KR101029446B1 - Walking robot using electromagnet - Google Patents

Abstract

A walking robot using an electromagnet is provided. A first foot portion for walking and support, a first leg portion rotatably connected to the first foot portion, a first joint portion having a rotation axis that connects the first foot portion and the first leg portion and is orthogonal to each other, the first leg A second leg part rotatably connected to the part, a second joint part connecting the first leg part and the second leg part and having a rotation axis perpendicular to each other, and rotatably connected to the second leg part to walk and support A second joint having a second joint and a second joint having the second leg and the second foot, and having a rotation axis orthogonal to each other, wherein the first foot and the second foot A first electromagnet and a second electromagnet are respectively formed in the first foot and the second foot to enable walking and support.

Gait, Mobile Robot, Electromagnet, Compliance Device, Distance Sensor

Description

Walking robot using electromagnets {WALKING ROBOT USING ELECTROMAGNET}

Embodiments of the present invention relates to a walking robot using an electromagnet that can easily walk and work in a steel working environment such as a ship block.

Recently, with the development of ship manufacturing technology, various tasks that depended only on the existing manpower are automated, and tasks using robots are gradually increasing.

Due to the nature of the ship manufacturing environment is poor working environment and the work performed by the operator for a long time is inefficient, research and development to perform such a task using a robot has been made.

However, due to the nature of the ship manufacturing work environment, there is a general limitation to use a fixed position robot, and even to use a mobile robot equipped with wheels to overcome this limitation, there is a big limitation in the working environment.

In general, there are various obstacles that hinder the movement of the walking robot inside the closed block of the intermediate assembly process of the ship, and it is a structure that is difficult to move without human assistance. In particular, within the closed block of the ship's intermediate assembly process, the robot needs to be able to cross the Longi and must move to the next floor after performing the desired work. Should receive.

The mobile robot applying the wheel structure, which is a conventional technology for overcoming such constraints, can move and work only within a limited environment, and additional work of additional manpower is required to move to another work place.

In addition, a mobile robot using a linear unit-type bridge having a different structure also moves only within limited obstacles, and additional human resources are required to move to other places.

In addition, technologies that allow workers to carry and move them in the form of miniature robots optimized for specific tasks and perform only specific tasks have emerged. The input of can not be minimized.

In addition, the conventional work robot, etc. focuses on performing work, so that the operation mechanism for the work and the operation mechanism for the movement are separately configured, making it difficult to control the robot, complicate the overall structure of the robot, and increase the production cost. It is disadvantageous for mass production.

One embodiment of the present invention provides a walking robot capable of performing movement and work in a working environment made of steel by mounting an electromagnet on a foot provided at both ends of a six-axis vertical articulated robot.

In addition, an embodiment of the present invention, to provide a walking robot that can mitigate the impact applied by the support surface of the workplace in contact, and can cancel the impact due to modeling errors.

In addition, an embodiment of the present invention provides a walking robot that can recognize the distance to the support surface of the workplace to be landed or positioned during walking, to overcome the actual error and to walk and work stably. do.

Walking robot according to an embodiment of the present invention includes a first foot for walking and support; A first leg portion rotatably connected to the first foot portion; A first joint part connecting the first foot part and the first leg part and having a rotation axis perpendicular to each other; A second leg part rotatably connected to the first leg part; A second joint part connecting the first leg part and the second leg part and having rotation axes orthogonal to each other; A second foot portion rotatably connected to the second leg portion to allow walking and support; And a third joint part connecting the second leg part and the second foot part and having rotation axes perpendicular to each other, wherein the first leg part and the second foot part walk and support on a supporting surface on which magnetic force is applied. The first electromagnet and the second electromagnet are respectively formed in the first foot and the second foot, and the first electromagnet and the second electromagnet alternately operate with each other.

By forming an electromagnet in the foot attached to the support surface of the workplace as described above, it is possible to maintain the working position of the walking robot firmly in the steel workshop, and to easily move obstacles such as longines.

Here, the first foot portion and the second foot portion may include a compliance mechanism for reducing the impact with the support surface applied to the first electromagnet and the second electromagnet. To this end, the compliance mechanism may include a damper for supporting one side of the first electromagnet and the second electromagnet and a spring provided around the damper.

In this way, the damper can be used to prevent the shock generated when the walking robot lands on the robot body. In addition, the spring can be provided to facilitate the return of the damper to the initial state, and the small shock can be coped with the spring only. .

On the other hand, the first foot portion and the second foot portion is a shock absorbing member for absorbing the impact applied to the first electromagnet and the second electromagnet by the support surface to which the first electromagnet and the second electromagnet is attached; It may include an error correction member for canceling the modeling error present in the first foot portion and the second foot portion. The shock absorbing member absorbs the shock generated during the walking of the walking robot, and the error compensating member absorbs the slight shock generated because the modeling situation of the robot performed before actual work input and the situation occurring in the actual working environment are different. Can be.

Here, the shock absorbing member may use a damper that supports one surface of each of the first electromagnet and the second electromagnet, and the error correction member may use a spring formed around the damper.

In addition, the first foot and the second foot portion includes a distance sensor for measuring the distance to the support surface to which the first electromagnet and the second electromagnet is attached, the modeling error of the robot itself and the error due to servo control, etc. Can be overcome by feedback of the actual error by the distance sensor. In this case, the distance sensor may be disposed around the first and second electromagnets.

Any one of the first or second foot may be provided with a tool mounting portion for attaching a work tool. In this way, by attaching a work tool for welding, rust removal, painting, or the like to any one foot, the same operation mechanism can be used for walking and working of the robot.

According to one embodiment of the present invention, it is possible to automate and automate a work method without using manpower in a work or manufacturing environment made of steel.

In addition, according to one embodiment of the present invention, electromagnets are mounted at both ends of the 6-axis vertical articulated robot to effectively overcome and use obstacles in a steel working environment to expand and move the work range and work efficiently. To maximize.

In addition, it is possible to provide flexibility to the terrain and obstacles of the workplace by mounting the distance sensor and the compliance mechanism to cope with various variables in the environment as well as the pre-calculated working environment.

In addition, by automating poor forms of work, such as welding, rust removal, application, etc., which were only possible with personnel, standardization, quantification, automation and productivity of work in a work or manufacturing environment can be enhanced.

In addition, since the mechanism for walking and the mechanism for performing work are the same, it is easy to control the walking robot and simplify the overall structure of the walking robot.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited or limited by the embodiments. Like reference numerals in the drawings denote like elements.

Hereinafter, the case in which the walking robot according to the embodiment of the present invention works in the ship block as an example, but is not necessarily limited thereto, it is found that it is applicable if the environment of the workplace is mainly steel or electromagnet can be attached. Put it.

1 is a perspective view showing a walking robot and a walking block according to an embodiment of the present invention, Figure 2 is a perspective view showing a walking robot according to an embodiment of the present invention, Figure 3 An enlarged perspective view of a foot of a walking robot according to an embodiment of the present invention.

Referring to Figure 1, the walking robot 100 according to an embodiment of the present invention is present in the closed block (SB) of the ship. The closed block SB of the ship is formed of steel and has a hexahedron shape of about 50 to 100 meters in length and width. Inside the closed block SB, a plurality of long-shaped L-shaped beams (L) are arranged side by side in one direction. The longages L are arranged approximately one to two meters apart and attached by welding to the closing block SB, the closing block SB is closed by an upper cover (not shown) which is also attached by welding.

The walking robot 100 is positioned inside the closing block SB to weld the long L and the like. A plurality of holes H having a diameter of about 1 to 2 meters may be formed on the sidewall of the closing block SB so that the walking robot 100 or the worker may enter and exit the inside of the closing block SB.

The plurality of longages L disposed inside the closed block SB may be obstacles to the movement and work of the walking robot 100, but the walking robot 100 according to an embodiment of the present invention is six axes vertical. Since it is an articulated robot, it can move smoothly between longines (L). Hereinafter, with reference to the drawings looks at in detail with respect to the walking robot 100 according to an embodiment of the present invention.

2 and 3, the walking robot 100 according to an embodiment of the present invention is a first leg rotatably connected to the first foot 110, the first foot 110 for walking and support The second foot portion 140 rotatably connected to the second leg portion 140 and the second leg portion 140 rotatably connected to the portion 120, the first leg portion 120 (to allow walking and support) 160).

Here, the first and second foot portions 110 and 160 are portions directly contacting and supported by the surface of the ship closing block SB or the surface of the longage L.

The first foot 110 and the first leg 120 are rotatably connected to each other, and are connected to have two degrees of freedom with respect to each other. The first foot 110 and the first leg 120 are connected by the first joint 130 to enable the rotational movement.

The first joint part 130 may rotate about two rotation axes A1 and A2 orthogonal to each other. The first joint part 130 includes a bearing seat 135 on which the first foot 110 is rotatably mounted, a first bearing 131 mounted on the bearing seat 135, a bearing seat 135, and a first leg part. It may include a second bearing 133 connecting the 120.

Meanwhile, speed controllers 122 and 124 are provided at one side of the first bearing 131 and the second bearing 133, respectively. The speed controllers 122 and 124 may include a speed reducer and a servo motor to control a rotation speed or a rotation range of the first joint part 130. The speed controllers 122 and 124 are provided in parallel with the rotation shafts A1 and A2, respectively.

One end of the first leg part 120 is connected to the second bearing 133, and the other end is connected to the second joint part 150. The second joint part 150 may rotate about two rotation axes A3 and A4 orthogonal to each other. The second joint part 150 may include a bearing seat 155 on which the other end of the first leg part 120 is mounted, a third bearing 151 mounted on the bearing seat 155, a bearing seat 155, and a first leg part. It may include a fourth bearing 153 connecting the 120.

Meanwhile, speed controllers 126 and 146 are provided at one side of the third bearing 151 and the fourth bearing 153, respectively. The speed controllers 126 and 146 may include a speed reducer and a servo motor to control the rotation speed or the rotation range of the second joint part 150. The speed controllers 126 and 146 are provided in parallel with the rotation shafts A3 and A4, respectively.

One end of the second leg 140 is connected to the bearing seat 155 of the second joint part 150, and the other end of the second leg 140 is connected to the second foot 160, and the second leg 140 ) And the third joint part 170 is provided between the second foot part 160.

The third joint part 170 may rotate about two rotation axes A5 and A6 orthogonal to each other. The third joint part 170 includes a bearing seat 175 on which the other end of the second leg part 140 is mounted, a fifth bearing 171 seated on the bearing seat 175, and a bearing seat 175 and a second leg part. It may include a sixth bearing 173 connecting the 140.

Meanwhile, speed controllers 142 and 144 are provided at one side of the fifth bearing 171 and the sixth bearing 173, respectively. The speed controllers 142 and 144 may include a speed reducer and a servo motor to control a rotation speed or a rotation range of the third joint unit 170. The speed controllers 142 and 144 are provided in parallel with the rotation shafts A5 and A6, respectively.

As described above, the walking robot 100 according to an embodiment of the present invention includes three joint portions 130, 150, and 170 each having two rotational axes perpendicular to each other, thereby allowing a six-axis vertical articulated walking having six degrees of freedom. The robot can be implemented. Walking robot 100 according to an embodiment of the present invention can be easily attached to the surface of the vessel closing block (SB) and the lock (L) having a different surface height using a six-axis vertical articulated joint, L) may not act as an obstacle to walking.

In this way, by adopting the six-axis vertical articulated joint, it is possible to move to a desired position even if there are various types of obstacles (beams, irregularities, holes, slopes, stairs).

Meanwhile, the first and second foot parts 110 and 160 of the walking robot 100 according to an embodiment of the present invention may include first and second electromagnets 111 and 161, electromagnet mounting plates 113 and 163, dampers 119 and 169, and springs. 117 and 167, and the distance sensors 115 and 165 may be provided on the electromagnet mounting plates 113 and 163.

The first electromagnets 111 and the second electromagnets 161 alternately operate with each other, and the electromagnets 111 and 161 are attached to the feet 110 and 160 attached to the support surface of the workshop, that is, the ship closing block SB or the longage L. By forming, it is possible to maintain the working position of the walking robot 100 firmly in the steel workshop, and to easily move obstacles such as the long L.

Hereinafter, a detailed configuration of the first and second foot parts 110 and 160 will be described with reference to the drawings. Since the configurations of the first foot 110 and the second foot 160 are the same, the description will be made based on the second foot 130 for convenience of description.

As shown in FIG. 3, the second foot 160 of the walking robot 100 according to an embodiment of the present invention includes a second electromagnet 161. The groove portion 161a, in which the groove portion 161a of a predetermined pattern is formed on the bottom surface of the second electromagnet 161, is the surface of the closing block SB, which is a supporting surface on which the second electromagnet 161 is landed, or the longage L. Even if the surface is not smooth and irregularities are present, it is possible to stably land on the supporting surface.

The second electromagnet 161 may be attached to the electromagnet mounting plate 163, and the shock absorbing member 169 may be provided on the other side of the electromagnet mounting plate 163. The shock absorbing member 169 may absorb a shock applied to the second electromagnet 161 by a supporting surface SF (see FIG. 1) to which the second electromagnet 161 is attached. That is, the shock absorbing member 169 may prevent the shock generated when the second electromagnet 161 contacts the support surface SF while the walking robot 100 moves to the walking robot 100. have. The shock absorbed by the shock absorbing member 169 is not generated due to a design error or a modeling error of the walking robot 100. In other words, the shock absorbing material 169 may be referred to as an impact applied to the sole of the foot 160 when walking.

On the other hand, the shock absorbing member 169 may use a damper (Damper) using hydraulic pressure, etc., the damper includes a shock absorber (169a) is changed in position or length in accordance with the shock absorber, and the shock absorber (169a) The circumference may be provided with a spring 167.

Here, the spring 167 may function as an error correction member that cancels the modeling error existing in the second foot 160. The error correction member 167 may absorb a slight shock generated because the modeling situation of the robot performed before the actual work input and the situation occurring in the actual working environment are different. For example, if the height of the irregularities formed on the support surface when modeling was 9 cm, but the height is actually 10 cm, the error correction member 167 can absorb the displacement caused by the difference of 1 cm. That is, the error correction member 167 may mechanically compensate for the position error of the walking trajectory according to the surrounding environment.

On the other hand, the error correction member 167 and the shock absorber (169a) may be provided at uniform intervals along the edge of the electromagnet mounting plate 167. By disposing the error compensating member 167 and the shock absorber 169a at even intervals, the bottom surface of the second foot portion 160 or the bottom surface of the second electromagnet 161 may evenly contact the support surface SF. have.

Here, the shock absorbing member 169 and the error compensating member 167 may operate as a compliant mechanism for reducing the impact with the support surface SF of the workplace applied to the second electromagnet 161. To this end, the compliance mechanism may include a damper 169 supporting one side of the second electromagnet 161 and a spring 167 provided around the damper 169. In this way, the damper can be used to prevent the shock generated when the walking robot lands on the robot body. In addition, the spring can be provided to facilitate the return of the damper to the initial state, and the small shock can be coped with the spring only. . As such a compliant mechanism structure, it is possible to implement a variety of flexible walking structure in a complex environment.

In addition, the second foot 160 includes a distance sensor 165 that measures the distance to the support surface SF of the ship closing block SB or the longage L on which the second electromagnet 161 is landed and supported. Therefore, the modeling error of the robot itself and the error due to the servo control can be overcome by feedback of the actual error by the distance sensor. In this case, the distance sensors 165 may be disposed at uniform intervals along the circumference or circumference of the second electromagnet 161.

In the case of the existing robot, the jig is used to adjust the position error so that it does not occur, and does not change the operation setting of the robot to reflect the distance or position error occurring in the actual working environment. On the contrary, the walking robot 100 according to an embodiment of the present invention may change an operation setting by feeding back a surrounding environment recognized by the distance sensor 165.

The distance sensor 165 may recognize a work environment in which the walking robot 100 is located. The distance sensor 165 may recognize the surrounding environment so that the walking robot 100 may walk stably and variously. The distance sensor 165 may overcome the difference between the precomputed walking pattern and the actual environment. In addition, the modeling error of the robot 100 itself and the error due to servo control may be overcome by feedback of the actual error for the distance sensor 165. That is, when the distance sensor 165 recognizes that the distance to the support surface to be landed is different from the modeled operating setting, the modeled operating setting may be changed by feeding back the sensed distance.

As such, by mounting the distance sensor 165, not only a simple plane but also various terrain information may be analyzed to ensure stable movement and landing of the walking robot 100.

Meanwhile, a tool mounting unit 180 for attaching a work tool may be formed in the second foot 160. The tool mounting unit 180 may be formed in either the first foot 110 or the second foot 160. The tool mounting unit 180 is formed to conform to the ISO standard, and may attach a work tool for performing welding, rust removal, painting, and the like. The tool mounting unit 180 may have a mounting hole 180a for mounting a tool.

As such, by forming the tool mounting unit 180 on any one foot 110 and 160 and attaching the working tool, the same operation mechanism may be used for walking and working of the robot. That is, since the six-axis vertical articulated structure used for walking of a robot is used for work, such as welding, it is not necessary to provide a separate joint part for work.

Hereinafter, with reference to the drawings will be described the operation of the walking robot 100 according to an embodiment of the present invention. 4 is a perspective view illustrating a walking robot working and walking on a ship block according to an embodiment of the present invention.

Referring to FIG. 4, the walking robot 100 located in the closed block SB of the ship moves to the next work position after completing work at a specific position. To this end, the walking robot 100 first fixes the electromagnet 111 of either foot 110 to the support surface SF of the ship closing block SB made of steel plate, and the other foot 160. Moves the electromagnet 161 to the upper surface of the long paper (L). Next, the electromagnet 111 fixed to the supporting surface SF of the block SB is fixed to the supporting surface SF of the block SB on the opposite side of the long paper L, and the length of the electromagnet 111 is exceeded.

The rotation moment and the movement of the center of mass generated during walking cause walking instability of the robot 100, and stability can be secured by fixing it with an electromagnet 111 attached to the support surface SF. After the movement is completed, the opposite electromagnet 161 is fixed to the support surface SF, and then the electromagnet 111 attached to the support surface SF is moved to walk.

By repeating such a walking pattern, it can move to a target working position or environment. In addition, by mounting an additional work tool in the tool mounting unit 180, it is possible to perform operations such as welding, welding seam removal, coating, rust removal, and the like.

As described above, the present invention has been described by specific embodiments such as specific components and the like. For those skilled in the art to which the present invention pertains, various modifications and variations are possible. Therefore, the spirit of the present invention should not be limited to the described embodiments, and all of the equivalents or equivalents of the claims as well as the claims to be described later will belong to the scope of the present invention. .

1 is a perspective view illustrating a walking robot and a ship block on which a walking robot works according to an embodiment of the present invention.

2 is a perspective view showing a walking robot according to an embodiment of the present invention.

Figure 3 is an enlarged perspective view of the foot of the walking robot according to an embodiment of the present invention.

4 is a perspective view illustrating a walking robot working and walking on a ship block according to an embodiment of the present invention.

<Explanation of symbols for the main parts of the drawings>

100: walking robot 110: first foot

120: first leg portion 130: first joint portion

140: second leg portion 150: second joint portion

160: second foot 170: third joint portion

180: tool mounting part SB: ship closing block

L: Longines A1-A6: Rotating shaft

Claims (7)

A first foot for walking and supporting; A first leg portion rotatably connected to the first foot portion; A first joint part connecting the first foot part and the first leg part and having a rotation axis perpendicular to each other; A second leg part rotatably connected to the first leg part; A second joint part connecting the first leg part and the second leg part and having rotation axes orthogonal to each other; A second foot portion rotatably connected to the second leg portion to allow walking and support; And And a third joint part connecting the second leg part and the second foot part and having rotation axes orthogonal to each other. A first electromagnet and a second electromagnet are respectively formed on the first foot and the second foot to enable walking and support of the first foot and the second foot on a supporting surface on which magnetic force is applied, and the first electromagnet and The second electromagnet is a walking robot using an electromagnet alternately operating with each other. The method of claim 1, The first foot and the second foot, A walking robot using an electromagnet, comprising a conforming mechanism for reducing an impact with the support surface applied to the first electromagnet and the second electromagnet. The method of claim 2, The compliance mechanism includes a damper for supporting one side of the first electromagnet and the second electromagnet, and a spring provided around the damper, the walking robot using the electromagnet. The method of claim 2, The first foot and the second foot, A shock absorbing member for absorbing the shock applied to the first electromagnet and the second electromagnet by the support surface to which the first electromagnet and the second electromagnet are attached; And And an error correction member for canceling modeling errors present in the first and second foot parts. The method of claim 4, wherein The shock absorbing member is a damper for supporting one surface of the first electromagnet and the second electromagnet, respectively. The error correction member is a walking robot using an electromagnet, which is a spring formed around the damper. The method of claim 2, The first foot portion and the second foot portion includes a distance sensor for measuring the distance to the support surface to which the first electromagnet and the second electromagnet is attached, The distance sensor is a walking robot using an electromagnet disposed around the first and second electromagnets. The method according to any one of claims 1 to 6, A walking robot using an electromagnet, wherein a tool mounting portion for attaching a work tool is formed on any one of the first foot and the second foot.

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