KR100777114B1 - Moving apparatus for intelligent robot - Google Patents

Moving apparatus for intelligent robot Download PDF

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Publication number
KR100777114B1
KR100777114B1 KR1020060104632A KR20060104632A KR100777114B1 KR 100777114 B1 KR100777114 B1 KR 100777114B1 KR 1020060104632 A KR1020060104632 A KR 1020060104632A KR 20060104632 A KR20060104632 A KR 20060104632A KR 100777114 B1 KR100777114 B1 KR 100777114B1
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South Korea
Prior art keywords
base frame
intelligent robot
coupled
auxiliary wheel
wheel
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KR1020060104632A
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Korean (ko)
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강삼태
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강삼태
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091—Shock absorbers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

Abstract

A moving apparatus for an intelligent robot is provided to prevent the intelligent robot in motion from falling down by allowing an auxiliary wheel installed to a base frame to move up and down to absorb shock. A moving apparatus for an intelligent robot comprises a buffering unit(15). The buffering unit absorbs shock applied to an auxiliary wheel(14) of the moving apparatus. The buffering unit includes support frames(16), a liftable plate(18), a rotating bracket(20), and a spring(21). The support frames face each other on a base frame(12) and has installation pieces(16a). The liftable plates move up and down along guide bars installed vertically to the installation pieces of the support frame. The rotating bracket is integrated with a shaft-supported unit(20a). The shaft-supported unit is fit to a bearing(19). The auxiliary wheel is mounted to the bottom of the rotating bracket. The spring is interposed between the liftable plate and the installation piece of the support frame.

Description

지능로봇용 이동장치{Moving apparatus for intelligent robot} Moving apparatus for intelligent robot

도 1은 본 발명의 바람직한 일 실시예를 보인 정면도1 is a front view showing a preferred embodiment of the present invention

도 2는 본 발명의 측면도2 is a side view of the present invention

도 3은 본 발명의 평면도3 is a plan view of the present invention

도 4는 본 발명의 요부 발췌 사시도Figure 4 is a perspective view of the main portion of the present invention

도 5는 본 발명의 사용상태 예시도5 is an exemplary state of use of the present invention

■ 도면의 주요부분에 사용된 부호의 설명 ■■ Explanation of symbols used in main part of drawing ■

1:(지능)로봇 2:몸체1: (Intelligent) Robot 2: Body

10:이동장치 11:이동바퀴10: mobile device 11: mobile wheel

12:베이스프레임 13:정역모터12: base frame 13: static motor

14:보조바퀴 15:완충수단14: auxiliary wheel 15: buffer means

16:지지대 16a:설치편16: Support 16a: Mounting piece

17:안내봉 18:승강대판17: information bar 18: platform

19:베어링 20:회전브래킷19: bearing 20: rotating bracket

20a:축지부 21:완충스프링20a: bearing 21: buffer spring

22:조절볼트 23:조절판22: adjusting bolt 23: adjusting plate

본 발명은 지능로봇용 이동장치에 관한 것으로서, 보다 구체적으로는 바퀴로 이동하는 로봇이 요철 부위도 보다 안전하게 이동할 수 있게 한 지능로봇용 이동장치를 제공코자 하는 것이다.The present invention relates to a mobile device for an intelligent robot, and more particularly, to provide a mobile device for an intelligent robot that allows a robot moving on a wheel to move uneven portions more safely.

인간의 음성을 이해하고 인간에 가까운 인식·판단 기능을 가진 일반적으로 알려져 있는 지능로봇은 산업분야에서 부품 조립, 의료, 서비스 분야 따위에 널리 이용되고 있다.Generally known intelligent robots that understand human voice and have recognition and judgment functions that are close to humans are widely used in the parts assembly, medical and service fields in the industrial field.

이들 지능로봇은 대부분 인간에 가까운 인식·판단에 주안점을 두고 소프트웨어 등의 개발에 의해 기능성이 점차 향상되고 있다. Most of these intelligent robots are focused on recognition and judgment close to humans, and their functionality is gradually improved by the development of software.

그러나 팔 등의 관절부분은 다관절을 구성함으로서 초기 로봇 등에 비해 부드러운 동작 구현이 가능하나, 이동장치의 경우 로봇의 무게 중심 등을 고려되어야 함으로 대부분 바퀴를 이용한 구성으로 이루어져 있다.However, the joints such as the arm can be implemented smoothly compared to the initial robot by constructing a multi-joint, but in the case of a mobile device, the center of gravity of the robot must be considered, and most of the joints are composed of wheels.

즉, 종래 로봇 이동장치는 몸체가 결합되는 베이스프레임의 양측에 정역모터에 의해 구동되는 한 쌍의 이동바퀴를 대칭되게 설치하고, 이들 이동바퀴와 직각방향으로 한 개 혹은 두 개의 보조바퀴를 단순히 고정 설치한 구성으로 이루어져 있 다.That is, the conventional robot moving device symmetrically installs a pair of moving wheels driven by a stationary motor on both sides of the base frame to which the body is coupled, and simply fixed one or two auxiliary wheels at right angles to these moving wheels. It consists of an installed configuration.

그러나 상기한 구성의 경우 요철면(실내에서 전선 위 등)을 이동할 때 로봇이 넘어지는 경우가 번번하게 발생하는 등의 문제점이 있어 로봇의 요철 주행에 상당한 어려움이 있었다.However, in the case of the above-described configuration, there is a problem that the robot repeatedly falls when moving the uneven surface (such as on a wire in the room), and thus, the uneven driving of the robot has a considerable difficulty.

이에 본 발명자는 종래 지능로봇의 이동장치가 갖는 제반 문제점을 일소코자 본 발명을 연구 개발한 것으로서,Accordingly, the present inventors have studied and developed the present invention to solve the problems of the conventional intelligent robot moving device.

본 발명에서는 보조바퀴에 완충수단를 부가 구성함으로 해서 요철 부위 이동시에도 로봇을 안전하게 이동시킬 수 있게 하고, 감지센서로 지면을 감지하여 보다 안전한 이동이 이루어지게 함에 발명의 기술적 과제를 두고 본 발명을 완성한 것이다.In the present invention, by adding a buffer means to the auxiliary wheel to enable the robot to move safely even when moving the uneven portion, and to detect the ground with a sensor to make a safer movement is completed the present invention with the technical problem of the invention. .

도 1은 본 발명의 바람직한 일 실시예를 보인 정면도를 도시한 것이고, 도 2, 도 3은 본 발명의 측면도 및 평면도이며, 도 4는 본 발명의 요부 발췌 사시도 등을 도시한 것으로서, 이하에서 본 발명의 구성을 설명한다.1 is a front view showing a preferred embodiment of the present invention, Figures 2 and 3 are a side view and a plan view of the present invention, Figure 4 is a perspective view of the main portion of the present invention, and the like, as seen below The structure of the invention is explained.

본 발명에서 제공하는 지능로봇(1)용 이동장치(10)는 몸체(2) 내부에 각종 제어장치 및 배터리가 내장되며, 몸체(2) 하측에 구동력이 전달되는 이동바퀴(11)가 적용 이동장치(10)가 적용되며, 몸체(2) 상측으로 연결되는 머리부(3) 및 몸 체(2)의 상부 좌우측 어깨부재(4)와 관절장치(5)로 결합되는 한 쌍의 팔(6)을 구비한 로봇(1)을 구성함에 있어서, 로봇(1)을 이동할 때 사용하는 상기 이동장치(10)를 적극적으로 개량 발명하여 로봇(1)이 요철(실내 바닥에서의 전선, 문턱 등과 같은 장애물)을 안전하게 통과할 수 있게 한 것에 특징이 있다.The moving device 10 for the intelligent robot 1 provided by the present invention includes various control devices and a battery inside the body 2, and a moving wheel 11 to which a driving force is transmitted is applied to the lower side of the body 2. Apparatus 10 is applied and a pair of arms 6 coupled to the upper body 3 and the upper left and right shoulder members 4 of the body 2 and articulation device 5 connected to the body 2. In the construction of the robot 1 having a structure of the robot 1, the moving device 10 used to move the robot 1 is actively improved and invented so that the robot 1 is uneven (such as wires and thresholds on the floor of the room). It is characterized by the ability to safely pass through obstacles.

본 발명에서 제공코자 하는 상기 이동장치(10)는 몸체(2) 하측에 결합되는 베이스프레임(12) 좌우측에 각각 감속기 일체형 정역모터(13)에 의해 구동되는 한 쌍의 이동바퀴(11)가 설치되어 있다. 그리고 베이스프레임(12)의 전후방에는 보조바퀴(14)가 완충수단(15)에 의해 완충되도록 설계되어 있다.The moving device 10 to be provided in the present invention is provided with a pair of moving wheels 11 driven by the reduction gear-integrated stationary motor 13 on the left and right sides of the base frame 12 coupled to the lower body 2. It is. And the front and rear of the base frame 12 is designed so that the auxiliary wheel 14 is buffered by the buffer means (15).

즉, 상기 보조바퀴(14)가 설치되는 완충수단(15)은 베이스프레임(12)에 서로 마주보게 고정 설치되며 상하측으로 설치편(16a)이 형성된 지지대(16)의 설치편(16a)에 수직방향으로 안내봉(17)을 결합하고, 이 안내봉(17)에는 승강대판(18)을 설치하여 안내봉(17)을 따라서 승강되게 한다.That is, the cushioning means 15 in which the auxiliary wheel 14 is installed is fixed to the base frame 12 so as to face each other and is perpendicular to the mounting piece 16a of the support 16 on which the mounting piece 16a is formed on the upper and lower sides. The guide rod 17 is coupled in the direction, and the guide rod 17 is provided with a lifting base 18 to be elevated along the guide rod 17.

승강대판(18)에 결합되어 있는 베어링(19)에는 하측으로 보조바퀴(14)가 축 결합된 회전브래킷(20)에 일체 형성되어 있는 축지부(20a)를 결합하고, 승강대판(18)과 지지대(16)의 상측 설치편(16a) 사이에는 완충스프링(21)을 개재한다.The bearing 19 coupled to the elevating plate 18 is coupled to the bearing portion 20a integrally formed on the rotating bracket 20 in which the auxiliary wheel 14 is axially coupled downward, and the elevating plate 18 is coupled to the bearing 19. The buffer spring 21 is interposed between the upper mounting pieces 16a of the support 16.

완충스프링(21)의 상부에는 조절판을 안치하며, 조절판(23)은 설치편(16a)에 나사 결합된 조절볼트(22)에 의해 가압되게 구성하여 보조바퀴(14)의 수평조절 및 완충압력을 조절토록 한다.The upper part of the shock absorbing spring 21 is placed a control plate, the control plate 23 is configured to be pressed by the adjustment bolt 22 screwed to the mounting piece (16a) to adjust the horizontal adjustment and the buffer pressure of the auxiliary wheel (14) Adjust it.

그리고 상기 이동바퀴(11)와 보조바퀴(14)의 전방에는 각각 지면 상태를 감지하도록 베이스프레임(12)에는 감지센서(8)(8')를 설치하여 지면의 요철을 감지하 고 이동경로를 설정하는 자료를 몸체(2)에 내장된 제어장치에 제공할 수 있게 한다. And in order to detect the ground state in front of the moving wheel 11 and the auxiliary wheel 14, respectively, a sensor (8) (8 ') is installed in the base frame 12 to detect the unevenness of the ground and the movement path The data to be set can be provided to the control unit built into the body (2).

도면 중 미설명 부호 7은 각 구성부재를 고정하는 볼트를 도시한 것이다.Reference numeral 7 in the drawings shows a bolt for fixing each component.

이상과 같이 구성되는 본 발명의 지능로봇용 이동장치(10)는 실내에서의 비교적 낮은 장애물을 안전하게 통과할 수 있도록 설계된 것으로서, Intelligent robot mobile device 10 of the present invention is configured as described above to safely pass a relatively low obstacle in the room,

본 발명 이동장치(10)를 이용하여 전진 혹은 후진할 시에는 정역모터(13)를 이용하여 이동바퀴(11)를 동일한 방향으로 구동하면 되는 것이고, 방향 전환을 할 시에는 정역모터(13)를 이용하여 이동바퀴(11)의 구동을 서로 다른 방향으로 구동하면 되는 것이다.In the present invention, when moving forward or backward using the moving device 10, the moving wheel 11 may be driven in the same direction by using the forward and reverse motor 13, and the forward and reverse motor 13 is changed when the direction is changed. What is necessary is just to drive the drive of the movement wheel 11 in a different direction.

그리고 전선이나 문턱 등과 같은 낮은 요철 부분을 본 발명 이동수단(10)이 통과할 시에 보조바퀴(14)는 완충이 이루어질 수 있는 구조로 설계되어 있는 바, 안전한 이동이 가능하다.And the auxiliary wheel 14 is designed in a structure that can be buffered when the present invention moving means 10 passes the low concave-convex parts such as wires or thresholds, it is possible to move safely.

즉, 보조바퀴(14)가 요철 부분을 통과할 때 보조바퀴(14)가 고정되어 있는 승강대판(18)이 완충스프링(21)을 가압하면서 안내봉(17)을 따라 상승하게 되고, 이동바퀴(11)가 요철 부분을 통과할 때는 완충스프링(21)이 팽창되면서 승강대판(18)이 하강하게 되므로 항상 베이스프레임(12)을 수평상태로 유지할 수 있어 로봇(1)의 안전한 주행이 가능한 것이다.That is, when the auxiliary wheel 14 passes through the uneven portion, the elevating base plate 18 on which the auxiliary wheel 14 is fixed rises along the guide bar 17 while pressing the shock absorbing spring 21 and the moving wheel. When the 11 passes through the uneven portion, the elevating plate 18 is lowered as the shock absorbing spring 21 expands, so that the base frame 12 can always be kept in a horizontal state so that the robot 1 can be safely driven. .

또한 본 발명은 이동바퀴(11) 및 보조바퀴(14)의 전방으로 지면을 감지할 수 있는 감지센서(8)(8')가 베이스프레임(12)에 설치되어 있으므로 지면의 요철 정보 를 몸체(2)에 내장되어 있는 제어장치로 전달하여 이동경로를 설정하는 값으로 사용하도록 구성되어 있은 바, 설계된 요철 높이 이상의 요철 발견 시 이동경로를 즉시 이동하여 로봇(1)의 안전한 이동을 유도하게 되는 것이다.In addition, according to the present invention, since the sensor 8, 8 'is installed on the base frame 12 to detect the ground in front of the moving wheel 11 and the auxiliary wheel 14, the uneven information of the ground is stored in the body ( 2) It is configured to use as a value to set the movement path by transmitting to the built-in control device, and when the unevenness is found above the designed uneven height, the movement path is immediately moved to induce the safe movement of the robot (1). .

이상에서 살펴본 바와 같이 본 발명에서 제공하는 지능로봇(1)용 이동장치(10)는 베이스프레임(12)에 설치되는 보조바퀴(14)를 승강 및 완충되도록 구성한 것으로서, 본 발명을 지능로봇(1)용 이동수단(10)으로 적용할 경우 요철부위 등을 안전하게 주행할 수 있으므로 주행 중에 고가인 지능로봇(1)이 넘어지는 등의 문제점을 해소할 수 있으므로 각종 산업용 로봇, 관공서의 도움이 사용되는 지능로봇 등 다양하게 적용할 수 있는 매우 유용한 발명이다.As described above, the moving device for the intelligent robot 1 provided by the present invention is configured to lift and cushion the auxiliary wheel 14 installed on the base frame 12, and the present invention provides an intelligent robot 1 When used as a means of transportation (10), it is possible to safely drive uneven parts, etc., so as to solve problems such as falling of expensive intelligent robots (1) while driving, so that various industrial robots and public offices are used. It is a very useful invention that can be applied to a variety of intelligent robots.

Claims (3)

각종 제어장치 및 배터리가 내장된 몸체(1)와, 몸체(2) 결합되는 베이스프레임(12) 좌우측에 구동력이 전달되는 이동바퀴(11)가 감속기 일체형 정역모터(13)로 구동되게 하며 1개 혹은 2개의 보조바퀴(14)를 베이스프레임(12) 전후에 적용한 이동장치(10)와, 몸체(2) 상측으로 연결되는 머리부(3) 및 몸체(2)의 상부 좌우측 어깨부재(4)와 관절장치(5)로 결합되는 한 쌍의 팔(6)을 구비한 로봇(1)의 이동장치(10)에 있어서, The body 1 with various control devices and batteries, and the moving wheel 11 to which driving force is transmitted to the left and right sides of the base frame 12 to which the body 2 is coupled are driven by the reducer-integrated stationary motor 13. Alternatively, the moving device 10 applying the two auxiliary wheels 14 before and after the base frame 12, the head part 3 connected to the upper part of the body 2 and the upper left and right shoulder members 4 of the body 2 In the movement device 10 of the robot (1) having a pair of arms (6) coupled to the joint device (5), 상기 이동장치(10)의 보조바퀴(14)를 완충키 위한 완충수단(15)과 , Shock absorbing means (15) for buffering the auxiliary wheel (14) of the mobile device (10); 상기 완충수단(15)은 베이스프레임(12)에 서로 마주보게 고정 설치되며 상하측으로 설치편(16a)이 형성된 지지대(16)와, The buffer means 15 is fixedly installed to face each other on the base frame 12 and the support 16 is formed with an installation piece (16a) up and down, 지지대(16)의 설치편(16a)에 수직방향으로 결합되어 있는 안내봉(17)을 따라서 승강하도록 설치한 승강대판(18)과, An elevating platform 18 provided to elevate along the guide bar 17 coupled to the mounting piece 16a of the support 16 in the vertical direction, 승강대판(18)에 결합되어 있는 베어링(19)에 끼워지는 축지부(20a)가 일체 형성되며 하측으로 보조바퀴(14)가 축 결합된 회전브래킷(20)과, Rotation bracket 20 is integrally formed with the bearing portion 20a fitted to the bearing 19 coupled to the elevating plate 18 and the auxiliary wheel 14 is coupled to the lower side, and 승강대판(18)과 지지대(16)의 상측 설치편(16a) 사이에 개재된 완충스프링(21)을 포함하는 것을 특징으로 하는 지능로봇용 이동장치.An intelligent robot moving device comprising a buffer spring (21) interposed between the elevating plate (18) and the upper mounting piece (16a) of the support (16). 제 1항에 있어서, The method of claim 1, 상기 이동바퀴(11)와 보조바퀴(14)의 전방에는 지면을 감지할 수 있도록 베이스프레임(12)에 감지센서(8)(8')를 설치한 것을 특징으로 하는 지능로봇용 이동장치.Intelligent robot moving device, characterized in that the front of the movable wheel (11) and the auxiliary wheel (14) is provided with a detection sensor (8) (8 ') on the base frame 12 to detect the ground. 제 1항에 있어서, The method of claim 1, 완충스프링(21)의 상부에 안치되며, 설치편(16a)에 나사 결합된 조절볼트(22)에 의해 가압되는 조절판(23)을 더 포함하는 것을 특징으로 하는 지능로봇용 이동장치.An intelligent robot mobile device, characterized in that it is placed on the upper portion of the shock absorbing spring (21), and further comprising a control plate (23) pressed by an adjustment bolt (22) screwed to the installation piece (16a).
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