KR100241140B1 - Moving system for robot having multi-leg - Google Patents

Abstract

The present invention relates to a movement system of a multi-legged robot, the object of which is easy to remote control the stairs of the mobile robot, to keep the body of the mobile robot stable, stable contact posture with obstacles of the multi-legged robot It is to provide a mobile system.

The present invention provides a mobile robot having excellent rotational performance on a flat surface and having a step climbing capability; A plurality of links sequentially disposed at the lower portion of the mobile robot such that a link having the smallest outer diameter is located inside; A spiral shaft having a spiral groove supported by a bearing inside the link having the smallest outer diameter; Mounted on the upper end of the spiral shaft is equipped with a plurality of legs consisting of a worm gear to transfer the driving force of the motor to the spiral shaft when passing the obstacle of the mobile robot, the body of the mobile robot to maintain the equilibrium by the sequential up / down of the bridge link It is to provide a mobile system of multi-legged robot that can pass through obstacles.

Description

Movement system of multi-legged robot.

The present invention relates to a movement system of a multi-legged robot, comprising a plurality of links having different outer diameters and spiral shafts, worm gears, and motors that sequentially operate the links of a mobile robot capable of climbing stairs or obstacles. The present invention relates to a movement system of a multi-legged robot that keeps the body of the robot in an equilibrium state when passing through an obstacle.

In general, a driving method of a moving object capable of climbing stairs or obstacles may include a crawler type, a corner type, a special wheel type, and the like. Of these, each type is a walking structure like a human being, which is the most ideal way to climb stairs, but has not been put into practical use as an early stage of research yet. It has a downside. On the other hand, a special wheel type method that introduces the advantages of the wheel type with excellent flat driving ability and the angle that can climb the obstacle is attracting attention. The special wheel type can be divided into crab type, hybrid type and planetary type.

The planetary wheel system and the crab system used in the prior art are moved by the rotation of the wheels on a flat surface, the triangular arm is rotated and climbed on stairs or obstacles. That is, when the wheel reaches the step surface, the contact state is sensed, and the front and rear planetary carbureum assembly ascends the steps independently through the forward movement of the wheel and the 120 ° rotation of the triangular arm. In the case of remote control at, the maximum tilt angle of the mobile robot body is increased, and the robot's posture becomes unstable when it is applied to stairs of various sizes.

The hybrid method is made in consideration of the planetary wheel method and the crab shape, and a plurality of legs mounted on the lower part of the body of the mobile robot are moved up and down, respectively, so that the body of the mobile robot can be stably maintained when passing through stairs or obstacles. The movement of the robot body by the up / down movement of the leg is limited, and the leg and the body are mechanically connected, which makes it difficult to enter / remove the body.

The present invention has been made in consideration of the above problems, and its object is to facilitate the remote control when climbing the stairs of the mobile robot, to keep the body of the mobile robot stable, and to have a stable contact posture with obstacles. It is to provide a mobile system.

It is achieved by modifying the shape of the leg mounted on the lower part of the mobile robot of the present invention, that is, in the mobile robot having excellent rotational performance on the flat surface, and having a step climbing function; A plurality of links sequentially disposed at the lower portion of the mobile robot such that a link having the smallest outer diameter is located inside; A spiral shaft having a spiral groove supported by a bearing inside the link having the smallest outer diameter; Mounted on the upper end of the spiral shaft is equipped with a plurality of legs consisting of a worm gear to transfer the driving force of the motor to the spiral shaft when passing the obstacle of the mobile robot, the body of the mobile robot to maintain the equilibrium by the sequential up / down of the bridge link It is to provide a mobile system of multi-legged robot that can pass through obstacles.

1 is an overall configuration diagram of the elevating drive device applying the spiral groove according to the present invention.

2 is an overall configuration diagram of the elevating drive device of the present invention.

3 is a spiral shaft showing a configuration according to the present invention.

4A is an exemplary view in which the link assembly is located at the upper end of the spiral shaft.

b is the operation state of rack gear, pinion gear and circular rack gear by the inclined upper end of spiral shaft.

5 is an operating state of the elevating drive device showing a configuration according to the present invention.

Figure 6 is an illustration of obstacle passing of the multi-legged robot according to the present invention.

7 is a diagram illustrating a groove passage of a multi-legged robot according to the present invention.

* Explanation of symbols for main parts of the drawings

1: Spiral shaft 2: Bearing

3: worm gear 4: motor

5, 5 ': moving pin 6, 6': assembly

7: assembly holder 8 ': end cap

9 coupling 11 spiral groove

12: thread 13: upper inclined portion

14: lower slope 61: square rack gear

62: pinion gear 63: round rack gear

64: spring 81 ': fixing groove

100: link 200: wheels

300: leg

1 is an overall configuration diagram of the elevating drive device applying the spiral groove according to the present invention, and FIG. 2 is an internal configuration diagram of the elevating drive device according to the present invention. 100) is arranged so that the link having the smallest outer dimension is located inward, and the spiral shaft 1 having the spiral groove 11 is formed inside the link having the smallest outer dimension to support the bearing 2, and the spiral The dignity gear 3 is attached to the upper end of the shaft 1 and the worm gear 3 is rotated by the driving force of the motor 4.

In the link 100, a link having a small outer diameter is sequentially inserted into a link having a large outer diameter. That is, the first link 101 having the smallest outer diameter is inserted into the second link 102 which is slightly larger than the first link 101, and the second link 102 has a slightly larger outer diameter. The third link 103 is inserted into the third link 103, the fourth link 104 is inserted into the third link 103, the fourth link 104 is inserted into the fifth link 105, and the fifth link 105 is. … It is inserted and mounted sequentially.

In addition, the first link 101 having the smallest outer diameter is equipped with a wheel 200 at the end, and a moving pin 5 mounted at one side of the upper end is inserted into the spiral groove 11 of the spiral shaft 1. It is.

Figure 3 is a spiral shaft showing the configuration according to the invention, Figure 4a is an illustration of the link assembly is located in the lower end of the spiral shaft, Figure 4b is a rack gear, pinion gear, circular rack size Figure showing the operating state of the fish, the outer diameter of the end of each of the link 6 and the aggregate holder 7 is mounted on the upper link, the end cap 8 is formed with a plurality of fixing grooves 81 ' ') Is mounted by bolts.

In the assembly 6, a square rack gear 61, a pinion gear 62, and a circular rack gear 63 are mounted. As the movable pin 5 of the first link 101 descends along the spiral groove 11, the square rack gear 61 which comes into contact with the screw thread 12 of the spiral shaft 1 and descends is formed on the spiral shaft ( 1) When entering the lower inclined portion 113, the rectangular rack gear 61 slides along the lower inclined portion 14 of the spiral shaft (1) by the elasticity of the spring 64 to make a linear motion. The pinion gear 62 rotates by the linear motion of the square rack gear 61, and the circular rack gear 63 of the square rack gear 61 is rotated by the rotational force of the pinion gear 62. It operates in the direction opposite to the linear movement direction and is inserted into the fixing groove 81 'of the end cap 8' mounted on the lower end of the second link 102.

As such, the circular rack gear 63 of the first link 101 is inserted into the land cap fixing groove 81 ′ of the second link 102 so that the first link 101 and the second link 102 are fixed. Are combined.

By the above operation, the second link 102 and the third link 103, the third link 103 and the fourth link 104, the fourth link 104 and the fifth link 105, the fifth link. 105 and... Are fixed and combined in sequence.

5 is a view showing the operation state of the elevating drive device showing a configuration according to the present invention, the outer diameter of the link, that is, the first link 101, the spiral shaft 10 inside the bearing (2) And inserting a moving pin 5 mounted on the upper end of the first link 101 into the spiral groove 11 of the spiral shaft 1, and assembling the worm gear 3 on the upper end of the spiral shaft 1. At the same time, the worm gear 3 is connected to the motor 4 by a coupling 9.

That is, the worm gear 3 rotates by the driving force of the motor 4, the spiral shaft 1 rotates by the rotation of the worm gear 3, and the spiral shaft 1 rotates by the rotation of the spiral shaft 1. The first link 101 is lowered by lowering the moving pin 5 of the first link 101 inserted into the spiral groove 11 of (1).

At this time, the position of the aggregates assembled on the upper end of each link is the initial state in which only the aggregate 6 of the first link 101 enters the upper end of the spiral shaft 1, and the other aggregates of the links are the spiral shafts ( It becomes a state out of 1).

As the first link 101 is moved to the lower portion of the spiral shaft 1 as described above, the square rack gear 61 mounted in the assembly 6 of the first link 101 also has a thread of the spiral shaft 1. In contact with (12) and moves to the lower portion of the spiral shaft (1), that is, the lower inclined portion (14).

As such, when the rectangular rack gear 61 mounted in the assembly 6 of the first link 101 reaches the lower slope 14 of the spiral shaft 1, the angle rack size is caused by the elasticity of the spring 64. The gear 61 performs a linear motion, and the pinion gear 62 meshed with the square rack gear 61 performs a rotational movement by receiving the momentum of the square rack gear 61, and the pinion gear 62 The circular gear 64 in which one side is engaged with the pinion gear 62 by the rotational movement is linearly formed in the opposite direction to the square rack gear 61 so as to be formed at the end cap 8 ′ of the second link 101. It is inserted into the fixing groove 81 ′ to fix and couple the first link 101 and the second link 102.

The square rack gear 61 and the circular rack gear 63 are mounted in parallel with each other with the pinion gear 63 interposed therebetween, and operate in opposite directions.

The moving pin 5 of the first link 101 moving along the helix groove 11 of the helix shaft 1 descends along the helix groove 11 of the helix shaft 1, and thus the lower end of the helix shaft 1. When it reaches, the moving pin 5 ′ of the second link 102 fixedly coupled to the first link 101 by the circular rack gear 63 is inserted into the spiral groove 11 of the spiral shaft 1. It is inserted and lowered along the spiral groove 11.

That is, the length of the spiral portion of the spiral shaft 1 is longer than the length of one link stroke so that the moving pin 5 of the first link 101 is out of the spiral groove 11 of the spiral shaft 1. The second link 102, which is previously fixedly coupled to the first link 101, is lowered by the moving pin 5 of the first link 101 to be second-ranked into the spiral groove 11 of the spiral shaft 1. The moving pin 5 'of 102 is inserted.

In other words, the circular rack chuck 63 is mounted in the assembly 6 so as to be located under the moving pin 5 attached to the assembly 6. Since the first link 101 and the second link 102 are fixed and coupled before the moving pin 5 of the first link 101 leaves the spiral groove 11, the first moving member 5 moves along the spiral groove 11. The moving pin 5 'of the second link 102 enters the upper spiral groove 11 of the spiral shaft 1 by the moving pin 5 of the first link 101.

As a result, the link descends in a state in which two collecting bodies 6 and 6 'enter the spiral groove 11 of the spiral shaft 1 together.

As described above, when the first link 101 and the second link 102 are inserted into the spiral shaft 1 and then continue to rotate the worm gear 3 by the driving force of the motor 4, the first link ( The moving pin 5 of 101 is completely out of the spiral groove 11, and the moving pin 5 ′ of the second link 101 descends along the spiral groove 11.

The ascending order of operation is the reverse of the descending link order.

That is, when the motor 4 is rotated in reverse, the moving pin of the link having the largest outer diameter is inserted into the spiral groove 11 of the spiral shaft 1 to rise along the spiral groove 11, and the external dimension The moving pin of the link coupled with the large link is inserted into the spiral groove 11 via the lower inclined portion 14 of the spiral shaft 1, and the square rack gear located below the moving pin of the link is the spiral shaft (1). The spring is compressed by the lower inclined portion 14 of the bottom straight line, and the pinion gear is rotated to release the circular rack gear from the fixed groove formed in the end cap of the link having the largest outer diameter. Let's do it.

That is, when the aggregates mounted at the bottom of each link reach the inclined portion of the lower end of the spiral shaft, the movable pins mounted on the aggregates first enter the spiral grooves and rise along the spiral grooves, and the square rack size is mounted at the lower portion of the movable pins. The gear compresses the spring by the inclined portion and moves linearly. The pinion gear rotates by the linear motion of the square rack gear to return the circular gear inserted into the fixing groove of the end cap.

By the above operation, the locking device for fixing the link and the link is released, and by the moving pin inserted into the spiral groove of the spiral shaft. , The fifth, fourth, third, second, and first links are sequentially folded.

Thus, the first, second, third, fourth, fifth ... As the link descends or ascends and passes through the robot's object, the body remains stable.

6 is a diagram illustrating the passage of the protruding obstacle of the multi-legged robot according to the present invention, and FIG. 7 is a diagram illustrating the groove passing of the multi-legged robot according to the present invention. , Which illustrates the movement of the mobile robot on a flat surface, is moved by the rotation of the wheel 200 mounted so as to increase rotation at the lower end of the first link 101 having the smallest outer diameter dimension.

6b and 6c illustrate an example of passage of the protruding obstacle of the mobile robot. When reaching the protruding obstacle of the mobile robot, the first, second, third, fourth, and fifth of the legs closest to the obstacle are shown. ,… The links are sequentially raised by the motor. At this time, the leg of the mobile robot is raised until the wheel 200 mounted on the first link 101 contacts the obstacle upper surface, and the mobile robot continues to move by the wheel contacting the flat surface and the wheel contacting the flat surface. do.

The legs 300 of the mobile robot approaching the protruding obstacles are sequentially raised by the above operation, and the legs of the mobile robot escaping the protruding obstacles are controlled by the reverse rotation of the motor 4 mounted inside each leg. 1, 2, 3, 4, 5,... The link is lowered so that the wheels mounted on the lower end of the first link reach the flat surface.

FIG. 6a illustrates an example of approaching a groove of a mobile robot, and FIGS. 6b and 6c illustrate an example of a passage through a groove of a mobile robot. The passage of a groove obstacle of a mobile robot is a method of passing a protruding obstacle of the mobile robot. It moves up and down the groove obstacle by moving up and down the bridge link mounted on the lower part.

As such, when the mobile robot passes an obstacle, the legs of the mobile robot composed of a plurality of links are sequentially raised or lowered to pass obstacles such as irregularities.

As described above, the present invention mounts a plurality of legs composed of links having different outer diameters to the lower part of the mobile robot, and allows the leg links of the mobile robot to sequentially rise or descend to equilibrate the body of the mobile robot when an obstacle passes. It has a lot of effects, such as the stable contact with the wheels and stairs, that is, obstacles, and at the same time it is easy to remote control when climbing stairs.

Claims (1)

A mobile robot having excellent rotational performance on a flat surface and having a stair climbing function; A plurality of links sequentially disposed at the lower portion of the mobile robot such that a link having a smallest radial dimension is located inside; A spiral shaft having a spiral groove supported by a bearing inside the link having the smallest outer diameter; Mounted on the upper end of the spiral shaft is equipped with a plurality of legs consisting of a worm gear to transfer the driving force of the motor to the spiral shaft when passing the obstacle of the mobile robot, the body of the mobile robot to maintain the equilibrium by the sequential up / down of the bridge link And moving system of a multi-legged robot, characterized in that to pass through the obstacle.

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