the center.

  As described above, the driving members 21A to 21D adjacent to each other are alternately expanded and contracted with respect to the movable frame 2 (or 3) adsorbed to the moving base BS, so that the driving members 21A to 21D are not shown in FIG. As shown in FIG. 20, a deformation force is generated in the direction of the arrow w2 having a vertical (shear direction) component with respect to the original expansion / contraction direction w1.

  The hinge portions 22J11 and 22J12 of the drive members 21A to 21D absorb the deformation force acting on the drive members 21A to 21D, whereby the piezoelectric element 22J2 is maintained in a state where no deformation force in the shear direction acts. This can effectively prevent the possibility of problems in the piezoelectric element 22J2.

  Instead of the counterclockwise rotation operation described above with reference to FIGS. 18 to 20, the extension / reduction operations of the drive members 21 </ b> A to 21 </ b> D in the section from the time t <b> 21 to t <b> 22, the section from the time t <b> 22 to t <b> 23. The self-propelled mechanism 1 moves to rotate clockwise as opposed to the case of FIG.

  Incidentally, the drive members 21A and 21C are contracted in the section t21 to t22, the drive members 21B and 21D are expanded, and then the drive members 21A and 21C are expanded in the section t22 to t23. 21B and 21D are reduced.

  In this way, even when the self-propelled mechanism 1 rotates in the clockwise direction, as described above with reference to FIG. 20, the driving members 21A to 21D have a deformation force in the deformation direction w2 with respect to the original expansion / contraction operation direction w1. Although given, according to this deformation force, the hinge portions 22J11 and 22J12 of the drive members 21A to 21D can react to absorb the deformation force.

  The present invention can be used for a small self-propelled robot that performs an inch warm operation on a moving base.

It is a perspective view which shows the whole structure of the self-propelled mechanism by one embodiment of this invention. (A) is a front view showing a first movable frame, (B) is a left side view, and (C) is a bottom view. (A) is a front view showing a second movable frame, (B) is a left side view, and (C) is a bottom view. (A) is a front view of a joint leg member, (B) is a bottom view. It is a top view which shows a drive member. (A) is a plan view showing the configuration of the holding frame before assembling the drive member, (B) is a plan view showing the piezoelectric element, and (C) is a drive member obtained by assembling the piezoelectric element on the holding frame. FIG. (A) is a top view which shows the state which attached the strip | belt-shaped latching tool to the leg part, (B) is a side view of a strip | belt-shaped latching tool. It is a side view which shows a joint leg latching | locking part. It is a top view which shows the self-propelled mechanism in a stop operation state. (A)-(F) are signal waveform diagrams which show a stop drive signal. It is a top view which shows the self-propelled mechanism in a forward operation state. (A)-(F) are signal waveform diagrams which show a forward drive signal. It is a top view with which it uses for description of the deformation | transformation operation | movement of the drive member in the self-propelled mechanism at the time of advance operation | movement. (A) And (B) is a top view with which it uses for description of the deformation | transformation operation | movement of a drive member. It is a top view which shows the self-propelled mechanism at the time of skew operation | movement. (A)-(F) are signal waveform diagrams which show a skew drive signal. It is a top view with which it uses for description of the deformation | transformation operation | movement of the drive member in the self-propelled mechanism at the time of skew operation. It is a top view which shows the self-propelled mechanism at the time of rotation operation | movement. (A)-(F) are signal waveform diagrams which show a rotation drive signal. It is a basic diagram with which it uses for description of the deformation | transformation operation | movement of the drive member in the self-propelled mechanism at the time of rotation operation | movement.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Self-propelled mechanism, 2 ... Movable frame, 2A ... Main part, 2B, 2C ... Leg part, 2D, 2E ... Supporting point part, 3 ... Movable frame, 3A ... Main part, 3B, 3C …… Leg, 3D …… Supporting point, 3E …… Upper end, 3EX …… Split groove, 3F …… Lower end, 3FX …… Split groove, 3G …… Excitation coil storage groove, 4 …… Joint leg member, 4A: Leg body, 4B, 11A, 11B, 12A ... Excitation coil, 5A, 5B ... Band-shaped locking device, 21 (21A-21D) ... Drive member, 22K, 22L ... Mounting part, 22K1, 22L1 …… Mounting hole, 22J …… Extension motion part, 22J1 …… Holding frame, 22J11, 22J12 …… Hinge part, 22J2 …… Piezoelectric element, 25 …… Locking belt, 26A, 26B …… Belt mounting plate, 27 ... Elongated hole, 28 ... Mounting bolt, 29A, 29B ... Tightening Tsu door, 30 ...... locking member, 31 ...... seat.

Claims (3)

Between the first and second movable frames arranged so as to be orthogonal to each other so as to be movable, both ends of the drive member that is extended and reduced by the piezoelectric element are fixed, and by the extension and reduction operation of the drive member, In a self-propelled robot having a self-propelled mechanism that moves on a moving base by alternately moving the first and second movable frames,
The drive member is
An extension operation unit that extends and contracts by the piezoelectric element;
A pair of hinge portions formed at both ends of the extension operation portion;
A self-propelled robot, comprising: a pair of attachment portions formed at outer ends of the pair of hinge portions, respectively, and fixed to the first and second movable frames. The extension operation part has a holding frame for holding the piezoelectric element,
Before holding the piezoelectric element, the holding frame has a width shape that is shorter than the length of the piezoelectric element in the extending direction and bulges outward in the width direction,
The holding frame is inserted into the holding frame in a state in which the holding frame is stretched by applying a processing pressure in the length direction in advance, and then the processing frame is removed to remove the holding frame from the piezoelectric element. The self-propelled robot according to claim 1, wherein the piezoelectric element is held on the holding frame by applying a pressure to the extending movement direction. An extending motion part having a holding frame made of a flexible metal material;
A pair of attachment portions disposed on both ends of the extension operation portion;
It consists of a rectangular piezoelectric element held in the holding frame body,
The holding frame body has a barrel shape that bulges in the width direction in advance,
By deforming the holding frame body from a barrel shape to a substantially rectangular shape by applying a deformation pressure in the width direction to the holding frame body,
In this state, the rectangular piezoelectric element is inserted into the holding frame,
Then, the piezoelectric element is held in the holding frame by removing the deformation pressure.

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