KR101124830B1 - Actuator Module Linked Multi-Axis - Google Patents

Abstract

In the present invention, the actuator module for generating power, the actuator module is coupled to each other by a connecting means is formed in each of the corners perpendicular to the drive axis of the drive shaft of the actuator module in the corner portion for coupling the plurality of actuator modules By implementing a multi-axis connection type actuator module, there is an effect that can easily connect a plurality of actuators without a separate coupling member using a through-hole provided in the corner portion of the actuator module. Accordingly, the multi-axis joint portion can be miniaturized and lightened, and the device using the actuator module can also be miniaturized and reduced in weight. In addition, the wiring can be neatly arranged by using the connector accommodating portion and the wiring guide member, and there is an effect of widely utilizing the range of motion of the joint. In addition, there is an effect that can be installed anywhere in the actuator module using a bracket in various directions. As such, since the positional compatibility of the actuator module is free, the application range of the actuator module can be widened.

Motor, Actuator, Multi-Axis, Connection, Screw, Bracket

Description

Actuator Module Linked Multi-Axis

The present invention relates to a multi-axis connected actuator module of a robot, and more particularly, it is possible to combine a plurality of actuator modules using only a screw without a separate connection member, thereby enabling easy control of movement of various axes, and wiring. The theorem relates to a seamless multi-axis connected actuator module.

As a servo mechanism for controlling an object remotely, an actuator using a motor as a driving source has conventionally been employed as a servo mechanism.

Unlike industrial robots, robots that provide various services at home or in medical institutions are called personal robots. One kind of such a personal robot is an educational robot or an entertainment robot. Such educational robots or entertainment robots use servo mechanisms using actuator modules, and are centered on education or play, are capable of autonomous movement, are similar in shape to humans or animals, and have psychological healing effects. .

For example, a biped walking robot capable of walking with a human or various movements using an actuator such as a servomotor, a quadruped walking robot walking with a dog or a cat, and a six-foot walking robot for describing the behavior of insects. Etc. These biped, quadruped or biped walking robots require many degrees of freedom to describe various movements.

1 is a view showing the coupling of a conventional actuator. In particular, in order to describe a movement such as a human shoulder joint, movement control in more than two axes may be required. In this case, the actuator 10 such as two servomotors should be combined to control the movement of different axes. As shown in FIG. 1, in order to control the movement in two or more directions, the driving axes of the two actuators 10 may be staggered from each other, or the driving axes may be parallel to each other to be inserted into the motor case 20 according to the usage. shall. Since it is necessary to additionally use a separate device such as the motor case 20, there is a problem that it is difficult to miniaturize and reduce the weight of the robot joint, and thus, there is a problem that the overall weight and volume of the device such as the robot increases. .

In addition, a large number of motors are used in these walking robots. In order to supply power to these motors and to control them individually, the motors must be wired. However, the conventional motor has a problem in that the wiring is integrally formed with the motor, or one end of the connector for wiring is exposed to the outside of the outer circumferential surface of the motor to limit the movement of the joint or the wiring is entangled. In addition, there is a problem that the appearance of the completed walking robot is messy because the wiring is exposed to the outside.

Therefore, the present invention has been created to solve the above problems, it is possible to combine a plurality of actuator modules using only a screw without a separate connecting member, and thus it is possible to easily control the movement of the various axes, The purpose is to provide a multi-axis connected actuator module that is easy to organize.

An object of the present invention as described above in the actuator generating power, the actuator module is connected to the through-hole perpendicular to the drive axis line which is the central axis of the drive shaft of the actuator module in each corner portion for coupling the plurality of actuator modules It can be achieved by a multi-axis linked actuator module coupled by means. At this time, the connecting means is a screw, and a thread for fixing the plurality of actuator modules by a screw is formed in the through hole.

In addition, a connector accommodating portion may be formed at one side of the outer circumferential surface of one side adjacent to the one side provided with the drive shaft of the actuator module to insert a connector for wiring.

In addition, one side of the connector housing portion is further provided with a wiring guide member for arranging the wiring so that it does not face in any direction.

In addition, a wiring groove for wiring between adjacent actuator modules is further formed on at least one of left and right sides of the actuator module. At this time, the wiring groove is further provided with a cover blocking the wiring groove can be selectively removed as needed.

In addition, the actuator module is further provided with a bracket for coupling with the external mechanism. At this time, the actuator and the bracket are coupled by screwing.

In addition, the bracket is made of a flat plate shape corresponding to the side of the actuator module, the body portion formed with a first coupler on one side of the center; And a protrusion formed on one side of the corner of the body portion and having a second coupler formed therein into which a screw can be inserted.

In addition, the vertex portion of the corner portion in which the through hole of the actuator module is formed has a connection groove having a predetermined depth inward so that the screw does not protrude outside the outer circumferential surface of the actuator.

In addition, one side of the connection groove is formed with a coupling groove for coupling with the bracket.

In addition, the actuator module is a cube having a square side with a horizontal, vertical, and height ratio of 1: 2: 2, and the bracket corresponds to a rectangular flat plate or a vertical or height of an actuator module having a size corresponding to the width and length of the actuator module. It consists of a square flat plate shape.

According to the present invention, the through-hole provided in the corner portion of the actuator module can be easily configured by connecting a plurality of actuators without a separate coupling member by using a screw to easily configure the multi-axis joint. Thus, the joint portion can be miniaturized and lightened, and the device using the actuator module can also be miniaturized and lightened.

In addition, by using the connector receiving portion and the wiring guide member can be neatly arranged the wiring, there is an effect that can be widely utilized in the range of motion of the joint.

In addition, there is an effect that can be installed anywhere in the actuator module using a bracket in various directions. As described above, since the positional compatibility of the actuator module is free, the utilization range of the actuator module can be widened.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the present invention.

<Configuration of Actuator Module>

2 shows a perspective view of an actuator module according to the invention. The overall configuration of the actuator module 100 according to the present invention uses a servo motor, DC motor, and the like commonly used in the art. As shown in FIG. 2, the actuator module 100 according to the present invention uses the actuator module 100 having a rectangular parallelepiped appearance. However, it is preferable to use an actuator having a hexahedron shape having a square side, and more preferably, an actuator having a hexahedron shape having a square side, having a ratio of horizontal, vertical, and height of 1: 2: 2.

Actuator module 100 according to the present invention is a drive axis that is the central axis of the drive shaft 170 of the module 100 to couple two or more actuator modules 100 for use in joints, etc. of the robot for controlling the multi-axis ( A through hole 110 is formed in each of the corner portions perpendicular to a) in a direction perpendicular to the driving axis a of the actuator module 100. At this time, the through-hole 110 is formed with a screw thread for coupling and fixing the plurality of actuator module 100 using only the screw (N) without a separate coupling device. It is apparent that the idle flange 180 may be provided on the same drive axis a of the other side opposite to the one side on which the drive shaft 170 is provided, according to the use mode.

Reference numerals not mentioned in the contents shown in FIG. 2 refer to the connector accommodating part 120, the wiring guide member 121, the wiring groove 130, the cover 131, the connection groove 150, and the coupling groove 160, respectively. It will be described in more detail in the following description to indicate.

3 is a perspective view showing the coupling of the actuator module and the wiring guide unit according to the present invention. As shown in FIG. 3, a connector accommodating part 120 for wiring for power supply and control is formed at one side of the outer circumferential surface of the actuator module 100 according to the present invention. Only one connector accommodating part 120 may be provided on one side of the outer circumferential surface of the actuator module 100, and may be simultaneously provided on both side surfaces facing each other. The connector accommodating part 120 is formed to have a depth equal to or slightly larger than the size of the connector 122 so that the connector 122 connecting the electric wire 123 can be inserted into a depth that does not protrude to the outside. When the depth of the connector accommodating part 120 is smaller than the size of the connector 122, one end of the connector 122 protrudes to the outside of the outer circumferential surface of the actuator module 100 to limit the movement of the actuator module 100. have. In addition, when the depth of the connector accommodating part 120 is excessively larger than the size of the connector 122, there is a problem in that the insertion of the connector 122 is difficult.

In this case, the connector accommodating part 120 does not discharge to the rear of the actuator module 100 to which the electric wire 123 connected to the connector 122 inserted into the connector accommodating part 120 is attached. There is provided a wiring guide member 121 to be discharged to. The wire guide member is a device that covers the upper portion of the connector 122 inserted into the connector accommodating part 120 so that the wire 123 is bent at a predetermined angle. The connector accommodating part 120 is protruded so that one side or both ends of a flat member for fixing to one side of the actuator module 100 are formed in a corresponding shape of the connector accommodating part 120.

A wiring groove 130 for wiring between the plurality of actuator modules 100 coupled by a screw N is further formed on one side of the left and right surfaces of the actuator module 100 according to the present invention or on one side of the center of both sides. When the wiring groove 130 is wired for power supply and mutual control of the actuator module 100 whose side surfaces are in contact with each other, the wire 123 does not protrude to the outside and is directly connected through the wiring groove 130. will be. At this time, the size of the wiring groove 130 is preferably made of a size that can be inserted into the wire 123. In addition, the wiring groove 130 is provided with a cover 131 corresponding thereto, and normally, the wiring groove 130 is closed by the cover 131 to prevent inflow of dust and the like, and optionally, the cover 131 as needed. Can be used for wiring of actuators in contact.

The actuator module 100 according to the present invention is provided with a bracket 140 for coupling with a separate mechanism such as a frame of a walking robot.

(First configuration of bracket)

4 is a perspective view showing the coupling of the bracket according to the first configuration of the present invention. As shown in FIG. 4, the bracket 140 according to the present invention includes a body portion 141 having a flat plate shape corresponding to the side of the actuator as a whole, and a plurality of protrusions protruding from one side of the corner portion of the body portion 141. 143).

The body portion 141 of the bracket 140 is formed in a flat plate shape corresponding to the side of the actuator, the first side of the center is formed with a first coupler 142 for coupling with the mechanism. The body portion 141 has a size of a rectangular flat plate having a ratio of 1: 2 so as to correspond to the width and length of the actuator module 100. These sizes correspond to the size of the actuator module 100 before, after, up, and down, and the actuator module 100 may be varied because the position is compatible with the front, rear, top, and bottom of the actuator module 100. Can be utilized.

Protruding portion 143 is formed on one side of the corner portion of the body portion 141 of the bracket 140, and the second coupling hole 144 is formed on one side of the center of the protrusion 143. The protrusion 143 is coupled to the actuator module 100 by inserting a screw (N) to the second coupler 144 by a screw (N) coupling.

(Second configuration of the bracket)

5 is a perspective view illustrating a state in which two drive shafts are parallel to each other by coupling a bracket according to a second configuration of the present invention. As shown in FIG. 5, the bracket 140 according to the second configuration has the same structure as the bracket 140 according to the first configuration as a whole. However, the bracket 140 according to the second configuration has a square plate shape in which the size of the body portion 141 corresponds to the side size of the actuator module 100. Since the size corresponds to the left and right side sizes of the actuator module 100, coupling is possible to the left and right sides of the actuator module 100. In addition, since the size of the actuator module 100 used in the present invention is half the size of the horizontal and vertical size, when combining the two actuator modules 100, the front, rear, up, down, left In addition, the location of both sides is compatible.

If the bracket 140 according to the first and second configurations described above is used, one actuator module 100 and two actuator modules 100 coupled to each other may be utilized regardless of the position.

Bracket 140 is coupled to each other in the corner portion of the actuator module 100. At this time, the head of the screw (N) for coupling the actuator module 100 and the bracket 140 does not protrude to the outside of the outer peripheral surface of the actuator module 100, the through-hole 110 for coupling the plurality of actuator module 100 In order to prevent the screw N inserted into the insertion path from coinciding with each other, a vertex portion of the actuator module 100 is formed with a connection groove 150 to a predetermined depth. At this time, the coupling groove 160 is formed at one side of the connection groove 150 at a position corresponding to the second coupling hole 144 of the protrusion 143 of the bracket 140. The coupling groove 160 is formed perpendicular to the through hole 110 so that the coupling path of the screw (N) inserted into the coupling groove 160 and the through hole 110 does not overlap.

<Use Mode of Actuator Module>

6 is a perspective view showing a state in which the drive shafts of the two actuator modules according to the present invention are coupled at right angles to each other, FIG. 7 is a perspective view showing a combined state of the two actuator modules according to the present invention, and FIG. Figure 2 shows the usage of the arm or leg of the robot is used in combination with two actuator modules according to. As shown in FIG. 8, in the manufacture of the walking robot, the two actuator modules 100 may be driven along the movement of the arm or leg joints, which is a central axis of the driving shaft 170 of the actuator module 100. It occurs when (a) is provided to be parallel to each other or perpendicular to each other. In this case, as shown in FIG. 7, the side surfaces of the two actuator modules 100 are provided to be in contact with each other so that the centers of the through holes 110 provided at the corners of the respective actuator modules 100 coincide with each other. . Thereafter, the screw N is inserted into the through hole 110 to couple and fix the two actuator modules 100 as shown in FIG. 7. At this time, the driving axis (a) of the two actuator module 100 may be parallel or perpendicular to each other, depending on the use mode, even if parallel to the drive shaft 170 is installed on the same side or facing each other Can be.

9 is a perspective view showing the side wiring of the two actuator modules according to the present invention. When wiring to two actuator modules 100 coupled to each other and fixed, the wiring is complicated because the wires 123 protrude to the outside in a narrow space when the wires are connected through the connector accommodating part 120. The problem that the wire 123 is twisted when driving the 100. In order to prevent this, as shown in FIG. 9, after removing the cover 131 of the wiring groove 130 provided on the side of the actuator module 100 and wiring through the wiring groove 130, The two actuator modules 100 are combined through the method shown in FIGS. 6 and 7. In addition, as shown in FIG. 3, since the connector 122 connected with the wires 123 connected between the actuators or from an external device is inserted through the connector receiving unit 120, the wiring may be easily and neatly arranged.

As described above, those skilled in the art will understand that the present invention can be implemented in other specific forms without changing the technical spirit or essential features. It is therefore to be understood that the above-described embodiments are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

The following drawings, which are attached in this specification, illustrate the preferred embodiments of the present invention, and together with the detailed description thereof, serve to further understand the technical spirit of the present invention, and therefore, the present invention is limited only to the matters described in the drawings. It should not be interpreted.

1 is a view showing a combination of a conventional actuator,

2 is a perspective view of an actuator module according to the present invention;

3 is a perspective view showing the coupling of the actuator module and the wiring guide unit according to the present invention;

Figure 4 is a perspective view showing the coupling of the bracket according to the first configuration of the present invention,

5 is a perspective view illustrating a state in which two drive shafts are parallel to each other by coupling a bracket according to a second configuration of the present invention;

6 is a perspective view showing a state in which the drive shafts of the two actuator modules according to the present invention are coupled to each other at right angles,

7 is a perspective view showing a combined state of two actuator modules according to the present invention;

8 is a view showing the use of the arm or leg of the robot is used in combination with two actuator modules according to the present invention,

9 is a perspective view showing the side wiring of the two actuator modules according to the present invention.

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

10: conventional actuator 20: motor case

100: actuator module 110: through hole

120: connector accommodating part 121: wiring guide member

122: connector 123: electric wire

130: wiring groove 131: cover

140: bracket 141: body

142: first coupler 143: projection

144: second coupler 150: connection groove

160: coupling groove 170: drive shaft

180: idle flange N: screw

a: drive axis

Claims (16)

In the actuator module 100 for generating power, The actuator module 100 has a through hole perpendicular to a driving axis a which is a central axis of the driving shaft 170 of the actuator module 100 at each corner portion to couple the plurality of actuator modules 100 to each other. 110 is formed and coupled by a connecting means, at least one side of the left and right sides of the actuator module 100, the multi-axial connection type, characterized in that the wiring groove 130 for wiring between the adjacent actuator module 100 is formed Actuator module. The method of claim 1, The connecting means is a screw (N), the inside of the through-hole (110) multi-axially connected actuator module, characterized in that a thread for fixing the plurality of actuator module 100 by a screw (N) is formed. The method of claim 1, Multi-axis connection type, characterized in that the connector receiving portion 120, which can be inserted into the connector 122 for the wiring is formed on one side of the outer peripheral surface of one side adjacent to the one side with the drive shaft 170 of the actuator module 100 Actuator module. The method of claim 3, One side of the connector receiving portion 120 is a multi-axis connected actuator module, characterized in that the wire guide member 121 for arranging so that the wire 123 is not directed in any direction. delete The method of claim 1, The wiring groove 130 is a multi-axis connected actuator module, characterized in that the cover 131 is further provided to block the wiring groove 130 is selectively removable. The method of claim 1, The actuator module 100 is a multi-axis connected actuator module, characterized in that the bracket 140 is further provided for coupling with the external mechanism. The method of claim 7, wherein The actuator and the bracket 140 is a multi-axis connected actuator module, characterized in that coupled by a screw (N) coupling. The method of claim 7, wherein The bracket 140, A body portion 141 having a flat plate shape corresponding to a side surface of the actuator module 100 and having a first coupler 142 formed at a central side thereof; And Multi-connected actuator module comprising a; protruding portion formed on one side of the body portion (141), the projection portion (143) formed with a second coupling hole (144) is inserted into the screw (N) therein. The method of claim 8, A vertex portion of the corner portion where the through hole 110 of the actuator module 100 is formed prevents the screw N from protruding outside the outer circumferential surface of the actuator module 100 and is inserted into the through hole 110. Multi-axially connected actuator module, characterized in that the connection groove 150 of a predetermined depth is formed inward so as not to match the coupling path of the (N) and the screw (N) connecting the bracket (140). The method of claim 10, One side of the connection groove 150 is a multi-axis connected actuator module, characterized in that the coupling groove 160 for coupling with the bracket 140 is formed. The method of claim 11, The coupling groove 160 is a multi-axis connected actuator module, characterized in that formed vertically with the through-hole 110 of the actuator. The method of claim 7, wherein The actuator module 100 is a multi-axis connected actuator module, characterized in that the hexahedron having a square side, height ratio of 1: 1. The method of claim 13, The actuator module 100 is a multi-axis connected actuator module, characterized in that the side of the horizontal, vertical, height ratio 1: 2: 2 is a cube of a square. 15. The method of claim 14, The bracket 140 is a multi-axis connected actuator module, characterized in that formed in a rectangular flat plate shape of the size corresponding to the horizontal, vertical of the actuator module (100). The method of claim 13, The bracket 140 is a multi-axis connected actuator module, characterized in that consisting of a square flat plate shape of the size corresponding to the height, height of the actuator module (100).

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