KR100353046B1 - Vehicle for robot - Google Patents

Abstract

The present invention relates to a mobile device for a robot, an object of the present invention is to provide a mobile device for a robot that can easily perform the operation by moving the mobile device equipped with the robot to the target point regardless of the terrain.

The present invention provides a robot moving device, the arm bracket driving unit for changing the position of the driving belt in the diagonal direction on the body of the moving device, and installs a wheel driving unit for driving the wheel and the driving belt in another diagonal direction, The present invention provides a robotic mobile device capable of quickly and safely moving a robot-mounted mobile device regardless of a road surface condition by selectively contacting and driving a wheel and a driving belt on a road surface.

Description

Mobile device for robots {Vehicle for robot}

The present invention relates to a mobile device for a robot, and relates to a mobile device for a robot that can be performed in parallel with the wheel drive and the belt drive to facilitate the passage of obstacles and grooves.

[0003] A moving device used in the related art is moved to a target point by driving a wheel by driving a motor or driving a belt by driving a motor. When the movement means of the robot is made by driving the wheel as described above, the moving device equipped with the robot can move quickly to the target point, but when there is a groove or an obstacle, the wheel cannot fall into the groove or be caught by an obstacle. A case also occurred. In addition, when the movement means of the robot is made by the drive of the belt, it can easily pass through the groove or obstacle, there was a problem that the moving speed is too slow.

The present invention has been made in consideration of the above problems, and its object is compounded with a track of wheels and belt structure so that a robot can be quickly moved to a target device regardless of the terrain to easily perform work. It is to provide a mobile device for the configured robot.

The present invention provides a driving device for a mobile robot; An arm bracket driving unit for changing the position of the driving belt in the diagonal direction is installed on the body of the moving device, and a wheel driving unit for driving the wheel and the driving belt in another diagonal direction to selectively install the wheel and the driving belt on the road surface. The present invention provides a robotic mobile device capable of quickly and safely moving a mobile device equipped with a robot regardless of road conditions by contact and driving.

1 is a plan view showing a configuration according to the present invention

Figure 2 is a front view showing the configuration according to the present invention

3 is an exemplary diagram of an arm bracket driving unit according to the present invention;

4 is an exemplary view of a wheel driving unit according to the present invention

5 is an exemplary view showing an operating state of the present invention

* Explanation of symbols for the main parts of the drawings

(100): first arm bracket drive unit (100`): second arm bracket drive unit (111,211): arm bracket (112`, 212 '): rear wheel of moving device

(112,212): Front wheels of the shifter (113,213): Main drive pulley

(114,214): Main shaft (115,215): Wheel drive shaft

(116,216): Arm drive hollow shaft (117,217): Chain sprocket

(118,218): auxiliary pulley (119,219): drive belt

(120,220): Holders (121,221): Bearing

(122): RV reducer (123): worm gear reducer

(124): arm bracket rotary motor (111`): connection

200: first wheel driving unit 200 ′: second wheel driving unit 222: speed reducer

(223): chain (224): drive motor

300: shifter body 400: road surface

(1161,2161): Insertion hole (1162): Space part

(1111,2111): guide rollers (1112,2112): tension adjusting part (A): front part of the mobile device (B): rear part of the mobile device

Figure 1 shows a plan view showing a configuration according to the invention, Figure 2 shows a front view showing a configuration according to the invention, the present invention is an arm bracket drive unit for rotating the arm bracket 111 (100,100`) ), And a wheel drive unit (200, 200`) for driving the drive belt and the wheel.

The arm bracket driving unit (100,100`) is to change the position of the arm bracket 111, the first arm bracket driving unit 100 is connected to one front wheel 112 of the moving device, and one side rear wheel 112 'of the moving device. ) Is configured as a second arm bracket (100`), and as shown in Figure 3, the first and second arm bracket driving unit (100,100`) is a wheel 112 and the main drive pulley 113 is installed The main shaft 114, the wheel drive shaft 115 connected to the main shaft 114, the wheel drive shaft 115 has the same center line and the female drive hollow shaft 116 is inserted into the inside, and the arm A chain sprocket 117 installed on the wheel drive shaft 115 to be located inside the drive hollow shaft 116 and an arm bracket connected to the female drive hollow shaft 116 to be located on one side of the main drive pulley 113 ( 111 and a plurality of auxiliary to each of which is maintained at a constant interval on the arm bracket 111 Lee 118, the drive belt 119 for connecting the main drive pulley 113 and the plurality of auxiliary pulley 118, the holder 120 for supporting the female drive hollow shaft 116, and the wheel A bearing 121 installed between the drive shaft 115 and the female driving hollow shaft 116, the female driving hollow shaft 116 and the holder 120, and an RV reducer connected to the female driving hollow shaft 116 ( 122) and the worm gear reducer 123, and the arm bracket rotary motor 124 is connected to the worm gear reducer 123.

The female driving hollow shaft 116 has an insertion hole 1161 having a predetermined diameter in the center thereof so that one side of the wheel driving shaft 115 has the same center line and is inserted therein, and the insertion hole 1161 is provided. Is connected to the chain sprocket 117 is formed so that one side is open space portion 1162 is formed. That is, the insertion hole 1161 and the space portion 1162 are connected and formed inside the female driving hollow shaft 116, and a predetermined portion of the space portion 1162 is connected to one side of the space portion 1162. Partially open.

The arm bracket 111 is installed such that the main drive pulley 113 and the two auxiliary pulleys 118 are rotatable while maintaining a predetermined distance from each other, and between the two auxiliary pulleys 118 of the driving belt 119. A guide roller 1111 is provided to prevent separation, and a tension control unit 1112 is installed between the main drive pulley 113 and the one side auxiliary pulley 118 to adjust the tension of the drive belt 119.

The arm bracket driving unit (100, 100`) is the driving force of the rotary motor 124, when the arm bracket rotation motor 124 is operated through the worm gear reducer 123 and the RV reducer 122 to the arm drive hollow shaft 116. The arm bracket 111 is rotated by the arm driving hollow shaft 116. At this time, a bearing 121 is installed between the arm driving hollow shaft 116 and the wheel driving shaft 115 and between the arm driving hollow shaft 116 and the holder 120, so that the wheel when the arm driving hollow shaft 116 rotates. The drive shaft 115 and the holder 120 are not rotated. In addition, the arm bracket 111 is connected to the arm bracket 211 parallel to each other by the connecting portion 111` so that another arm bracket 211 parallel to each other by the rotation motor 124 is rotated at the same time.

The wheel drive unit 200 and 200 ′ drive the wheel 212 and the chain 223, and the first wheel drive unit connected to another front wheel 212 of the moving device that is not connected to the first arm bracket drive unit 100. And a second wheel drive 200 'connected to another rear wheel 212' of the mobile device not connected to the second arm bracket drive 100 ', as shown in FIG. As described above, the main shaft 214 on which the wheel 212 and the main drive pulley 213 are installed, the wheel drive shaft 215 connected to the main shaft 214, and the wheel drive shaft 215 have the same center line. And a female drive hollow shaft 216 inserted therein, a chain sprocket 217 installed on the wheel drive shaft 215 so as to be located behind the female drive hollow shaft 216, and one side of the main drive pulley 213. Arm bracket 211 is connected to the arm drive hollow shaft 216 so as to be positioned, and the arm bracket 211 a predetermined interval A plurality of auxiliary pulleys 218 which are held and installed respectively, a drive belt 219 connecting the main drive pulleys 213 and the plurality of auxiliary pulleys 218, and supporting the female drive hollow shaft 216. The holder 220, the wheel drive shaft 215 and the arm drive hollow shaft 216, the bearing 221 is respectively installed between the arm drive hollow shaft 216 and the holder 220, and the wheel drive shaft 215 It consists of a reducer 222 connected to, and a drive motor 224 connected to the reducer 222.

The arm driving hollow shaft 216 has an insertion hole 2161 having a predetermined diameter in the center thereof so that one side of the wheel driving shaft 215 has the same center line and can be inserted therein.

The arm bracket 211 is installed so that the main drive pulley 213 and the two auxiliary pulleys 218 are rotatable while maintaining a predetermined distance from each other, and between the two auxiliary pulleys 218 of the driving belt 219. A guide roller 2111 for preventing the separation is installed, and a tension control unit 2112 for adjusting the tension of the driving belt 219 is installed between the main drive pulley 213 and the one side auxiliary pulley 218.

When the wheel driving unit 215 operates the driving motor 224, the driving force of the driving motor 224 is transmitted to the wheel driving shaft 215 through the reducer 222, and the main shaft (215) by the wheel driving shaft 215. The wheel 212 and the main drive pulley 213 and the chain sprocket 217 installed on the wheel drive shaft 215 are rotated, and the drive belt 219 is operated by the main drive pulley 213.

In this case, the chain sprocket 217 of the wheel driving unit 200 and the chain sprocket 117 of the arm bracket driving unit 100 are connected to each other by the chain 223 to operate the driving motor 224 of the wheel driving unit 200. At the time, the wheel 212 and the driving belt 219 of the wheel driving unit 200, the wheel 112 and the driving belt 119 of the arm bracket driving unit 100 is rotated simultaneously in one direction.

In addition, when the arm brackets 111 and 211 are rotated by the first and second arm bracket driving units 100 and 100 ′, the rotation angles of the arm brackets 111 and 211 are formed in the arm driving hollow shaft 116. It is controlled by the opening degree of. That is, chain sprockets 117 and 217 are installed on the wheel driving shafts 115 and 215 so as to be located in the space portion 1162 formed in the arm driving hollow shaft 116 and the rear of the arm driving hollow shaft 216, and the chain sprockets 117 and 217. Since the chain 223 is connected to and installed at the one side thereof, one side of the space portion 1162 is opened so as not to affect the chain driving, and the female driving hollow shaft 116 connected to the arm brackets 111 and 211 within the open range. The rotary motor 124 is rotated.

In the present invention configured as described above, the first and second arm bracket driving units 100 and 100` are installed in a diagonal direction on the body 300 of the moving device, and the first and second wheel driving units 200 and 200` are installed in another diagonal direction, respectively. The arm bracket 111 of the first arm bracket drive unit 100 connected to the front wheel of the mobile device and the arm bracket 211 of the first wheel drive unit 200 connected to the front wheel of the mobile device are connected by the connecting portion 111`. Simultaneously connected with each other, the chain sprocket 117 of the arm bracket drive unit 100 is connected by a chain sprocket 217 and a chain 223 of the second wheel drive unit 200 ′ connected to the rear wheel of the moving device. That is, the first wheel drive unit 200 and the arm brackets 211 and 111 of the first arm bracket drive unit 100 installed to have the same center line on both sides of the body 300 of the mobile device are connected to each other by the connecting unit 111`. The chain sprocket 217 of the first arm bracket drive unit 100 and the second wheel drive unit 200 ′ installed in the body 300 of the moving device so that the arm brackets are positioned in a straight line is connected by the chain 223. Are connected to each other. The chain sprocket of the first wheel driving unit 200 connected by the arm bracket 111 of the first arm bracket driving unit 100 and the connecting unit 111 ′ is the chain sprocket 117 of the second arm bracket driving unit 100 ′. ) And a chain 223.

That is, the first arm bracket driving unit 100 and the first wheel driving unit 200 are installed to be connected to the front wheels 112 and 212 of the moving device, respectively, the second arm bracket driving unit 100 'and the second wheel driving unit 200. `) Are respectively connected to the rear wheels 112` and 212` of the moving device, and the second wheel driving unit 200` is also provided at the rear of the first arm bracket driving unit 100, and the rear of the first wheel driving unit 200. The first and second arm bracket driving units and the first and second wheel driving units 200 are installed to cross each other in a diagonal direction so that the second arm bracket driving units 100 ′ are positioned. And the first arm bracket driving unit 100 and the first wheel driving unit 200 having the same center line, the arm brackets 111 and 211 are connected to each other by a connecting portion 111 ′, and the first arm bracket driving unit 100 and the first arm bracket driving unit 200 are connected to each other. The two wheel driving unit 200 ′, the first wheel driving unit 200 and the second arm bracket driving unit 100 ′ are chains 223. They are connected to each other by.

Figure 5 shows an exemplary view showing the operating state of the present invention, the present invention configured as described above, the moving device so that the drive belts (119, 219) operated by the main drive pulleys (113, 213) are not in contact with the road surface when moving. Arm brackets of the first and second arm bracket driving units 100 and 100` and the first and second wheel driving units 200 and 200` are operated by operating the first and second arm bracket driving units 100 and 100` installed in the body 300 in a diagonal direction. When the first and second wheel driving units 200 and 200` installed in the diagonal direction are operated, the moving device is moved by the wheels 112, 112`, 212 and 212`. At this time, the main drive pulleys 113 and 213 are also driven together, but if the arm brackets 111 and 211 of the arm bracket drive unit 100 and 100` and the wheel drive unit 200 and 200` have a 'V' shape, the wheels 112, 112 ', 212 and 212' ) Only the contact belt (119,219) driven by the main drive pulley (113,213) is to be operated in the air. In addition, since the chain sprocket 217 of the wheel drive unit 200, 200 ′ and the chain sprocket 117 of the arm bracket drive unit 100, 100 ′ are connected to the chain 223, the wheel drive unit when the wheel drive unit 200, 200 ′ is operated. The wheels 212 and 212 'and the wheels 112 and 112' of the arm bracket drive are simultaneously driven.

In addition, when there is an obstacle or a groove while driving the moving device, the arm bracket driving units 100 and 100` are operated to rotate the arm brackets 111 and 211 that are raised in the 'V' shape to drive the belts 119 and 219 as shown in FIG. After contacting the road surface 400, the driving belts 119 and 219 may be operated by the wheel driving units 200 and 200 ′ to pass through obstacles or grooves. In this case, when the driving belts 119 and 219 are in contact with the road surface 400, the wheels 112, 12 ′, 212 and 212 ′ are not in contact with the road surface 400 by the contact of the driving belts 119 and 219.

When passing through an obstacle or groove by driving the driving belts 119 and 219 as described above, the arm bracket rotating motor 124 is operated so that the arm brackets 111 and 211 of the arm bracket driving units 100 and 100 and the wheel driving units 200 and 200 are 'V'. The arm brackets 111 and 211 are rotated to have a 'shaped' shape, and then the wheels 112, 112 ′, 212 and 212 ′ that are in contact with the road surface are driven by the wheel driving units 200 and 200 ′.

As described above, the present invention is capable of selectively using a drive belt-type drive unit and a wheel-type drive unit that can move easily through obstacles, so that a robot-mounted mobile device can move quickly and safely to a target point. There are many effects such as to facilitate the operation.

Claims (6)

In the movement device of the robot; A first arm bracket driving unit which is connected to the front wheel of the moving device and installed in the body, and rotates an arm bracket by a motor, the arm bracket of which the driving belt is installed by a plurality of pulleys; A first wheel drive unit installed in the body by being connected to another one front wheel of the mobile device and simultaneously driving the front / rear wheel and the driving belt located on one side of the mobile device by one motor; The front and rear wheels and the drive belt of the other side of the moving device, which are installed at the rear of the first arm bracket driving unit and are connected to one rear wheel of the moving device and are not driven by the first wheel driving unit, are simultaneously driven by one motor. A second wheel drive unit for driving; A second arm bracket drive unit located on one side of the second wheel drive unit and located on a rear part of the first wheel drive unit, and simultaneously rotating an arm bracket of a rear surface of a moving device having a driving belt installed by a plurality of pulleys by a motor. It is configured to include, the mobile device for a robot, characterized in that for driving the wheel and the drive belt selectively in contact with the road surface. The method of claim 1, The first and second arm bracket driving units include a main shaft on which a wheel and a main driving pulley are installed, a wheel driving shaft connected to the main shaft, and a wheel driving shaft having the same center line and inserted therein; The chain sprocket is installed on the wheel drive shaft to be located inside the arm drive hollow shaft, the arm bracket is connected to the arm drive hollow shaft so as to be located at one side of the main drive pulley, and the arm bracket is maintained at a predetermined interval, respectively. A plurality of auxiliary pulleys, a drive belt connecting the main drive pulley and the plurality of auxiliary pulleys, a holder supporting the female driving hollow shaft, the wheel driving shaft and the female driving hollow shaft, the female driving hollow shaft and the holder, respectively. A bearing to be installed, an RV reducer and a worm gear reducer connected to the female drive hollow shaft, and an arm bracket rotating shaft connected to the worm gear reducer Robot movement apparatus that is configured as characterized. The method of claim 1, The first and second wheel drive shafts include a main shaft on which the wheel and the main drive pulley are installed, a wheel drive shaft connected to the main shaft, and a wheel drive shaft having the same center line and inserted into the female drive hollow shaft; A chain sprocket installed on the wheel drive shaft to be located at the rear side of the female drive hollow shaft, an arm bracket installed at a side of the main drive pulley to be connected to the female drive hollow shaft, and a plurality of which are respectively maintained at a predetermined interval on the arm bracket. Two auxiliary pulleys, a drive belt connecting the main drive pulley and the plurality of auxiliary pulleys, a holder supporting the female driving hollow shaft, the wheel driving shaft and the female driving hollow shaft, the female driving hollow shaft and the holder are respectively installed And a bearing, a reducer connected to the wheel drive shaft, and a drive motor connected to the reducer. The method of claim 2 or 3, The chain sprockets of the first and second wheel drives and the chain sprockets of the first and second arm bracket drives installed on the body of the moving device to be located in a straight line are connected to each other by a chain. The method of claim 2 or 3, The arm brackets of the first and second arm bracket driving units and the arm brackets of the first and second wheel driving units respectively installed on the body of the moving apparatus so as to be parallel to the first and second arm bracket driving units are connected to each other by a connecting unit. The method of claim 2 or 3, A guide roller is installed between the two auxiliary pulleys installed on the first and second arm brackets to prevent separation of the driving belt, and a tension control unit for adjusting the tension of the driving belt is further installed between the main driving pulley and the one side auxiliary pulley. Robotic mobile device, characterized in that.