Title:
ROBOT
Document Type and Number:
Japanese Patent JP2018167381
Kind Code:
A
Abstract:
To provide a robot that can detect external force to a sensor by a simple structure.SOLUTION: A robot 1 comprises an upper base body 10, a lower base body 11, an arm link 30 and a leg link 50. The leg link 50 is constituted of a first leg link part 50a, a second leg link part 50b, a knee joint mechanism 50c. A sensor unit 70 provided in the knee joint mechanism 50c comprises a first axial-force sensor 71, a contact pad 72, an inner guide 73, outer guides 75 and a plate spring 76. When the robot 1 is brought into a kneeling-down posture so that the contact pad 72 contacts a ground surface A and the inner guide 73 moves from a retreat position to a press position against energization of the plate spring 76, a pressing part 73a presses an input detecting part 71a of the first axial-force sensor 71. The first axial-force sensor 71 detects pressing force to the input detecting part 71a, and outputs the detected pressing force to a control part 13. The control part 13 controls a posture of the robot on the basis of the detected pressing force from the first axial-force sensor 71.SELECTED DRAWING: Figure 3
Inventors:
ONO HIROAKI
Application Number:
JP2017068640A
Publication Date:
November 01, 2018
Filing Date:
March 30, 2017
Export Citation:
Assignee:
HONDA MOTOR CO LTD
International Classes:
B25J5/00; A63H11/00
Attorney, Agent or Firm:
Creation International Patent Office