KR101208919B1

KR101208919B1 - Drivig Arm having Rake Wheel and Mobile Robot therewith

Info

Publication number: KR101208919B1
Application number: KR1020100028024A
Authority: KR
Inventors: 유호상; 신경철; 박성주
Original assignee: 주식회사 유진로봇
Priority date: 2010-03-25
Filing date: 2010-03-29
Publication date: 2012-12-06
Also published as: KR20110107717A

Abstract

The present invention relates to a drive arm equipped with a rake wheel and a mobile robot having the same. The present invention is a drive arm base mounted on the main drive wheel of the robot body; And a rake wheel mounted on one side of the driving arm base and having a plurality of rakes protruding from the outer circumferential surface thereof, wherein the rake wheel rotates in association with the main driving wheel. Gives cancer. According to the present invention, it is possible to enable smooth running of the mobile robot regardless of mountainous and urban areas, and it is possible to detach and remove the rake wheel from the robot body, which is excellent in portability and easy maintenance.

Description

Driving arm with rake wheel and mobile robot with it {Drivig Arm having Rake Wheel and Mobile Robot therewith}

The present invention relates to a drive arm equipped with a rake wheel and a mobile robot having the same. More particularly, the present invention relates to a driving arm equipped with a rake wheel and a mobile robot having the same, which overcome various obstacles interspersed with mountainous terrain and enable smooth driving.

Generally, mountainous terrain is dotted with various obstacles, from small rocks to large rocks, broken branches or fallen leaves. These obstacles act as an obstacle to the driving of the mobile robot for mountain driving.

In addition, mountainous trails such as small trails that bend and steep slopes are difficult to move in most cases.

In particular, in a puddle or a ramp in which fallen leaves accumulate, a driving function of a conventional wheel driving robot or a track driving robot alone may slide or drift out of position, and thus may not be able to escape from the terrain.

In addition, even when the mobile robot is heavy or bulky, it is very difficult to drive the mountainous terrain as desired, and thus, a mobile robot having a small size and light weight and excellent maneuverability and obstacle overcoming ability is required.

1 is a perspective view of a conventional mobile robot for driving a field.

The conventional field driving mobile robot 1 shown in FIG. 1 includes main drive tracks 2 and 3 on the left and right sides, and is driven by mounting two active flippers 4 and 5 (Active Flipper). In the mobile robot, when encountering obstacles while driving, the angles of the two active flippers 4 and 5 mounted in front are adjusted to improve the grip on the obstacles so that the obstacles can be easily overcome.

However, such a conventional field driving mobile robot 1 is easily slipped in a puddle or hill in which fallen leaves are piled up or slipped in place with only the active flipper 4 and 5 mounted at the front, so that it can move in a desired direction. There is a problem in that the traveling control is not easy.

In order to solve the above problems, the present invention is capable of smooth maneuvering regardless of the ground conditions in mountainous terrain and urban areas, and has a drive arm equipped with a rake wheel that is easy to carry and is made of a lightweight and compact structure. It is an object to provide a mobile robot.

The present invention to achieve the above object is a drive arm base mounted on the main drive wheel of the robot body; And a rake wheel mounted on one side of the driving arm base and having a plurality of rakes protruding from the outer circumferential surface thereof, wherein the rake wheel rotates in association with the main driving wheel. Gives cancer.

The drive arm base is characterized in that it is provided to be detachable to the main drive wheel.

In addition, the drive arm is provided with a tilt adjustment drive unit to drive separately from the main drive wheel, characterized in that for adjusting the inclination of the drive arm base receives a rotational force from the tilt adjustment drive unit.

In addition, the driving arm base is inserted into the inside of the fixing shaft provided in the robot body is fixed to prevent rotation, and protrudes out of the outer circumferential surface through a ball mounting hole formed in the radial direction of the fixing shaft It is characterized in that it comprises an angle adjustment shaft to which the fixing ball which makes a locked state by contacting the inner peripheral surface.

In addition, the drive arm base is characterized in that it is provided with a ball guide shaft for setting the locking and unlocking state of the angle adjusting shaft by the fixing ball is inserted into the inside of the angle adjusting shaft reciprocating.

In addition, the inclination adjustment drive unit has a first bevel gear for transmitting a rotational force, the angle adjustment shaft has a second bevel gear meshing with the first bevel gear, the drive arm base is the inclination adjustment drive unit In the operation of the first bevel gear is characterized in that the inclination is adjusted as the rotation around the second bevel gear.

The driving arm may further include a spline nut into which a spline shaft provided at the center of the main driving wheel is inserted, a first timing pulley coupled to the spline nut, a timing belt connected to the first timing pulley, and the timing. And a second timing pulley coupled to a belt and coupled to a wheel rotating shaft provided at the center of the rake wheel to transmit rotational force to the rake wheel.

The driving arm may include a power connector connected to a power supply unit provided in the robot body to supply power to the tilt adjustment driving unit.

The driving arm base may include a hall sensor for measuring the rotational speed of the first bevel gear or the inclination of the driving arm base.

On the other hand, the present invention is a robot body having a main drive wheel for transmitting a rotational force to the drive track; And a driving arm having a driving arm base provided to be detachable from the main driving wheel, and a rake wheel mounted on one side of the driving arm base and having a plurality of rakes protruding from the outer circumferential surface thereof. And, the rake wheel provides a mobile robot, characterized in that to rotate in conjunction with the main drive wheel.

Here, the main drive wheels are provided with a pair and are disposed on both sides of the robot body, respectively, and the drive arms respectively mounted on the pair of main drive wheels are characterized in that the inclination is adjusted independently of each other.

According to the present invention, it is possible to enable smooth running of the mobile robot regardless of mountainous and urban areas, and it is possible to detach and remove the rake wheel from the robot body, which is excellent in portability and easy maintenance. In addition, there is little increase in weight or volume due to the mounting of the rake wheel has the effect that it can maintain a compact and lightweight state.

1 is a perspective view of a conventional mobile robot for driving a field.
2 is a perspective view of a mobile robot according to a preferred embodiment of the present invention.
3 is a view for explaining that the driving arm operates independently.
4 is a plan view of a mobile robot in a state in which a driving arm is separated.
5 is a cross-sectional view of the drive arm.
FIG. 6 is an enlarged view of a portion A of FIG. 5.
7 is a diagram illustrating an internal structure inside the driving arm.
8 is a diagram illustrating an internal structure outside the drive arm.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, in adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are used as much as possible even if displayed on different drawings. In addition, detailed description is abbreviate | omitted when it is judged that it may obscure the summary of this invention. In addition, preferred embodiments of the present invention will be described below, but the technical idea of the present invention may be implemented by those skilled in the art without being limited or limited thereto.

2 is a perspective view of a mobile robot according to a preferred embodiment of the present invention.

The mobile robot 10 according to the preferred embodiment of the present invention includes a robot body 11, an active flipper (16, 18) and a drive arm (100).

The robot body 11 transmits rotational force to the first driving track 12 disposed on one side and the second driving track 14 disposed on the other side of the robot body 11 and the driving tracks 12 and 14. The main drive wheel 20 is provided.

The active flipper 16, 18 is the first active flipper 16 disposed at one front of the robot body 11 (where 'front' refers to the left side in FIG. 2) and the other front of the robot body 11. The second active flipper 18 is disposed to face the first active flipper 16.

The pair of active flippers 16 and 18 are provided to be able to adjust the inclination so as to easily drive a rough mountainous terrain.

The driving arm 100 is provided with a pair to be detachably attached to the pair of main driving wheels 20 disposed on both sides of the rear of the robot body 11 (where 'rear' refers to the right side in FIG. 2). . That is, the first driving arm 110a is disposed at the rear of the robot body 11 and the second driving arm 110b is disposed at the rear of the robot body 11.

The drive arm 100 includes a drive arm base 110 provided to be detachable from the main drive wheel 20, and a rake wheel 120 mounted to one side of the drive arm base 110.

At this time, the rake wheel 120 has a plurality of rakes (122) formed in the form of a flipper, that is, in the form of a plate protrudes on the outer peripheral surface.

The rake 122 may be formed in a direction perpendicular to the circumferential direction of the rake wheel 120, that is, in the same direction as the rotation axis of the rake wheel 120. Alternatively, the rake 122 may protrude obliquely to the outer circumferential surface of the rake wheel 120, such as in the form of a blowing fan, so that the rake 122 may maintain a continuous ground state with respect to the ground. Do.

The rake wheel 120 provided as described above has a function of improving the traction with the ground when the mobile robot 10 travels on the mountainous terrain to prevent slippage and to increase maneuverability to easily overcome obstacles.

The rake wheel 120 is provided to be rotated in conjunction with the main drive wheel 20 in which the drive arm 100 is mounted, which will be described in detail later.

3 is a view for explaining that the driving arm operates independently.

As described above, the driving arms 100a and 100b respectively mounted on the pair of main driving wheels 20 provided on both rear sides of the robot body 11 may adjust the inclination. At this time, each driving arm (100a, 100b) is provided in the drive arm base 110 by using the rotational force generated from the inclination adjustment drive unit 160 (see Fig. 5) to drive separately from the main drive wheel 20 Tilt is adjusted by rotating the driving arm base 110.

Therefore, as shown in FIG. 3, the first driving arm 100a and the second driving arm 100b may adjust the inclination independently of each other.

4 is a plan view of a mobile robot in a state in which a driving arm is separated.

The robot main body 11 has a power supply unit 25 for supplying power to both rear sides. On the other hand, the driving arm 100 is provided with a power connector 140 connected to the power supply unit 25 to supply power to the tilt adjustment driver 160 to operate the tilt adjustment driver 160.

The power connector 140 may be connected to the power supply unit 25 when the driving arm 100 is mounted on the main driving wheel 20.

FIG. 5 is a cross-sectional view of the driving arm, FIG. 6 is an enlarged view of a portion A of FIG. 5, FIG. 7 is a view showing an internal structure inside the drive arm, and FIG. 8 is a view showing an internal structure outside the drive arm. Drawing.

Hereinafter, the structure of the driving arm 100 will be described in detail with reference to FIGS. 5 to 8.

First, the detachable structure of the drive arm 100 with respect to the main drive wheel 20 will be described.

As described above, the driving arm 100 is provided to be detachable from the main driving wheel 20. To this end, the drive arm base 110 includes an angle adjusting shaft 130 and a ball guide shaft 135 inserted into the angle adjusting shaft 130.

One side of the angle adjusting shaft 130 is inserted into the fixing shaft 23 is fixed to be coupled to the robot body 11 so as not to rotate. At this time, the fixing shaft 23 is disposed on the rotating shaft of the main driving wheel 20, but because the fixing shaft 23 is not transmitted from the main driving wheel 20 of the main driving wheel 20 The rotating shaft 23 does not rotate by the rotation.

One side of the angle adjustment shaft 130 is provided with a rotation preventing pin 133 (see Fig. 7), the rotation preventing pin 133 is inserted into a groove provided on the inner peripheral surface of the fixing shaft 23 for the angle adjustment Rotation of the shaft 130 is inhibited.

The angle adjustment shaft 130 is formed in the form of a mandrel having a predetermined space therein. The angle adjustment shaft 130 has a ball mounting hole 131 is formed through the radial direction of the angle adjustment shaft 130 on one side inserted into the fixing shaft 23.

The ball mounting hole 131 is inserted into the fixing ball 131a, wherein the ball mounting hole 131 for fixing the diameter of the outer peripheral surface side of the angle adjustment shaft 130 so that the fixing ball 131a is not separated It is to be formed smaller than the diameter of the ball (131a).

The fixing ball 131a may protrude outward from the outer circumferential surface of the angle adjusting shaft 130 through the ball mounting hole 131 formed as described above. As such, the protruding portion of the fixing ball 131a is in contact with the inner circumferential surface of the fixing shaft 23 to achieve a locking state of the driving arm 100.

On the other hand, the ball guide shaft 135 is inserted into the internal space of the angle adjusting shaft 130 to achieve the locking state.

The ball guide shaft 135 has a head portion 135a which is disposed closer to the inner side of the fixing shaft 23 and whose outer peripheral surface is in contact with the inner peripheral surface of the fixing shaft 23. In addition, the ball guide shaft 135 is formed in contact with the head portion (135a) is provided with a groove portion (135b) located in the outward direction of the fixing shaft (23).

The ball guide shaft 135 is inserted into the angle adjusting shaft 130 to reciprocate. At this time, when the head portion 135a is in contact with the fixing ball 131a, the fixing ball 131a is pushed out of the angle adjusting shaft 130 by the head portion 135a and protrudes, The inner circumferential surface is pressed.

Accordingly, the angle adjusting shaft 130 is fixed to the fixing shaft 23 to achieve a locking state.

On the contrary, when the recessed portion 135b comes to the position of the fixing ball 131a, the fixing ball 131a may have a space formed by the recessed portion 135b, and may move inside the angle adjusting shaft 130. Done.

In this case, the fixing ball 131a is unable to pressurize the fixing shaft 23 and is in the unlocked state.

On the other hand, the angle adjustment shaft 130 may be provided with a detachable button 134 and a spring 136 in order to maintain the locked state basically.

Detachable button 134 is coupled to the opposite side of the head portion (135a) in the angle adjustment shaft 130. The detachable button 134 is provided so that a portion thereof is exposed to the outside of the driving arm base 110 so that the user can press the detachable button 134.

One end of the spring 136 is in contact with the jaw formed inside the angle adjusting shaft 130, and the other end thereof is in contact with the release button 134 so that the ball guide shaft 135 is separated from the angle adjusting shaft 130. It keeps moving the predetermined distance.

By doing so, unless a separate force is applied, such as pressing the release button 134, the head portion 135a is in contact with the fixing ball 131a so as to keep pushing the fixing ball 131a outward. do.

On the contrary, by pressing the detachable button 134 to bring the groove 135b to the position of the fixing ball 131a, the locking state can be released.

Next, an interlocking structure of the main driving wheel 20 and the rake wheel 120 will be described with reference to FIGS. 5 and 7.

As briefly mentioned above, the rake wheel 120 is rotated in conjunction with the main drive wheel 20 provided in the robot body (11).

To this end, the robot body 11 has a spline shaft 22 (see FIG. 6) which is disposed on a rotation axis in the center of the main drive wheel 20 and rotates together with the main drive wheel 20.

At this time, the fixing shaft 23 is inserted into the spline shaft 22, but the spline shaft 22 is only coupled to the main driving wheel 20, the shaft for fixing the rotational force of the main driving wheel 20 ( 23) it does not.

On the other hand, the drive arm 100 has a spline nut 132 into which the spline shaft 22 is inserted and engaged.

The first timing pulley 150 is coupled to the spline nut 132, and the timing belt 152 is connected to the first timing pulley 150.

A second timing pulley 151 is coupled to the wheel rotation shaft 154 coupled to the rake wheel 120, and the timing belt 152 is connected to the second timing pulley 151.

The driving arm 100 provided as described above receives a rotational force through the spline nut 132 that is engaged with the spline shaft 22 when the main driving wheel 20 rotates, and the rotational force is transmitted to the timing pulleys 150 and 151. The belt 153 is transferred to the rake wheel 120.

As such, the main drive wheel 20 and the rake wheel 120 are interlocked so that a separate power supply device for driving the rake wheel 120 does not need to be separately provided.

On the other hand, the angle adjustment shaft 130 is disposed on the same rotation shaft as the spline nut 132 is inserted into the fixing shaft 23 as described above to maintain a state in which rotation is prevented, the spline nut 132 B is not rotated by receiving the rotational force from the first timing pulley 150.

Next, a structure for adjusting the inclination of the driving arm 100 will be described with reference to FIGS. 6 and 8.

As described above, the driving arm 100 adjusts the inclination by rotating the driving arm base 110 by using the rotation force generated from the inclination adjusting driver 160.

To this end, the inclination adjustment driver 160 has a first bevel gear 162 coupled to the rotating shaft to transmit the rotational force.

On the other hand, the angle adjustment shaft 130 is provided with a second bevel gear 163 meshing with the first bevel gear 162.

At this time, the center axis of the angle adjustment shaft 130 and the rotation axis of the tilt adjustment drive 160 to form a right angle to each other so that the drive arm 100 can be grounded more efficiently to the ground.

As described above, the tilt adjustment driver 160 is operated by receiving power through a power connector 140 connected to the power supply 25.

In addition, the inclination adjustment driver 160 is driven under the control of the drive controller 161 provided in the drive arm base 110 to adjust the inclination of the drive arm 100. In this case, the driving controller 161 inputs sensing information from a hall sensor 164 and an encoder (not shown) for measuring the rotational speed of the first bevel gear 162 or the inclination of the driving arm base 110. Control the rotation of the inclination adjustment driver 160.

On the other hand, the driving arm 100 may be provided with a wire guide fence (wire guide fence) to prevent the various wires are twisted or tangled during the tilt adjustment, the power connector 140 is connected to the wire guide rotation block to be provided Can be.

In addition, as shown in FIG. 8, the stopper 165 provided above the second bevel gear 163 to prevent the movement of the first bevel gear 162 may limit the inclination of the driving arm 100 to a predetermined angle range. It may be provided.

As described above, the mobile robot 10 according to the preferred embodiment of the present invention enables smooth maneuvering regardless of the ground conditions of the mountainous terrain and the urban terrain, and independently controls the angle of the driving arm 100 provided on the left and right sides. It can be performed, making it easy to overcome obstacles or rough terrain.

In addition, it is possible to detach the driving arm 100 to the robot body 11 is convenient to carry and storage, and there is an advantage that the drive arm 100 can be selectively used according to the local situation is very useful.

It will be apparent to those skilled in the art that various modifications, substitutions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. will be. Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are not intended to limit the technical spirit of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by the embodiments and the accompanying drawings. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents thereof should be construed as being included in the scope of the present invention.

10: mobile robot 11: robot body
12: first drive track 14: second drive track
16: first active flipper 18: second active flipper
20: main drive wheel 22: spline shaft
23: fixing shaft 25: power supply
100: driving arm 100a: first driving arm
100b: second drive arm 110: drive arm base
120: rake wheel 122: rake
130: angle adjustment shaft 131: ball mounting hole
131a: fixing ball 132: spline nut
133: anti-rotation pin 134: release button
135: shaft for ball guide 135a: head portion
135b: groove 136: spring
140: power connector 150: first timing pulley
151: second timing pulley 152: timing belt
154: wheel rotation shaft 160: inclination adjustment drive
161: drive control unit 162: first bevel gear
163: second bevel gear 164: Hall sensor
165: stopper

Claims

A driving arm base mounted on the main driving wheel of the robot body; And
A rake wheel mounted on one side of the driving arm base and connected to the main driving wheel and a belt-pull combination to rotate in association with the main driving wheel;
At least two rakes are formed on the outer circumferential surface of the rake wheel to be spaced apart in a plate shape to protrude obliquely.

delete

The method of claim 1,
The drive arm is
It is provided with a tilt adjustment drive unit to drive separately from the main drive wheel,
Drive arm, characterized in that for adjusting the inclination of the drive arm base receives a rotational force from the inclination adjustment drive.

The method of claim 3, wherein
The driving arm base is
One side is inserted into the fixing shaft provided in the robot body is fixed to prevent rotation,
And an angle adjusting shaft to which the fixing ball is mounted, which protrudes outward from the outer circumferential surface through the ball mounting hole formed in the radial direction and contacts the inner circumferential surface of the fixing shaft to form a locked state.

The method of claim 4, wherein
The driving arm base is
And a ball guide shaft inserted into the angle adjusting shaft and reciprocating to set the locking and unlocking state of the angle adjusting shaft by the fixing ball.

The method of claim 4, wherein
The inclination adjusting driver includes a first bevel gear for transmitting a rotational force,
The angle adjusting shaft has a second bevel gear meshing with the first bevel gear,
The driving arm base is characterized in that the inclination is adjusted as the first bevel gear rotates around the second bevel gear when the tilt adjustment drive unit is operated.

The method of claim 1,
The drive arm is
A spline nut into which a spline shaft provided in the center of the main driving wheel is inserted;
A first timing pulley coupled to the spline nut,
A timing belt connected to the first timing pulley;
And a second timing pulley coupled to the timing belt, the second timing pulley being coupled to a wheel rotating shaft provided at the center of the rake wheel to transmit rotational force to the rake wheel.

The method of claim 3, wherein
The drive arm is
And a power connector connected to a power supply unit provided in the robot body to supply power to the tilt adjustment driving unit.

The method according to claim 6,
The driving arm base is
And a Hall sensor for measuring the rotational speed of the first bevel gear or the inclination of the drive arm base.

Robot body having a main drive wheel for transmitting rotational force to the drive track; And
A driving arm base provided to be detachable from the main driving wheel;
A rake wheel mounted on one side of the driving arm base and connected to the main driving wheel and a belt-pull combination to rotate in association with the main driving wheel;
Mobile robot, characterized in that the outer circumferential surface of the rake wheel, at least two rakes are spaced apart in a plate form protruding obliquely.

11. The method of claim 10,
The main drive wheel is
A pair is provided and disposed on both sides of the robot body,
The driving arms mounted on the pair of main driving wheels, respectively, the inclination is adjusted independently of each other mobile robot.

11. The method of claim 10,
The drive arm is
It is provided with a tilt adjustment drive unit to drive separately from the main drive wheel,
Mobile robot, characterized in that for adjusting the inclination of the drive arm base receives the rotational force from the inclination adjustment drive unit

13. The method of claim 12,
The driving arm base is
One side is inserted into the fixing shaft provided in the robot body is fixed to prevent rotation,
An angle adjusting shaft to which the fixing ball is mounted, which protrudes outward from the outer circumferential surface through a ball mounting hole formed in the radial direction and contacts the inner circumferential surface of the fixing shaft, thereby forming a locked state;
And a ball guide shaft inserted into the angle adjusting shaft and reciprocating to set a locking and unlocking state of the angle adjusting shaft by the fixing ball.

The method of claim 13,
The inclination adjusting driver includes a first bevel gear for transmitting a rotational force,
The angle adjusting shaft has a second bevel gear meshing with the first bevel gear,
The driving arm base is a mobile robot, characterized in that the inclination is adjusted as the first bevel gear rotates about the second bevel gear when the drive for adjusting the tilt.

11. The method of claim 10,
The drive arm is
A spline nut into which a spline shaft provided in the center of the main driving wheel is inserted;
A first timing pulley coupled to the spline nut,
A timing belt connected to the first timing pulley;
And a second timing pulley coupled to the timing belt, the second timing pulley being coupled to a wheel rotation shaft provided at the center of the rake wheel to transmit rotational force to the rake wheel.

13. The method of claim 12,
The drive arm is
And a power connector connected to a power supply unit provided in the robot body to supply power to the tilt adjustment driving unit.