KR100500960B1 - Link type track apparatus - Google Patents

Abstract

The present invention relates to a linked track device for a traveling robot. More particularly, the present invention relates to a linked track applicable to a vehicle capable of driving on non-flat terrain including stairs.

Existing mechanisms enable non-flat driving by adding extra devices and drive sources to modify the shape of the track to match the shape of the terrain. In this case, not only the structure is complicated and the energy efficiency is lowered, but also the disadvantages include the reduction of the traveling speed and the complexity of the control of the driving source due to the shape change of the track.

According to the present invention, there is provided a link type track apparatus for driving on a rough road, comprising: front and rear track parts attached to left and right sides and capable of relative rotational movements; A link unit for connecting the track unit and the control box, respectively; A damper for cushioning the relative rotational motion of the track part is provided to limit the relative rotational displacement of the track part, and by reducing the contact area of the track part, minimizing ground friction generated during the rotational motion, thereby using a separate rotational motion. The present invention proposes a link-type track device, which can increase driving performance in rough terrain such as stairs by passively adapting to the ground by gravity without a driving source of.

Description

Link type track apparatus

The present invention relates to a linked track device for a traveling robot. More particularly, the present invention relates to a link track apparatus applicable to a vehicle capable of traveling on non-flat terrain including stairs.

Existing mechanisms enable non-flat driving by adding extra devices and drive sources to modify the shape of the track to match the shape of the terrain. In this case, not only the structure is complicated and the energy efficiency is lowered, but also the disadvantages include the reduction of the traveling speed and the complexity of the control of the driving source due to the shape change of the track.

Accordingly, an object of the present invention is to provide a link-type track device capable of improving adaptability to terrain such as stairs of a caterpillar vehicle without a separate device and a driving source.

As a technical concept for achieving the above object of the present invention, the present invention provides a link type track device for driving on a rough road, the front and rear track parts attached to the left and right, and capable of relative rotational movement; and the track part and the control box. Link parts for connecting the respective; and a damper for damping the impact relative to the relative rotational movement of the track portion to limit the relative rotational displacement of the track portion, reducing the contact area of the track portion to reduce the ground friction force generated during the rotational movement By minimizing

It provides a link-type track device, characterized in that it is possible to increase the running performance in rough terrain such as stairs by passively adapting to the ground by gravity without using a separate driving source.

delete

delete

delete

delete

Hereinafter, with reference to the accompanying drawings, the configuration and operation of the embodiment of the present invention will be described in detail.

1 illustrates a linked track mechanism in accordance with the present invention. 2 is a diagram illustrating a step driving process of a single track mechanism. 3 is a diagram illustrating a step driving process of the link track mechanism.

Looking at the characteristics of the link-type track mechanism shown in Figure 1, the track section (1) (2) and the control box (3), section 4 for connecting the track section (1) (2) and the control box (3) It consists of a link part 4 and a damper 5 for mitigating impact on the relative movement of the track parts 1 and 2.

The configuration in FIG. 1 is applied to the left and right sides of the entire track mechanism in the same manner, and has been described for viewing one side of the vehicle in other drawings. Reference numeral 8 denotes an idle pulley and reference numeral 6 denotes an ultrasonic sensor for obstacle detection.

Here, the attachment position and shape of the damper (5) can be connected directly or indirectly to restrain the relative movement of the two track parts (1) (2) using a rotary damper or a linear damper. Direct connection of the damper means positioning on the axis to which the drive pulleys 7 shared by the two track parts 1 and 2 are connected, and an indirect method is attached to the section 4 link part 4 of FIG. As described above, it means attaching to a link or the like which allows restraint of relative movement of the two track parts 1 and 2.

The track parts 1 and 2 are attached to a shaft connected to a drive pulley 7 which drives the track parts 1 and 2 at the same time as a rotary joint, so that they can rotate freely. By using this free rotation, it is possible to manually adapt to the ground by gravity without a separate driving source to improve driving performance in rough terrain such as stairs.

At this time, it is a structure that allows relative rotational movement in the center position of the drive pulley 7 connected to the track portions 1, 2, and a virtual joint similar to a normal hinge joint, or a momentary rotation center of the link structure. Joints can be used.

2 shows an unstable case when driving in a conventional single track structure such as a tank. D is the direction of rotation of the track and {B} is the reference coordinate system of the track. r _m is ZMP (Zero Moment Point) in terms of center of gravity or dynamics as indicated in {B}, and A must be A in L for stable movement of the mover by supporting the projection of r _m .

That is, FIG. 2 (a) shows a stable movement situation in which A is in L as an initial entry state of stairs or mounds, and FIG. 2 (b) shows a situation in which the mobile device is overturned as A is out of L. will be.

In a single track structure, if the height of the jaw is not high or the center of gravity is very low, such an overturning situation can be prevented. However, in terms of mechanical design, it is limited to reduce the center of gravity. Mobile devices that have a lot of restrictions on their mobile performance.

3A to 3D show a moving method of a moving mechanism having two track parts according to the present invention, and the same reference numerals are used as described in FIG. 2 and indicate that the jaws are exceeded in the order of (a) to (d). It was.

First, FIG. 3B shows a state in which the track portion 1 rotates up the wall of the jaw and rotates about the axis of the drive pulley 7 with respect to the track portion 2. 3C shows a state in which the relative movement of the track parts 1 and 2 is stopped by the rotation angle limiting device so that the track parts 1 and 2 rotate simultaneously with respect to the ground as one track vehicle. It is shown. Figure 3 (d) shows the effect of increasing the size of the L track portion 1 is completely beyond the jaw to the upper surface of the jaw. This allows to overcome the unstable situation shown in Figure 2 (b).

This terrain adaptability can be seen as an advantage of the drive unit consisting of multiple joints, but the large number of joints brings structural complexity, and using the drive unit as shown in the case of the joint track unit seen in the existing products of FIG. To have the same adaptability to the terrain requires a lot of environmental information and difficult control of the resulting high-speed driving is difficult.

In the present invention, the track parts (1) and (2) are configured as passive joints for manual configuration burden and ease of control for the separate driving device, so as to allow manual adaptation to the ground. Such a configuration has a limitation of movable terrain compared to a structure having a driving device, but has an advantage of allowing high-speed driving such as flat land without control of the user's adaptation to the terrain for the adaptive terrain.

FIG. 4 describes the motion of the idle pulley 8 that occurs during the relative movement of the track portions 1 and 2. When the drive pulley 7 is fixed, the idle pulley 8 is rotated when the track portion is rotated. Rotation shows that there is no resistance to relative movement even if the drive pulley 7 is fixed.

At this time, the rotation amount of the idle pulley 8 is calculated by multiplying the ratio of the diameter of the driving pulley 7 and the idle pulley 8 by the rotational displacement of the track part. When expressed mathematically, it is expressed as follows.

remind Is the rotation angle of the idle pulley (8) changed by the drive pulley (7), Is the relative rotational displacement of the track portions (1) and (2). With a linearly varying value It is expressed as

5 shows the structure of the suspension 20 of the track portion. Only the idle pulley (8) was applied and connected with spring-damper (21) and suspension bar (22), respectively. In addition to such a configuration, a suspension may be configured in the track portions 1 and 2 and the control box 3 to simplify the mechanism.

FIG. 6 shows the configuration of the four-section link unit 4 that connects the track units 1 and 2 to the control box 3. The link 9 connecting the track unit 1 and the control box 3 is shown in FIG. ) And a linear link (12) (11) attached to the control box (3) consisting of a link (10) connecting the control box (3) and the control box (3), The connected block 14 and the link 9, 10 consisted of a block 13 which is connected simultaneously by a rotary joint. The functional feature of the section 4 link section 4 of FIG. 6 is to adjust the rotational displacement of the control box 3 by half of the relative rotational displacement of the tracks 1, 2.

At this time, the link structure for moving the control box 4 at the half angle of the relative rotational displacement of the four-section link portion 4 can be used to change the number of joints, replace the link structure of the linear motion portion, and change the attachment position. have.

7 shows the motion of the control box 3 due to the relative rotational displacement of the track portions 1, 2. The track portion 1 'and the control box 3' represented by the dotted line will show the case where there is no relative rotational displacement between the track portions, and the solid line indicates that the control box 3 will display both tracks when relative displacement occurs. It was shown to rotate at half the angle of negative relative rotational displacement. This configuration has the effect of reducing the amount of movement of the center of gravity of the control box 3, thereby reducing the change in the L phase of the point A shown in Fig. 3 to minimize the instability of the relative movement between the track portions.

FIG. 8 shows the configuration of the drive type rotation angle limiting device for limiting the relative rotational displacement of the track portions 1 and 2. Restriction of the rotation angle was implemented by limiting the motion of the block 13 of the four-section link portion (4). The block 13 is moved in the linear movement restrictor 18 and the restrictor 18 is controlled by the control unit 3 by means of a gear 17 connecting the motor 16 and the linear drive unit 15 made of screws. Linear motion

At this time, the rotational displacement limitation of the both track parts 1 and 2 is implemented directly at the point of rotation, or the link between the links on the link structure connecting the control box 4 to the two track parts 1 and 2. Displacement and linear displacement can be limited.

In addition, the rotational displacement generation of both track parts 1 and 2 by the movement of the rotational displacement limiting device of both the track parts 1 and 2 and the control box 4 to the two track parts 1 and 2. ), It is possible to change the link parameters in the link structure connected with

9 shows the relative rotational displacement of the track portions 1 and 2 due to the movement of the block 13 in the linear displacement limiter 18. (1 ")-(2") is the situation at the maximum angle of inward contact, and (1 ')-(2') is the situation at the maximum angle of outward folding.

FIG. 10 illustrates a method for minimizing the ground plane by the driven rotation angle limiting device. When the linear motion limiting device 18 is lowered in the direction of the arrow, the block 13 is touched and further lowered, the block 13 generates a relative linear displacement with respect to the control box 3, thereby moving the track part 1 and 2 to drive. The position of the pulley 7 'changes to (7).

At this time, minimizing the ground ground plane may increase the energy efficiency by minimizing the ground friction force of the track portion generated when the moving device rotates. Therefore, high-efficiency high-speed driving is possible in the case of flat and rotational driving.

11A to 11C show that the Pan-Tilt Camera 19 and the robot arm 24 are attached for use in a remote control robot as an application of the movement mechanism proposed in the present invention. Represented in each. FIG. 11C illustrates that the driver 25 drives the moving mechanism with the adjustment lever 26 by being developed as a military or leisure vehicle.

As described above, the robot to which the link-type track according to the present invention is applied is not only for civil use such as lifesaving during fire extinguishing, unmanned surveillance inside a building, acting as a police officer, inspecting a reactor, assisting disabled persons, etc. Applicable for military use.

In addition, it can be actively utilized in the field of developing service robots that can be used inside and outside the building, and when designed as a vehicle, it can be developed as a recreational vehicle for military reconnaissance or civil service, so that import substitution and export effects can be expected.

1 illustrates a linked track mechanism in accordance with the present invention.

2 is a diagram illustrating a step driving process of a single track mechanism.

3A to 3D are diagrams illustrating a step driving process of the link track mechanism.

4 is a diagram illustrating a relative movement process of both tracks.

5 shows the structure of the suspension of the track.

6 is a diagram illustrating a configuration of a four-section link unit.

FIG. 7 is a diagram showing the motion of the control box with respect to the relative rotational displacement of both tracks.

8 is a view showing the configuration of a drive type rotation angle limiting device for limiting the relative rotational displacement of the track.

9 is a diagram showing the relative rotational displacement of a track due to the motion of the block in the linear displacement limiter.

10 is a view for explaining a method of minimizing the ground ground plane by the drive type rotation angle limiting device.

11a to 11c show an embodiment of the application of the moving mechanism proposed in the present invention.

Claims (12)

In the track type track device for driving on a rough road, Attached to the left and right side, the front and rear track parts capable of relative rotational movement; A link unit for connecting the track unit and the control box, respectively; A damper is provided for damping the relative rotational motion of the track part, thereby limiting the relative rotational displacement of the track part and minimizing the ground friction generated during the rotational motion by reducing the contact area of the track part. Link-type track device, characterized in that it is possible to increase the driving performance in rough terrain such as stairs by passively adapting to the ground by gravity without using a separate driving source. The track device according to claim 1, wherein the front and rear track parts attached to the left and right sides and capable of relative rotational movement are connected to each other by a general rotary joint. 3. The front and rear track parts connected to the general rotary joint and capable of relative rotational movement respectively drive the track parts through two driving pulleys attached to one power transmission shaft. Linked track device, characterized in that attached to the rotary joint so that the track after the relative rotation movement. The link-type track device according to claim 2, wherein the front and rear track parts connected to the general rotary joint and capable of relative rotational motion further include a power unit including a motor, a reducer, and the like inside the track part. The link-type track device according to claim 1, wherein the front and rear track parts attached to the left and right sides and capable of relative rotational movement are connected to each other by a virtual rotary joint using instantaneous rotation by a link mechanism. The method according to claim 5, wherein the front and rear track parts connected to each other by a virtual rotary joint using the instantaneous rotation by the configuration of the link mechanism capable of relative rotational movement further includes a power unit including a motor, a reducer, etc. in the track portion. A linked track device. The link-type track device according to claim 1, wherein the link unit for connecting the front and rear track parts and the control box, respectively, comprises four sections including a front and rear track parts. The method of claim 7, wherein the four-section link for connecting the front and rear track portion and the control box, respectively, the relative rotational movement of the front and rear track portion to rotate the control box at an angle of half the relative rotational displacement of the front and rear track portion. Linked track device, characterized in that the three joints except for the joint is configured to move along the guide attached to the control box. The virtual rotary joint according to claim 1 or 5, wherein a damper for mitigating a relative rotational movement of the front and rear track portions is directly or linearly attached to the track portion or using an instantaneous rotation center of a link structure. Link type, characterized in that it is attached to the link portion for connecting the track portion and the control box, respectively, or linearly or rotationally attached to the link of the front and rear track portion connected to the link type. Track device. The rotation angle limiting device of claim 1 or 5, wherein the rotation angle limiting device is configured in the joint to which the front and rear track parts are connected, or the rotation angle or the rotation angle is set on the link structure of the front and rear track parts connected to the virtual rotary joint using the instantaneous rotation center of the link structure. A link which comprises a linear displacement limiting device or a rotation angle or a linear displacement limiting device on a link portion for connecting the track portion and the control box, respectively, to limit the relative rotational displacement of the front and rear track portions. Type track device. 2. The relative rotation of the track part according to claim 1, wherein a rotation angle or a linear displacement limiting device or a link length change device is provided on a link part for connecting the front and rear track parts and the control box, respectively. Linking track device, characterized in that to reduce the contact area of the track by generating a lift to lift the relative rotation center of the track from the ground. The method according to claim 1 or 5, wherein the actuator is attached to the rotary joint for the relative rotation of the front and rear track portion, or the actuator is attached to change the length or the angle of the link constituting the virtual rotary joint to the track portion And a contact area of the track is reduced by generating a relative rotation to lift the relative rotation center of the upright track from the ground.