KR101431383B1 - Multi Joint Actuating Device And Multi-Leg Walking Robot Having The Same - Google Patents

Abstract

The present invention relates to a multi-joint actuating device and a multi-legged walking robot having the same. The multi-joint actuating device according to the present invention includes a plurality of body units mutually connected to be rotated by a plurality of joints; and a plurality of driving units independently driven to rotate a pair of body units connected around the respective joints.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a multi-joint driving device and a multi-

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a multi-joint driving device and a multiple-legged traveling robot having the same. More particularly, the present invention relates to a multi-joint driving device having a plurality of joints and a multiple-legged traveling robot having the same.

In constructing a multi-joint drive apparatus having a plurality of joints in series, a power unit such as a rotary motor or the like must be mounted on each joint in order to independently drive each joint and have various degrees of freedom.

Therefore, when a power unit such as a rotary motor is provided in each joint, it can result in an increase in the size of the joint, the weight and cost of the total joint drive unit. Such a multi-joint drive device can be applied to an industrial robot, a tail of a multi-family traveling robot, or the like.

A multi-band traveling robot is a traveling robot that can travel at high speed by mimicking the running motion of an animal. Such a multi-traveling robot can be applied to a toy, a military, an assistant for the disabled, and a disaster rescue.

In general, the tail of an animal can perform a balance maintenance function in addition to emotional expression. Particularly, the movement of the tail is important to maintain the balance of the body at high speed when traveling at high speed.

When constructing a multi-family traveling robot by imitating multi-family traveling animals having such a tail, in order to realize a high-speed traveling, the tail of the multi-family traveling animal traveling at high speed should be implemented in the multi-family traveling robot.

Conventionally, the tail of a multi-band traveling robot is not composed of a multi-joint structure, and a shape having a weight member of a certain size is attached to an end of a tail, or even if the multi-joint structure is constructed, independent operation of each joint is impossible . In the latter case, it is not easy to generate an efficient rebound torque since the independent driving of each joint is not possible when the tail is driven to maintain the balance of the traveling robot.

Therefore, the following points should be considered when applying a multi-joint driving device as a tail of a multi-band traveling robot. First, it is not preferable that the multi-joint drive unit as the tail of the multi-band traveling robot has a larger weight and size than necessary.

In order to efficiently generate a repulsive torque for maintaining the balance of the body according to various angles of the body when the traveling robot travels at a high speed, the motion of the multi-joint driving device as a tail is also varied freely .

In addition, since the multi-joint drive apparatus as the tail of the high-speed traveling robot must perform the balance maintaining operation corresponding to the high-speed travel, the response should be excellent and the return to the original state must be performed promptly.

In summary, the multi-joint driving device as a tail of a multi-band traveling robot having a high-speed running function can be individually rotated about a plurality of joints, minimized in volume and weight, fast responsive, Is required.

SUMMARY OF THE INVENTION The present invention provides a multi-joint drive system having a plurality of joints and a multi-joint traveling robot having the same. Particularly, there is provided a multi-joint driving device capable of individually rotating around the plurality of joints, minimizing volume and weight, having quick response, freedom, and quick returnability, and a multi- .

 In order to solve the above-described problems, the present invention provides a method for connecting a plurality of body parts, a plurality of body parts, a plurality of joint parts for rotatably connecting two adjacent body parts, and two adjacent body parts connected by the joint parts, And a plurality of driving units that rotate independently and are driven independently of each other.

In addition, each of the driving units may include an electromagnet and a permanent magnet provided in the pair of body portions connected to each other around the joint.

In this case, the driving part may be provided at two or more positions in a pair of body parts connected by the joint part, at positions symmetrical about the joint part.

And a restoring unit provided on each of the joints and providing a restoring force when the pair of bodies connected by the joints is rotated.

Here, the restoration unit may include a spring member provided at each joint.

In addition, the body portion may include at least three or more body portions.

The body may have at least one depression and a rib that defines the depression.

In this case, the side surface of one end of the body part connected by the joint part may form an inclined surface in a direction to increase the maximum rotation angle.

The electromagnet and the permanent magnet constituting the driving unit may be mounted on the inclined surface of the body part.

Here, the permanent magnet may be inserted into the insertion hole formed on the inner side of the inclined surface.

In addition, when any one of the pair of the driving parts provided at the symmetrical position about the joint part generates the attractive force or the repulsive force, the other driving part can generate the repulsive force or attractive force.

In addition, the spring constant of the spring member may be reduced toward the free end of the polygonal drive unit.

According to another aspect of the present invention, there is provided a multi-joint drive apparatus comprising: a body portion; a plurality of leg units mounted on the body portion; a multi-joint drive unit according to any one of claims 1 to 11, And a controller for controlling the leg unit and the multi-joint drive unit according to a detection result of the sensing unit.

The control unit may drive the multi-joint drive unit to generate a rebound torque corresponding to a torque generated by the body when the body moves.

In this case, the control unit may change the operation target driving unit among the driving units of the polyhedron driving apparatus according to the traveling speed.

If the driving speed is changed from v1 or v2 (v1 < v2) to v2 or v1, the control unit may change the operation target driving unit to a driving unit located at a remote or near position in the body.

According to the present invention having the above-described structure, it is possible to provide a driving unit that includes a driving unit that individually drives each of a plurality of joints, and independently rotates about each joint.

Furthermore, in the case of constructing the driving unit, a simple structure made of a permanent magnet and an electromagnet may be provided to simplify and lighten the structure of the multi-joint drive apparatus, and thus the control method thereof can be simplified.

In particular, when the multi-joint driving apparatus is applied to a multi-legged traveling robot, the multi-legged traveling robot can be easily balanced when the multi-legged traveling robot is moved. For example, it is possible to provide rebound torques of various sizes and directions in accordance with the number and rotation angle of the body part that rotates about each joint of the articulated driving device, thereby maintaining the balance of the multi- It becomes remarkably easy.

FIG. 1 is a top perspective view and a bottom perspective view showing a multi-joint driving apparatus 100 according to one embodiment.
Fig. 2 shows a side view of the installed state of the articulated joint driving device according to the present invention.
3 is an exploded perspective view showing the internal structure of any one of the body parts.
4 is a block diagram showing a schematic configuration of a driving unit of the above-described multi-joint driving apparatus and a control unit for controlling the driving unit.
Figs. 5 and 6 show various operating states by a multi-joint drive device.
Fig. 7 shows a state in which one of the plurality of joints constituting the multi-joint drive apparatus is rotated around the joint.
FIG. 8 illustrates a process of restoring a state in which the multi-joint drive unit is rotated in a single direction, to an initial state.
Fig. 9 is a perspective view showing a multiple-legged traveling robot provided with a multi-joint driving device.
10 is a schematic view exemplarily showing the motion of the articulated joint driving device when the body portion is inclined forward or backward.

Hereinafter, a multi-joint driving apparatus according to various embodiments of the present invention and a multi-legged traveling robot having the same will be described in detail with reference to the drawings. First, a multi-joint driving apparatus will be described, followed by a multi-joint traveling robot having the multi-joint driving apparatus.

FIG. 1 is a top perspective view and a bottom perspective view showing a multi-joint driving apparatus 100 according to one embodiment. 1 (a) is an upper perspective view of the multi-joint driving apparatus 100, and FIG. 1 (b) shows a lower perspective view of the multi-joint driving apparatus 100. FIG.

As shown in FIG. 1, the articulated joint driving apparatus 100 according to the present invention includes two body portions 110 and a plurality of body portions 110. In order to connect the plurality of body portions 110 and the plurality of body portions 110 in series, And a plurality of driving units 150 that are independently driven to rotate the two adjacent body units 110 connected by the joint unit 130. [

1, a plurality of body parts 110 may be rotatably connected to each other via a joint 130. [0035] Referring to FIG. The rotation of the body part 110 by each of the joint parts 130 that rotatably connect the pair of body parts 110 means a rotation operation around the rotation axis 132 installed in a predetermined direction.

In the embodiment shown in Fig. 1, the pivoting shafts 132 of the respective joint portions 130 may be installed parallel to each other, as shown in Fig. 1 (b). Accordingly, the rotation of the body part 110 by the plurality of joint parts 130 can be performed on a certain specific plane.

When the pivoting operation of the body part 110 about the joint part 130 is performed in the vertical direction, the specific plane may be a vertical plane.

The multi-joint driving apparatus 100 according to the present invention may include at least three body parts. However, the multi-joint driving apparatus 100 shown in FIG. 1 includes five body parts 110 in total, Can be increased or decreased as needed.

1 includes a first body 110A, a second body 110B, a third body 110C, a fourth body 110D and a fifth body 110B. And a body 110. The body 110 includes a first joint 130A, a second joint 130B, a third joint 130C, and a fourth joint 130C. 130D. The joints 130 can be pivotally connected to each other.

The articulated joint driving unit 100 may be connected to a rear end 1100e of the body 1100 of FIG. 2 by a joint joint 140.

In this case, the articulated joint driving device 100 may include a driving part in the joint joint part 140 so as to be rotatably connected to the articulated part connecting the pair of body parts.

In addition, the body part 1100 may be configured to be rotatable in the body part 1100 itself, as described later, in addition to the pivoting operation through the joint part. This will be described later.

Meanwhile, the multi-joint driving apparatus 100 according to the present invention shown in FIG. 1 can be used as a tail of a multi-legged traveling robot. Therefore, when the multi-joint drive system is used as a tail, the responsiveness should be corrected for high-speed travel, and it should be possible to return to the original state immediately after correcting the travel operation.

In addition, when the body portion is made of a metal material or the like, a sagging phenomenon may occur due to the weight of each body portion 110 due to its own load.

As described above, since the joint part connecting the plurality of body parts and the respective body parts can be installed to be rotatable with respect to the vertical plane, downward chucking of the body part can occur. However, such a downward deflection phenomenon lowers the responsiveness in the course of correcting the traveling operation, so that it is necessary to prevent the deflection of the body portion to some extent.

In particular, the deflection phenomenon may become larger toward the fifth body portion 110E located at the distal end. As such, when the deflection phenomenon occurs, it is difficult to control the accurate movement of the body part 110 constituting the multi-joint driving device 100. Further, an external force due to sagging acts on each joint part 130, The joint 130 or the driver 150 may be damaged.

Accordingly, the articulated joint driving apparatus 100 according to the present invention may include a restoring unit provided at each of the joint parts and providing a restoring force when the pair of bodies connected by the joint part is rotated. The restoration unit can provide a restoring force in the restoration operation and prevent the sagging phenomenon.

The restoring unit 160 can prevent the plurality of body parts 110 from being sagged in a direction in which the joint parts can rotate, that is, in a vertical direction, in the articulated joint driving device 100 according to the present embodiment. The restoration unit may include, for example, a spring member 160 provided on each joint 130. It is possible to prevent the body parts 110 on both sides of the joint part 130 from being sagged by the spring member 160.

The spring member may be mounted on the pivot shaft 132 side of each of the joint portions 130 to provide a restoring force in the rotation. The spring member may be in the form of a ring spring.

In the case of a conventional traveling robot, there is an example in which a multi-joint tail is provided. However, in the case of rotating a tail having a plurality of joints, the joints can be independently driven independently, There were many cases.

In this case, it is not unreasonable to rotate the tail or the like in one direction, but it is difficult to realize various operation patterns. For example, in a conventional robot having a multi-joint, it is impossible for a conventional robot to bend and rotate the tail or the like in the form of 'S' with the pivoting direction being different from each other.

It is extremely desirable to rotate the multi-joint tail and the like so as to be bent like the 'S'. However, it is desirable to secure the degree of freedom of the operation pattern of the multi-joint driving device constituting the tail in consideration of various running states of the traveling robot.

In order to secure the degree of freedom of the operation pattern of the articulated joint driving apparatus 100 according to the present invention, in a driving apparatus having a plurality of joint parts 130, a plurality of The driving units 150 may be configured to be driven independently of each other. That is, the driving part 150 is provided corresponding to the number of the joint part 130 connecting the plurality of body parts 110, and each of the driving parts 150 is individually driven to rotate the body part 130 about the joint part 130, (110) can be independently rotated in different directions or in the same direction.

In FIG. 1, the first to fourth driving parts 150 may be provided corresponding to the first joint part 130A, the second joint part 130B, the third joint part 130C and the fourth joint part 130D. Furthermore, a connection driving unit 150I (see FIG. 2) may be provided to rotate the articulated joint driving unit 100 about the joint joint 140 described above.

Therefore, the articulated joint driving apparatus 100 according to the present embodiment is not limited to an operation of rotating the joint in the entire direction in any one direction, but also an operation in which the direction of rotation is different with respect to the joint 130 as in an 'S' It is possible.

Fig. 2 shows a side view of the installed state of the articulated joint driving apparatus 100 according to the present invention. As described above, the articulated joint driving apparatus 100 according to the present invention can be installed such that the operation surface is a vertical plane (x-z plane) by pivoting at each joint portion.

Therefore, the multi-joint drive apparatus 100 according to the present invention shown in Fig. 2 can be rotated in various forms on the x-z plane.

Referring to FIG. 2, the driving unit 150 of the multi-joint driving apparatus 100 may be provided in a pair of body parts 110 connected to each other around the joint 130. That is, they are provided on a pair of body parts 110, which are connected to each other around a joint part 130, and are provided on the surfaces of the body parts 110 facing each other.

Specifically, each of the driving units 150 may include a permanent magnet 1610 and an electromagnet 1510 provided in a pair of opposing body units 110. The polarity of the electromagnet 1510 can be adjusted so that the body 110 can be pivoted about the respective joint 130 in the intended direction with the attractive force or repulsion between the permanent magnet 1610 and the electromagnet 1510 .

For example, when the N pole of the first permanent magnet 1610A is exposed on the side surface of the second body portion 110B as shown in FIG. 2, if the polarity of the first electromagnet 1510A is changed to the N pole The first body portion 110A and the second body portion 110B, which face each other by a repulsive force between the same polarity as the N pole of the first permanent magnet 1610A, can be rotated in directions away from each other. On the other hand, when the polarity of the first electromagnet 1510A is changed to the S pole, a pulling force is exerted by the polarity different from that of the N pole of the first permanent magnet 1610A and the first body portion 110A and the second body The portion 110B may be rotated in a direction approaching each other.

Therefore, the body 110 can be rotated about the joint 130 by a simple operation of adjusting the polarity of the electromagnet 1510, as well as a plurality of joints 130, It is possible to independently or independently rotate the body 110 about the respective joints 130 even when the driving unit 150 is provided on the driving unit 150.

In the present embodiment, the driving unit 150 may be provided at two or more positions symmetrical with respect to the joint 130 in a pair of body parts 110 connected by the joint 130.

For example, even when a pair of body parts 110 opposed to each other around the joint part 130 includes a driving part 150 formed of one permanent magnet 1610 and an electromagnet 1510, the joint part 130 The body 110 can be pivoted about the center of the body 110.

In this case, when different forces are applied to the pair of driving parts 150 provided at the symmetrical positions, it is possible to provide a more rapid and sufficient driving force for the turning operation around the joint part. That is, when any one of the pair of the driving parts installed with the specific joint part 130 interposed therebetween is actuated and the other driving part is acted upon by the repulsive force, the electromagnet The pair of bodies can be rotated in the direction in which the permanent magnets 1510 and the permanent magnets 1610 approach each other.

When a pair of driving parts 150 are provided around one joint part 130, a pair of body parts 110 connected to each other through the joint part 130 are connected to the permanent magnets 1610 and 1610 constituting the driving part 150, The rotation of the electromagnet 1510 in the direction away from the electromagnet 1510 can be restored to its original position by rotating the electromagnet 1510 in the opposite direction. That is, the approaching permanent magnet 1610 and the electromagnet 1510 are controlled so that the repulsive force acts, and the remnant permanent magnet 1610 and the electromagnet 1510 are actuated by the attraction force, can do. As described above, the restoring unit is provided to provide the resilient restoring force, and at the same time, the polarity of each electromagnet constituting the pair of the driving units can be alternately performed to perform the rotational driving and the restoring driving more efficiently and quickly.

In FIG. 2, the first driving part 150A and the second driving part 150B are symmetrically disposed about the first joint part 130A, and the third driving part 150C and the second driving part 150B are disposed around the second joint part 130B. 4 drive unit 150D is symmetrically disposed at a position where the fifth drive unit 150E and the sixth drive unit 150F are symmetrical about the third joint unit 130C and the fourth joint unit 130D The seventh driving unit 150G and the eighth driving unit 150H are provided at symmetric positions.

However, when the size of the body part 110 is large, a plurality of driving parts may be provided at positions symmetrical about the joint part. As the size or weight of the body 110 increases, a sufficient driving force is provided to enable rapid driving.

A joint joint 140 for rotatably mounting the joint driving device 100 on the rear end 1100e of the body part 1100 when the joint driving device 100 is connected to the body part 1100, . The joint joint part 140 allows the joint joint driving part 100 to be pivoted about the joint joint part 140. The connection driving part 150I may also be provided at a pair of positions symmetrical with respect to the driving part and the coupling joint part 140 described above.

The pair of connection drive units 150I may also include a pair of permanent magnets 1605 and 1607 and a pair of electromagnets 1505 and 1507 facing the permanent magnets.

The multi-joint driving apparatus 100 according to the present invention includes a body 1100 on which the multi-joint driving unit 100 is mounted, (X-axis) parallel to the axis of rotation (x-axis).

In this case, the rear end 1100e of the body part 1100 may be rotatably mounted on the body 1100m constituting the body part 1100 about the x-axis. The body 1100 may be connected to the body 1100m through a rotating shaft 1100x and may include a driving unit for rotationally driving the rear end 1100e of the body 1100 to the body. When the rear end 1100e of the body part 1100 is rotationally driven, it is possible to prevent excessive torsion from being applied to the joint joint part 140. [

Of course, if the weight and size of the multi-joint drive unit 100 are not large, a drive unit may be provided at the rear end 1100e of the body part 1100, and a multi-joint drive unit as a tail may be rotatably mounted It is possible.

Therefore, when the multi-joint drive device is rotatably mounted on the body part 1100 around the x-axis or the like, the multi-joint drive device 100 can be moved in a two-dimensional manner on a specific plane (xz plane) The robot can be rotated and rotated in a conical shape having a vertex of the rear end 1100e of the body part 1100 in addition to the rotation of the enemy.

FIG. 3 is an exploded perspective view showing the internal structure of any one of the body parts 110. FIG.

3, the body 110 includes a pair of pivoting portions 116 and 118 for pivoting the pivot shaft of the joint 130 and a through hole 117, 119 may be provided on both sides.

Accordingly, the rotary parts 116 and 118 include the through holes 117 and 119 so that the rotary shaft 132 (see FIG. 2) of the joint part 130 can be fastened.

The pivot portions 116 and 118 may be provided at different heights of the pivot portions on both sides to facilitate connection with the pivot portion of the neighboring body portion.

That is, as shown in the drawing, when the left rotary part 116 is provided on the upper part of the body part 110, the right rotary part 118 may be provided below the body part 110. Accordingly, when the neighboring body parts 110 are connected to each other, the turning parts 116 and 118 can be arranged so as to be staggered up and down without interfering with each other.

Meanwhile, the body 110 may include an insertion hole 112 through which the permanent magnet 1610 may be inserted. The insertion holes 112 may be provided in an appropriate number. In the drawing, two insertion holes 112 are provided on both sides of the body 110. When the permanent magnet 1610 is inserted into one side of the body 110, the electromagnet 1510 is provided on the opposite side. However, the direction in which the permanent magnet 1610 is inserted may be changed according to circumstances. Therefore, when the body 110 is manufactured, both the insertion holes 112 into which the permanent magnets 1610 can be inserted are provided, and when the permanent magnets are inserted into the insertion holes 112 on one side, The insertion hole 112 of the magnet 1510 can mount the electromagnet 1510.

When an insertion hole is required even in the case of installing the electromagnet, for example, when the volume of the coil of the front arm is large, the electromagnet may be mounted in the insertion hole.

The body portion may include at least one depression and a rib 114r that defines the depression.

As shown in FIG. 3, a depression 114 is formed in the lower portion of the body 110, and a rib 114r may be formed by a depression formed by the depression. Accordingly, the weight of the body part 110 can be reduced, the weight of the joint driving device 100 can be reduced, the manufacturing cost of the body part 110 can be reduced, and the rigidity can be reinforced by the rib 114r have.

The side surface 113 of one end of the body 110 may be inclined so as to increase the maximum turning angle of the body connected through the joint 130.

The electromagnet and the permanent magnet constituting the driving unit may be mounted on the inclined surface 113 of the body part and the insertion hole 112 may be formed on the inclined surface 113. [ Therefore, the permanent magnet can be inserted into the insertion hole 112 formed inside the inclined surface.

4 is a block diagram showing a schematic configuration of a driving unit 150 of the multi-joint driving apparatus 100 and a control unit 200 for controlling the driving unit 150. Referring to FIG.

4, a controller 210 for controlling the multi-joint driving apparatus, a driver 210 for controlling power supply to each electromagnet 1510 of the driving unit 150 at the command of the controller 200, Respectively.

The driver 210 may be connected in parallel with a pair of electromagnets 1510 of the individual driver 150 to control the electromagnets 1510. For example, when the body 110 is rotated, the first and second electromagnets 1510A and 1510B of the first driving unit 150 can be controlled to have different forces by the magnetic force of the first electromagnet 1510A and the second electromagnet 1510B. have.

As a result, attraction force acts between the two permanent magnets on one side of the two electromagnets, and repulsive force acts on the other side of the electromagnets on the other side.

If it is not necessary to rotate the body 110 and maintain the straight line state, the first electromagnet 1510A and the second electromagnet 1510B of the first driving unit 150 may stop the operation, It can be controlled to have the same polarity. In the case of the former, since the restoring force is applied by the restoring unit described above, a separate operation may not be necessary.

Therefore, it is possible to maintain the horizontal state or the non-operating state without rotating by the repulsive force or attraction with the permanent magnet.

The control method of the electromagnet of the other driving unit is similar to the above-mentioned description, so repetitive description will be omitted.

Figs. 5 and 6 show various operating states by the articulated-arm driving apparatus 100. Fig.

Fig. 5 shows an example of the operating state of the articulated-joint driving apparatus 100 shown in Figs. 5 shows a state in which each joint part is rotated. Specifically, the body part 110 is rotated in a direction different from each other about each joint part 130 except for the fourth joint part 130D And the driving unit 150 is controlled.

Specifically, the first permanent magnet 1610A and the first electromagnet 1510A constituting the first driving part 150A of the first joint part 130A are controlled to exert attractive forces on each other, and the second driving part 150B of the second The permanent magnets 1610B and the second electromagnets 1510B can be controlled so that repulsive forces act on each other.

Accordingly, the second body part 110B can be rotated counterclockwise about the first joint part 130A as shown in the drawing.

The third permanent magnets 1610C and the third electromagnets 1510C constituting the third drive part 150C of the second joint part 130B are urged against each other and the fourth permanent magnet 1610C of the fourth drive part 150D, The fourth electromagnet 1510D and the fourth electromagnet 1510D control the polarities of the third electromagnet 1510C and the fourth electromagnet 1510D so that attraction forces act therebetween. As a result, the third body part 110c is rotated clockwise around the second joint part 130B as shown in the drawing.

If the fifth driving part 150E and the sixth driving part 150F of the third joint part 130C and the seventh driving part 150G and the eighth driving part 150H of the fourth joint part 130D are individually controlled as described above , It is possible to control the respective body parts 110 to rotate in different directions about the respective joint parts 130 as shown in FIG. 5, thereby controlling the multi-joint drive device in a complicated form as shown in FIG. can do.

6 shows a case where each of the body portions 110 of the multi-joint drive unit 100 is rotated in the same direction. In this case, the controller 200 may control the polarity of the electromagnet 1510 of each driver 150 so that the body 110 may rotate in the same direction around each joint 130. For example, in the drawing, the first electromagnet 1510A, the third electromagnet 1510C, the fifth electromagnet 1510E, and the seventh electromagnet 1510G constituting each of the driving units 150 are configured so that gravity acts on the facing permanent magnets And the polarity of the second electromagnet 1510B, the fourth electromagnet 1510D, the sixth electromagnet 1510F, and the eighth electromagnet 1510H is controlled so that the repulsive force acts on the facing permanent magnets, . 6, it is possible to reverse the polarity of the electromagnet described above.

6, the first electromagnet 1510A, the third electromagnet 1510C, the fifth electromagnet 1510E and the seventh electromagnet 1510G are not operated, the second electromagnets 1510B, The fourth electromagnet 1510D, the sixth electromagnet 1510F and the eighth electromagnet 1510H can rotate each body portion in the form shown in Fig. 6 even when a repulsive force is applied to the opposing permanent magnets.

7 shows a state in which one of the plurality of joint parts 130 constituting the articulated joint driving device 100 is rotated about the second joint part 130B, for example. In this case, the controller 200 controls the polarity of the third electromagnet 1510C forming the third driving unit 150C so that the attracting force acts on the third permanent magnet 1610C facing the third electromagnet 1510C, And the polarity of the fourth electromagnet 1510D of the fourth driving unit 150D is controlled so that the repulsive force acts on the fourth permanent magnet 1610D facing the fourth electromagnet 1510D, the second joint 130B, As shown in FIG.

When the operation of the driving unit of the multi-joint driving unit 100 is stopped, an operation of returning to or restoring the initial state is required. Here, the 'initial state' is a state in which the body 110 of the multi- Can be defined in a state in which they are aligned in a straight line.

For example, it is assumed that the multi-joint driving apparatus 100 is turned to the initial state when the multi-joint driving apparatus 100 is rotated on one side. Generally, in order to return from the rotating state to the initial state, the rotating force may be provided in the opposite direction to the rotating state to restore the initial state.

FIG. 8 shows a process of restoring the polyhedron driving apparatus 100 in the unidirectional state to the initial state. Specifically, FIG. 8 (a) shows a process of restoring the polygon joint driving apparatus 100 to an initial state as shown in FIG. 8 (e) while the polygon joint driving apparatus 100 is rotated.

8A shows a state in which each of the body portions of the multi-joint drive unit is rotated about the respective joint portions in the same rotation direction, that is, in the counterclockwise direction, and FIG. 8 (e) shows a state in which the multi-joint drive unit is restored to a state in which the electromagnets of the respective drive units are not operated.

That is, when the multi-joint drive unit is restored from the maximum rotation state shown in Fig. 8 (a) to the balanced state shown in Fig. 8 (e), a method of stopping the operation of the electromagnets of the respective drive units can be used. In this case, the revolving state of each body part can be released by the restoring unit by the restoring force. Of course, for faster and more responsive restoration operations, each of the electromagnets is driven so that the direction of the force applied to the fixed magnet side by the electromagnets of the respective actuators in the pivotal state shown in Fig. 9 (a) The return time can be shortened, and further, the reciprocating vibration caused by the restoring force applied by the restoration unit or the like can be prevented to some extent.

1 to 8, the multi-joint driving apparatus 100 can be widely applied to various fields. For example, it can be applied to a transfer robot for mounting an electromagnet or the like at an end of a multi-joint drive device and transferring the object to be transferred from one side to another at a high speed in an industrial field, have.

The above-mentioned multi-joint driving device can be applied to the tail of the multi-legged traveling robot as described above.

It is preferable that the multi-joint drive device as a tail for the stability of running of the multi-legged traveling robot has a structure composed of a plurality of joints in order to generate rebound torque of various sizes depending on the situation of the running of the body.

This is because it is difficult to control the magnitude of the repulsive torque in the case of a tail composed of one joint. However, when using multiple joints, various levels of rebound torque can be provided depending on the number of joints. Therefore, in the case of a multi-legged traveling robot having a multi-joint tail, it is possible to generate a repulsive torque by the movement of the tail corresponding to various traveling speeds, thereby easily balancing the body. Hereinafter, a multi-armed traveling robot having the multi-joint driving apparatus 100 will be described. In particular, a multi-armed traveling robot having the multi-joint driving apparatus 100 as a tail will be described.

FIG. 9 is a perspective view showing a multi-armed running robot 1000 having a multi-joint drive system 100. FIG.

9, the multi-banding robot 1000 includes a body part 1100 which can be moved at a predetermined moving speed, a multi-joint driving device 100 provided at a rear end of the body part 1100, And a control unit for controlling the multi-joint driving apparatus 100 and the multi-joint driving apparatus 100 according to an embodiment of the present invention.

The multi-joint driving unit 100 may be configured to be enclosed in a predetermined outer casing 102 to prevent the internal structure from being exposed to the outside.

In the present embodiment, the multi-banding robot 1000 is configured in the shape of a dog, for example, a head 1400, a body 1200, and a leg unit 1300, The leg unit 1200 and the leg unit 1300 will be referred to as the body part 1100. [ The following description will be made by taking the example of a multi-family traveling robot 1000 that is a puppet-like shape as an example, but the present invention is not limited thereto. The present invention is also applicable to any type of robot including a plurality of leg units.

The head 1400 may include various sensing units, and the controller 200 may be provided inside the head 1400.

Specifically, the multi-banding robot 1000 shown in FIG. 9 may further include a sensing unit (not shown) for sensing the tilting and running speed of the body. Therefore, the control unit may control the leg unit and the multi-joint drive unit according to the detection result of the sensing unit.

Meanwhile, the body 1200 is provided with four leg units 1300, which can be moved by the driving of the leg unit 1300. As for the driving of the leg unit 1300, many techniques have been disclosed in the field to which the present invention belongs, so a detailed description thereof will be omitted.

Meanwhile, the multi-banding robot 1000 according to the present embodiment has a tail, and as described above, the tail may be composed of the multi-joint drive unit 100. [

The control unit 200 individually controls each of the driving units 150 of the multi-joint driving unit 100. Since the multi-joint driving unit 100 has already been described above, a repetitive description thereof will be omitted.

When the multi-banding robot 1000 travels at a high speed, the control unit controls the tail, that is, the multi-joint driving unit 100 (see FIG. 1) to generate a repulsive torque corresponding to a torque . &Lt; / RTI &gt;

That is, when the body portion 1100 of the multi-banding robot 1000 travels at a high speed, when the body portion 1100 is inclined in a predetermined direction, a predetermined torque is applied to the body portion 1100, As shown in Fig. In this case, in order to maintain the balance of the body portion 1100, it is necessary to provide a repulsive torque corresponding to the torque, that is, a repulsive torque having the same size and the opposite direction, Can be provided.

10 is a schematic view exemplarily showing the motion of the articulated joint driving apparatus 100 when the body portion 1100 is tilted forward or backward.

10 (a), when the front end of the body slants downward while the body part 1100 moves at a predetermined moving speed, a rotational torque T of a specific size acts on the body part 1100 And the articulated driving apparatus 100 connected to the rear end of the body portion 1100 can generate a rebound torque T 'for canceling the rotation torque T. [

The multi-joint drive unit 100 is mounted on a rear end 1100e of the body part 1100. [ Accordingly, the rebound torque T 'generated by the articulated driving device 100 is transmitted to the body portion 1100 through the rear end 1100e of the body portion 1100, thereby canceling the rotational torque T .

10 (a), when the front end of the body part 1100 is inclined downward, the articulated driving device is rotated upward (clockwise) to generate a rebound torque T ' .

In this case, the repulsive torque T 'of various sizes can be generated by adjusting the rotation locus or speed (or acceleration) of the polyhedral joint driving device 100.

10B shows a state in which the rear end of the body part 1100 is inclined downward. Similarly, when the rear end 1100e of the body part 1100 is inclined downward, the articulated driving device may be rotated downward (anticlockwise) to generate a rebound torque T '.

 As shown in FIG. 1, the multi-joint drive apparatus serving as a tail of the multi-legged traveling robot according to the present invention may include a restoring unit for providing an elastic restoring force to each joint part, &Lt; / RTI &gt; The spring constant of each spring member may be different because the weight to be supported by each joint portion is different.

Since the articulated joint driving device according to the present invention is composed of a plurality of body parts and a plurality of joint parts, spring members having different spring constants can provide restoring force to a plurality of joint parts.

In the embodiment shown in Fig. 1 (b), when the restoring units provided in the first to third joints 130A to 130B are respectively referred to as a first spring member to a fourth spring member, May be k1, k2, k3, k4.

Since the closer to the body part the more load is to be able to withstand, the size of the spring constant may be k1 > k2 > k3 > k4.

Therefore, it can be seen that the multi-joint drive device as a tail of the multi-banding robot has four natural frequencies f1, f2, f3 and f4 (f1 <f2 <f3 <f4) by spring members having different spring constants.

Therefore, when the traveling speed of the multi-band traveling robot is considered, if the respective natural frequencies are reversed, the rebound torque can be efficiently generated.

That is, when the multi-band traveling robot travels at various traveling speeds, for example, if the traveling speeds are v1, v2, v3 and v4 (v1 <v2 <v3 <v4) V2, v3, v4 (v1 < v2 < v3), which are the velocities of the traveling robots, of one of the first to third joints 130A to 130B in controlling the driving unit provided on the joint- (f1 <f2 <f3 <f4) of the joints corresponding to one of the speeds V1, V2, and v4, the rebound torque is most efficiently generated.

That is, when the traveling robot travels at the v2 speed, if only the driving part of the second joint part 130B among the plurality of joint parts is driven at the frequency of f2, the magnitude of the repulsive torque can be easily amplified by the principle of resonance, Sufficient repulsive torque can be provided while minimizing the driving load of the driving device, thereby ensuring stability of driving.

In other words, the control unit of the multi-band traveling robot can change the operation target driving unit among the driving units of the multi-joint driving unit according to the traveling speed. In case of traveling at a high speed, And in the opposite case, the driving unit located near the body part can be operated first or mainly operated.

In summary, when the running speed is changed from v1 or v2 (v1 < v2) to v2 or v1, the control unit changes the operation target driving unit to a driving unit located at a long distance or close to the body, .

Of course, since the multi-joint driving apparatus as a tail of the multi-legged traveling robot according to the present invention has a plurality of joint portions, if the rebound torque required for traveling of the traveling robot is large, all of the driving portions provided in all the joint portions are operated, It is possible to maximize the repulsive torque generated by the apparatus.

Accordingly, the above description that the driving unit to be operated is changed when the traveling robot is changed in speed from a high speed or a low speed to a low speed or a high speed means that the main driving unit to be operated or the operating unit to be operated first is different at high speed and low speed It needs to be understood as.

Such a technical feature is a technical effect that can be obtained by constituting the articulated joint driving apparatus according to the present invention with a multi-joint, and at the same time, the driving unit provided on each joint side can be driven independently.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the appended claims. You can do it. It is therefore to be understood that the modified embodiments are included in the technical scope of the present invention if they basically include elements of the claims of the present invention.

Multi-joint drive: 100
Joints: 130
Driving part: 150
Bridge unit: 1300
Multiplayer Driving Robots: 1000
Body part: 1100

Claims (16)

A plurality of body parts;
A plurality of joint parts for rotatably connecting two adjacent body parts for connecting a plurality of body parts in a line; And
And a plurality of driving units that independently drive the two adjacent body parts connected to each other by the joint,
Wherein each of the driving units includes an electromagnet and a permanent magnet provided respectively in the pair of body parts connected to each other around the joint. delete The method according to claim 1,
Wherein the driving unit is provided in at least two of the pair of body parts connected by the joint part at positions symmetrical with respect to the joint part. The method according to claim 1,
And a restoring unit provided on each of the joints to provide a restoring force when the pair of bodies connected by the joints is rotated. 5. The method of claim 4,
Wherein the restoring unit includes spring members provided on the respective joint parts. The method according to claim 1,
Wherein the body portion comprises at least three or more body portions. The method according to claim 1,
Wherein the body has at least one depression and a rib that defines the depression. The method according to claim 1,
Wherein a side surface of one end of the body part connected by the joint part forms an inclined surface in a direction to increase the maximum rotation angle. 9. The method of claim 8,
Wherein the electromagnet and the permanent magnet constituting the driving unit are mounted on an inclined surface of the body part. 9. The method of claim 8,
Wherein the permanent magnet is inserted into the insertion hole formed inside the inclined surface. The method of claim 3,
Wherein when one of the pair of the driving parts provided at the symmetrical position around the joint part generates the attractive force or the repulsive force, the other driving part generates the repulsive force or the attractive force. 6. The method of claim 5,
Wherein the spring constant of the spring member is reduced toward one end of the free end of the multi-joint drive device. A body portion;
A plurality of leg units mounted on the body portion;
The joint according to any one of claims 1 to 12, wherein the joint is mounted on a rear end of the body part.
A sensing unit for sensing a tilting and a traveling speed of the body portion; And
And a control unit for controlling the leg unit and the multi-joint drive unit according to the detection result of the sensing unit,
Wherein the controller drives the multi-joint drive unit to generate a rebound torque corresponding to a rotation torque generated by tilting of the body. delete 14. The method of claim 13,
Wherein the control unit changes the operation target driving unit among the driving units of the multi-joint driving unit according to the traveling speed. 14. The method of claim 13,
Wherein the control unit controls the driving unit to be changed to a driving unit located at a remote location or a nearby location in the body part when the traveling speed is changed from v1 or v2 (v1 < v2) to v2 or v1 Multi-band driving robot.

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