KR101280892B1 - Follower gear assembley and mobile snake robot using the same - Google Patents

Abstract

PURPOSE: A vertical gear assembly and a snake shaped robot including the same are provided to simplify the structure and to improve the driving efficiency by delivering a driving force through simultaneously receiving a Y-axis driving force and an X-axis driving force in one frame. CONSTITUTION: A snake shaped robot comprises a unit module and a vertical gear assembly. The unit module includes a first driving gear and a second driving gear. The vertical gear assembly includes a pair of upper and lower frames, a pair of lateral frames, a first vertical gear unit, and a second vertical gear unit. The vertical gear assembly has a structure simultaneously receiving a Y-axis driving force and an X-axis driving force. The first vertical gear unit is adhered to the first driving gear. The second vertical gear unit is adhered to the second driving gear.

Description

Follower gear assembley and Mobile snake robot using the same}

The present invention relates to a gear assembly and a snake type robot including the same, which can be applied to different modules by simultaneously receiving different axial driving forces of two drive motors.

As the electronics industry develops, the technology for robots is dramatically improved. In particular, technologies for various robots such as medical robots, industrial robots, military robots, and home robots are implemented and used for various purposes. Using a robot

If it is possible to perform a specific purpose such as inspection, reconnaissance, exploration even in an environment that is difficult for human entry, it is expected to be used for more purposes in various environments in the future.

In the fields of application of these various robots, the exploration robots are diverse in shape so that they can be searched even in atypical environments (such as building collapse sites, explosion accident sites, caves, sewer pipes, etc.) where narrow spaces or obstacles exist. Do.

In particular, in the case of the snake-type exploration robot similar to the present invention is a structure that is provided with an endless track in one traveling module, in this case, the endless track is a structure to drive with one drive motor.

For example, the technology of Korean Patent Publication No. 10-1014346 is composed of a plurality of unit joints, and each motor has a motor for each unit joint, so that the direction can be easily adjusted and the environment in which a person enters narrowly or there is a risk of injury. Has proposed a snake robot that can perform a search operation, but the structure for transmitting the driving force between each unit joint is very complicated, difficult to manufacture and efficient driving is difficult.

In addition, as a related patent, the mobile robot of Publication No. 10-2009-0010697, as shown in Figure 1, the front drive module and the rear drive module, and the control module and the control module connected in a line type, front and rear Implementing the drive depending on the driving force of the drive module of the bar, the driving force is difficult to transfer efficiently, its length is limited and there is a very complicated disadvantage.

Accordingly, there is a need for a technique for improving connection and driving efficiency between unit joints in a structure of a snake robot having a plurality of joints in an exploratory robot.

Korean Patent Publication No. 10-2009-0010697

The present invention has been made to solve the above-described problems, an object of the present invention is to implement a driven gear assembly that can be transmitted to the drive by receiving the Y-axis driving force and X-axis driving force at the same time in one frame, It is to provide a robot structure that can simplify the structure and increase the driving efficiency.

As a means for solving the above problems, the present invention comprises a pair of upper and lower frames having a constant thickness; A pair of side frames having a structure connected integrally with the upper and lower frames; A first driven gear part protruding from the upper frame in a Z-axis direction; And a second driven gear part protruding in a direction opposite to the first driven gear part in a side frame connected to the upper frame. It is configured to include to be able to provide a driven gear assembly of the structure that can be applied at the same time the driving force in the Y-axis direction and the driving force in the X-axis direction.

The first driven gear portion and the second driven gear portion may be formed to have a width less than or equal to the width of the upper frame and the lower frame, and a plurality of sawtooth shapes may be formed on end surfaces of the first driven gear portion and the second driven gear portion. Can be implemented.

In addition, the driven gear assembly according to the present invention can be applied to the implementation of the following transfer robot.

Specifically, the unit module including a first driving gear to form a driving force in the Y-axis direction by the first driving motor in the housing, and a second driving gear to form a driving force in the X-axis direction by the second driving motor; According to the present invention comprising a pair of the unit module, the first driven gear portion to be in close contact with the first drive gear and a second driven gear portion in close contact with the second drive gear. Gear assembly; It can be implemented as a snake traveling robot configured to include.

Of course, in this case, the front or rear of the pair of unit modules connected by the driven gear assembly further comprises at least one or more unit modules connected to the pair of unit modules via another driven gear assembly. Can be.

In addition, the above-mentioned serpentine traveling robot, the unit module disposed in the foremost in the coupling structure of a plurality of unit modules, can be implemented in a structure including only the second drive gear to form a driving force in the X-axis direction by the second drive motor. Can be.

In addition, the serpentine traveling robot further includes a control module for driving the driving motor in each unit module, the control module, the wireless communication module included in the unit module disposed in the foremost in the coupling structure of the plurality of unit modules It can be driven by receiving the control signal of the driving method to sequentially transfer the driving control signal to each unit module.

In addition, the rearmost unit module in the coupling structure of the plurality of unit modules, it may be implemented in a structure including only the first drive gear to form a driving force in the Y-axis direction by the first drive motor.

It may be configured to further include a drive wheel mounted to the side of the housing of the unit module according to the present invention described above.

According to the present invention, by implementing a driven gear assembly capable of transmitting the driving force by simultaneously receiving the Y-axis driving force and the X-axis driving force in one frame, the structure of the serpentine traveling robot can be simplified and the driving efficiency can be increased. have.

Figure 1 shows an embodiment of a conventional transport robot.
Figure 2 is a perspective view showing the structure of the "drive gear assembly" (hereinafter referred to as "assembly") according to the present invention.
Figure 3 shows a coupling of the unit structure of the transfer robot applying the assembly according to the invention, Figure 4 is a perspective enlarged view showing the main portion of Figure 3, Figure 5 shows an exploded perspective view of Figure 3 .
6 is a conceptual image and a control diagram of the serpentine traveling robot according to the present invention.

Hereinafter, with reference to the accompanying drawings will be described in detail the configuration and operation according to the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the following description with reference to the accompanying drawings, the same reference numerals denote the same elements regardless of the reference numerals, and redundant description thereof will be omitted. Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

Figure 2 is a perspective view showing the structure of the "drive gear assembly" (hereinafter referred to as "assembly") according to the present invention.

Referring to FIG. 2, the assembly according to the present invention includes a pair of upper frames 110a and lower frames 110b having a constant thickness, and a pair of sides of the structure connected integrally with the upper and lower frames. The frames 110c and 110d are provided. Particularly preferably, the assembly according to the present invention includes the first driven gear part 120 protruding in the Z-axis direction from the upper frame 110a and the side frame 110c connected to the upper frame 110a. More preferably, the second driven gear part 130 is formed to protrude in a direction opposite to the first driven gear part.

That is, in the assembly, the upper frame 110a, the lower frame 110b, and the side frames 110c and 110d are formed in one unitary structure, and have a hole having an empty inside, such as a plate shape or a structure having a predetermined thickness. It may have a rectangular frame shape as a structure to form a.

The first driven gear unit 120 may be formed as a plate structure having a structure protruding from the upper frame 110a in the XZ plane direction (Z-axis direction), the width of the first driven gear unit 120 is shown It may be formed to less than the width of the upper frame (110a), such as a structure. In addition, the thickness of the first driven gear unit 120 may be formed to be less than or equal to the thickness of the upper frame 110a, and the upper surface of the upper frame and the first driven gear unit 120 are disposed on the same plane and have a smooth structure. It can be formed as.

In addition, the second driven gear unit 130 may be formed of a plate structure having a structure protruding in the YZ plane direction (Z-axis direction) from the side frame 110c, the width of the second driven gear unit 130 Like the illustrated structure may be formed below the width of the side frame (110c). In addition, the thickness of the second driven gear 130 may be formed to be equal to or less than the thickness of the side frame 110c, and the upper surface of the side frame 110c and the second driven gear 130 are disposed on the same plane. It can be arranged to form a smooth structure.

In addition, coupling holes 111 and 112 are formed on the surfaces of the upper, lower, and side frames of the assembly, respectively, so as to penetrate the respective frames, which will be described later in FIGS. 3 and 4. It is a component that can be combined with a frame.

Of course, what is shown in Figure 2 shows the structure of the assembly as a preferred embodiment according to the present invention, but is not limited to this, the first and the second in a structure that can receive two or more power sources in one frame structure It will be said that the structure in which two driven gear parts are formed is included in the summary of this invention. Therefore, in the structure of FIG. 1, the position of the second driven gear unit 130 may be formed in the other side frame 110d, and the first driven gear unit 120 may also be formed in the lower frame 110b. Do. In addition, the end of the first and second driven gear portion (120, 130) is treated with a sawtooth shape it is more preferable to be able to mesh with the teeth of the drive gear for transmitting the driving force of the drive member such as a motor.

Hereinafter will be described the structure of the transfer robot applying the assembly according to the present invention. Figure 3 shows a coupling of the unit structure of the transfer robot applying the assembly according to the invention, Figure 4 is a perspective enlarged view showing the main portion of Figure 3, Figure 5 shows an exploded perspective view of Figure 3 .

3 to 5, the assembly 100 according to the present invention serves as a medium for connecting a pair of unit modules 200A and 200B as shown in FIG. 3. In particular, the first and second driven gear parts of the assembly 100 according to the present invention are coupled to the drive motor and the drive gear mounted inside each of the unit modules 200A and 200B to implement the movement of the pair of drive modules. To help.

3 and 4, the assembly 100 according to the present invention performs a function of connecting a pair of unit modules 200A and 200B. In detail, the unit module has a driving force in the X-axis direction by the first driving gear 220 and the second driving motor 230 to form the driving force in the Y-axis direction by the first driving motor 210 in the housing. It may be configured to include a second driving gear 240 to be formed. That is, in one unit module, the two drive motors and the drive gears are formed in the same structure as the front and the back, and each drive gear has a structure in which the drive shafts are orthogonal to each other as shown. That is, the first drive gear 220 is formed in a structure that is raised on the XZ plane to form a driving force to rotate (arrow) in the Y-axis direction, the second drive gear 240 is formed in a structure that is raised on the YZ plane X The driving force is rotated in the axial direction (arrow).

In this case, the assembly according to the present invention (see the structure of FIG. 1) and the second driven gear portion (130 of FIG. 1) to be in close contact with the second drive gear 240 inside the unit module 200A placed in front The first driving gear and the first driven gear part (110 in FIG. 1) inside the unit module 200B disposed at the rear are formed in close contact with each other.

Through this, the first driving gear 220 is formed in a structure that is raised on the XZ plane, the driving force to rotate (arrow) in the Y-axis direction, and the second drive gear 240 is formed in a structure that is raised on the YZ plane X The driving force rotating in the axial direction (arrow) is simultaneously accommodated in one assembly so that the unit modules can be moved individually (forming the forward movement by torsion).

In addition, the housing of each unit module is formed as shown in the first coupling frame (F1, F2) in the front portion, the second coupling frame (F3, F4) in the rear portion, which is the upper part of the assembly in FIG. The surface of the lower and side frames are arranged to penetrate through the respective frames so that they can be coupled to the pins or fixing members by aligning with the coupling holes 111 and 112.

Such a structure has been exemplified as a structure in which two unit modules are combined. However, the present invention is not limited thereto, and a plurality of unit modules may be implemented as a long serpentine structure by engaging a plurality of unit modules before and after each unit module. In this case, the driving motor of each unit module can be driven by the battery (B).

5 is an exploded perspective view illustrating a disassembled assembly of the unit modules of FIGS. 3 and 4.

As shown in the drawing, two drive gears 220 in which two drive motors 210 and 230 are coupled to the two drive motors, respectively, are described in the interior of each unit module implementing the serpentine traveling robot according to the present invention. , 240 is provided, and the driven gear assembly 100 according to the present invention as described above in FIG. 1 is coupled to each of the two drive gears 220 and 240 in a pair of unit modules, and thus each unit module. The unit module can be moved by accommodating two types of driving force transmitted from the driving gear of the same time. In this case, each unit module is preferably provided with a wheel (C).

In addition, on the basis of the structure of combining the two unit modules, in the case of implementing a long serpentine structure in which a plurality of unit modules in front and rear of each unit module as described above, as shown in Figure 6 (left) of FIG. The long snake robot will be implemented.

Referring to the drawing on the left side of FIG. 6, the unit modules of three parts S 2 to S are two drive gears 220 and two coupled to the two drive motors 210 and 230 and the two drive motors as described above. 240 is provided, and the driven gear assembly 100 according to the present invention as described above in FIG. 1 is coupled to each of the two drive gears 220 and 240 in a pair of unit modules.

However, the head portion and tail portion of the serpentine traveling robot need only be coupled to one neighboring drive gear, and two motors do not necessarily have to be provided. Accordingly, the unit module disposed at the forefront in the coupling structure of the plurality of unit modules is implemented as a structure including only the second driving gear to form a driving force in the X-axis direction by the second driving motor, the coupling structure of the plurality of unit modules In the rearmost unit module can be implemented in a structure including only the first drive gear to form a driving force in the Y-axis direction by the first drive motor.

In addition, it is preferable to further include a control module for driving the drive motor in each unit module of the overall snake running robot. In this case, the control module may be driven by receiving a control signal of a wireless communication module included in the frontmost unit module in a coupling structure of a plurality of unit modules and sequentially transmitting driving control signals to each unit module. have.

For example, as shown in the left side of FIG. 6, the control may be performed by transmitting a wireless control signal through the remote controller 300, in this case, a wireless communication signal in the first unit module S 1. At the same time as driving the drive motor in the control module including a receiving unit for transmitting the control signal to the immediately neighboring unit module, and sequentially transmits the control signal to each neighboring unit module. In this case, the driving of each unit module is sequentially performed, and the robot can move freely, such as moving forward or moving left and right. 6 illustrates an example of a flowchart in which such sequential control is implemented.

Serpentine traveling robot according to the present invention is a very simple structure capable of wireless control, by implementing a single driven gear module to control the coupling and driving force between each module module, the efficiency of its manufacture and use is improved . Serpentine traveling robot according to the present invention can be used for the purpose of surveillance or surveillance of enemy troops difficult to access for military use. Furthermore, it can be widely used from remote areas where human access is difficult to exploring alien planets. It also has the advantage of being able to find places where people are in disaster zones or to perform great tasks on behalf of humans in areas where human access is difficult.

In the foregoing detailed description of the present invention, specific examples have been described. However, various modifications are possible within the scope of the present invention. The technical idea of the present invention should not be limited to the embodiments of the present invention but should be determined by the equivalents of the claims and the claims.

110a: upper frame
110b: lower frame
110c, 110d: side frame
120: first driven gear
130: second driven gear
200A, 200B: unit module
210: first drive motor
220: first driving gear
230: second drive motor
240: second drive gear

Claims (8)

delete delete A unit module including a first driving gear forming a driving force in the Y-axis direction by the first driving motor and a second driving gear forming a driving force in the X-axis direction by the second driving motor; And
Connecting the unit modules in a pair, a pair of upper and lower frames having a predetermined thickness, a pair of side frames of the structure connected integrally with the upper and lower frames, protruding in the Z-axis direction from the upper frame And a second driven gear portion protruding in a direction opposite to the first driven gear portion in a side frame connected to the upper frame, and having a driving force in the Y-axis direction and an X-axis direction. It includes a driven gear assembly having a structure that is simultaneously applied to the driving force,
The first driven gear unit is in close contact with the first drive gear,
The second driven gear portion, the snake-shaped running robot to be in close contact with the second drive gear.
The method according to claim 3,
In front or rear of the pair of unit modules connected by the driven gear assembly,
Serpentine running robot further comprises at least one unit module connected to the pair of unit modules via another driven gear assembly.
The method of claim 4,
The serpentine traveling robot,
The unit module disposed at the forefront in the coupling structure of the plurality of unit modules, the snake-shaped traveling robot of the structure including only the second drive gear to form a driving force in the X-axis direction by the second drive motor.
The method according to claim 5,
The serpentine traveling robot,
Further comprising a control module for driving the drive motor in each unit module,
The control module includes:
Serpentine driving robot that receives the control signal of the wireless communication module included in the unit module disposed in the foremost in the combined structure of the plurality of unit modules to drive each of the unit module in order to sequentially transfer the driving control signal.
The method of claim 6,
The unit module disposed at the rear of the coupling structure of the plurality of unit modules, the serpentine traveling robot including only the first drive gear to form a driving force in the Y-axis direction by the first drive motor.
The method according to any one of claims 4 to 7,
Serpentine running robot further comprising a drive wheel mounted to the side of the housing of the unit module.

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