KR101488249B1 - Untethered Biped Walking Machine Using Air-Core Coils - Google Patents

Abstract

Disclosed is an untethered biped walking robot using air core coils. The untethered biped walking robot according to an embodiment of the present invention using permanent magnets and the air core coils, comprises a biped walking part (100) including a left leg (110) composed of a cylindrical shaped permanent magnet (111), a right leg (120) composed of a cylindrical shaped permanent magnet (121) and a connection member (130) connecting the left leg (110) and the right leg (120) to each other and having a set elastic force; a coil part (300) positioned at a lower part of the biped walking part (100) and having a plurality of the air core coils (310) in one matrix shape which can apply attraction to or release attraction from each permanent magnet of the left leg (110) and the right leg (120); and a power supply part (400) supplying power to the air core coils (310) of the coil part (300).

Description

{Untethered Biped Walking Machine Using Air-Core Coils}

The present invention relates to a biped walking apparatus, and more particularly, to a wireless biped walking apparatus using an air-core coil.

Conventionally, many successful wireless biped walking robots have been made.

For example, Honda's ASIMO and KAIST's Hubo are typical examples of wireless biped robots using batteries.

The battery enabled the wirelessization of these biped robots.

However, batteries are a major cause of these robots increasing in size and weight, making it difficult to build small wireless biped robots based on these robots.

In addition, a conventional wireless biped robot using a battery has a complicated structure composed of a large number of rigid bodies. This makes it difficult to make a small and simple wireless biped robot based on these robots.

Korean Patent Laid-Open Publication No. 10-2013-0038985 (published on April 19, 2013)

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and it is an object of the present invention to provide a magnetic bearing device which generates magnetic force and magnetic torque through interaction between a magnetic field of a permanent magnet and a current flowing in an air- And an object of the present invention is to provide a wireless biped walking apparatus using an air-core coil which enables the legs to be moved in a simple and simple structure by using the front, rear, left and right walking mechanisms, the in-ground rotation mechanism and the standing mechanism.

According to an aspect of the present invention, there is provided a wireless biped walking apparatus comprising:

A biped walking apparatus using a permanent magnet and an air core coil,

A bipedal walking part comprising a left leg constituted by a cylindrical permanent magnet, a right leg constituted by a cylindrical permanent magnet, and a connecting member interconnecting the left leg and the right leg and having a predetermined elastic force;

A coil part located at a lower portion of the biped walking part and having a plurality of air-core coils arranged in a matrix form capable of applying or releasing attractive force to the permanent magnets of the left leg and the right leg; And

A power supply unit for supplying power to an air core coil of the coil part;

. ≪ / RTI >

In this case, the connection member may be a wire, a coil, or a spring having a predetermined elastic force.

In one embodiment, the wireless biped walking apparatus comprises:

And a plate-like support plate which is mounted on the upper surface of the coil part and is positioned between the bipedal part and the coil part and has a predetermined frictional force.

In addition, the wireless bipod walking apparatus may further include a control unit for supplying or blocking power to each coil part from the power supply unit.

In one embodiment, the permanent magnet of the left leg and the permanent magnet of the right leg may have the same magnetization direction.

In one embodiment, the planar width W and the length L of each of the air-core coils constituting the coil portion are 100 to 150% of the planar diameter D of the permanent magnets constituting each leg .

In one embodiment, the planar shape of each of the air-core coils constituting the coil portion may be an equilateral triangle, a square, a regular hexagon, a polygonal shape, a circular shape, or an elliptical shape.

Further, the present invention can provide a wireless bipod walking apparatus operating system, wherein the wireless bipod walking apparatus includes one or more wireless biped walking apparatuses,

Next-generation compact product assembly and production systems such as micro-object manipulation systems, micro / factory (microfactory / nanofactory);

Robotics-based biomedical engineering technologies system, which includes a wireless mini-endoscope robot and a miniature robot for handling, transferring or transporting various biological cells, viruses, cancer cells, and small drugs; or

An operating system applied to a field requiring robot operation in a space constrained or narrow environment;

The present invention is not limited thereto.

As described above, the wireless bipod walking apparatus according to the present invention generates magnetic force and magnetic torque through the interaction between the magnetic field of the permanent magnet and the current flowing in the air-core coil, It is possible to move the two permanent magnet legs, and there is no need to attach the battery, so that it is possible to solve the problem of increase in the system size due to the battery mounting in the manufacturing of the conventional wireless biped walking robot.

In addition, since the number of the rigid bodies constituting the legs is so large that the structure of the legs is complicated, it is possible to solve the problem that the two permanent magnet legs which are elastically connected are moved back and forth, left and right, rotated in place, No additional materials or objects (eg, parts made of rigid bodies, electrical and electronic components, sensors) need to be installed to stand up when lost. Therefore, it is possible to implement the mechanism that moves in the front, rear, left, and right, the mechanism to rotate in place, and the mechanism to stand up in a small and simple structure, which is suitable for work in a space requiring a narrow working environment.

In addition, the size of the permanent magnet mounted on each leg and the size of the air core coil can be miniaturized and the operation range can be expanded by adding a plurality of air core coils. Therefore, a plurality of air-core coils can be additionally disposed to extend the operation range.

In addition, since an air core coil is used, the manufacturing cost can be reduced because an iron core is unnecessary, the coil can be easily miniaturized, and the hysteresis problem caused by the iron core can be solved have.

In addition, the wireless biped walking apparatus according to the present invention can be applied to a micro-object manipulation system, a next-generation small product assembly and production system such as a micro / factory, a small-size wireless endoscope robot and various biological cells, Based robotics-based biomedical engineering technologies, including miniature robots for handling, delivering, or transporting drugs, to a wide range of applications that require work in space-constrained or confined environments. Various applications are possible.

1 is a perspective view of a wireless biped walking apparatus according to the present invention.
FIG. 2 is an exploded perspective view of the wireless biped walking apparatus of FIG. 1. FIG.
FIG. 3 is a perspective view showing an extended coil part in which a plurality of air-core coils according to the present invention are additionally disposed.
4 is a plan view showing a planar size comparison between an air core coil according to the present invention and a permanent magnet constituting each leg.
5 is a perspective view showing a counterclockwise current (CCW) and a clockwise current (CW) applied to the air core coil in the air core coil of the wireless bipod walking apparatus according to the present invention.
FIG. 6 is a conceptual diagram for explaining a right-side walking principle of a wireless bipod walking apparatus according to the present invention.
7 is a conceptual diagram for explaining the principle of walking on the left side of the wireless biped walking apparatus according to the present invention.
8 is a conceptual diagram for explaining the principle of forward walking of a wireless biped walking apparatus according to the present invention.
9 is a conceptual diagram for explaining the principle of backward walking of the wireless bipod walking apparatus according to the present invention.
FIG. 10 is a conceptual diagram for explaining the principle of turning the wireless biped walking apparatus according to the present invention.
FIG. 11 is a conceptual diagram for explaining the principle of how a wireless biped walking apparatus according to the present invention stays up.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, but the scope of the present invention is not limited thereto. In the description of the present invention, a detailed description of known configurations will be omitted, and a detailed description of configurations that may unnecessarily obscure the gist of the present invention will be omitted.

FIG. 1 is a perspective view of a wireless biped walking apparatus according to the present invention, and FIG. 2 is an exploded perspective view of the wireless biped walking apparatus of FIG.

Referring to these drawings, the wireless bipod walking apparatus 500 according to the present embodiment may be configured with a biped walking part 100, a support plate 200, a coil part 300, and a power supply part 400.

Specifically, the biped walking part 100 includes a right leg 120 and a left leg 110 constituted by a left leg 110, a cylindrical permanent magnet 121 constituted by a cylindrical permanent magnet 111, And a connecting member 130 interconnecting the legs 120 and having a predetermined elastic force.

More specifically, it is preferable that the magnetization directions of the respective permanent magnets 111 and 121 constituting the left leg 110 and the right leg 120 have the same magnetization direction in the Z axis direction. The left leg 110 and the right leg 120 constituted by the permanent magnets 111 and 121 having the same magnetization direction can be attached to the upper surface of the coil part 300 generating a magnetic force of a predetermined size, A detailed description thereof will be given later.

2, the coil portion 300 is located at the lower portion of the bipedal walking part 100 and acts on the permanent magnets of the left leg 110 and the right leg 120, A plurality of air-core coils 310 may be arranged in a matrix form.

The connecting member 130 plays a role of generating a corresponding elastic force when the left and right legs 110 and 120 are relatively moved with respect to each other and is particularly limited as long as it is made of a material having a predetermined elastic force But may be, for example, a wire, a coil, or a spring having a certain elastic force. The connecting member 130 having a predetermined elastic force is connected to the left limb 110 or the right limb 120, which is relatively moved and changed in position when the bipedal walking part 100 according to the present invention is moved from the upper surface of the coil part 300 And the restoring force that can be restored to its original position is provided, and a detailed description thereof will be given later.

1 and 2, the wireless bipod walking apparatus 500 according to the present invention is mounted on the upper surface of the coil section 300 and is disposed between the biped walking section 100 and the coil section 300 And a plate-shaped support plate 200 having a predetermined frictional force. Specifically, the plate-like support plate 200 can prevent the air core coil 310 and the bipedal walking part 100 constituting the coil part 300 from directly coming into contact with each other and binding. In addition, the plate-shaped support plate 200 can be mounted on the upper surface of the bipedal walking unit 100 to smoothly implement the bipedal walking motion of the bipedal walking unit 100. Therefore, it is preferable that the plate-like support plate 200 is made of a material capable of passing the electromagnetic force generated in the air-core coil 310 constituting the coil part 300. Preferably an electrically insulating plate material having a predetermined thickness and a predetermined frictional force.

1, a wireless bipod walking apparatus 500 according to the present invention includes a controller 400 for supplying or blocking power from a power supply unit 400 to a coil part 300 through a power supply cable 401, (450). ≪ / RTI >

FIG. 3 is a perspective view showing an expanded coil part in which a plurality of air-core coils according to the present invention are additionally disposed.

Referring to FIG. 3 together with FIG. 1, the coil part 300 according to the present embodiment may include a plurality of air-core coils 310, and may have a single matrix or a checkerboard pattern as a whole.

In addition, the coil section 300 according to the present invention can expand the operation range of the biped walking section 100 by adding a plurality of air-core coils 310. That is, in order to expand or reduce the operation range of the bipedal walking part 100, a plurality of air-core coils 310 corresponding thereto may be additionally disposed or removed. In addition, the sizes of the permanent magnets 111 and 121 mounted on the left leg 110 and the right leg 120 and the size of the air core coil 310 can be miniaturized to realize a finer walking operation. As a result, the wireless biped walking apparatus 500 according to the present invention can be applied to a small body manipulation system, a next generation small product assembly and production system such as a micro / factory (microfactory / nanofactory), a wireless small endoscope robot, Applications in a wide range of applications requiring space constraints or work in confined environments, such as robotic-based biomedical engineering technologies, including miniature robots for handling, delivering or transporting cancer cells and micro drugs It can be applied variously according to purpose.

FIG. 4 is a plan view showing a planar size comparison between an air core coil according to the present invention and a permanent magnet constituting each leg.

Referring to FIG. 4 together with FIG. 1, the planar width W and the length L of each of the air-core coils 310 constituting the coil part 300 according to the present embodiment are determined by the respective legs 110 and 120 The planar diameter D of the permanent magnets 111 and 121 constituting the permanent magnets 111 and 121. Specifically, the permanent magnets 111 and 121 constituting the bipedal walking part 100 according to the present invention can be moved by the magnetic force of each of the air-core coils 310 constituting the coil part 300. However, since the permanent magnets 111 and 121 constituting the biped walking part 100 have the same magnetizing direction, the magnetic forces of the permanent magnet 111 and 121 due to the magnetic force of the air- It is necessary to prevent a tangling phenomenon of the bipedal walking part 100. The planar width W and the length L of each of the air core coils 310 are set so as to be in the range of 100 to 100 mm on the planar diameter D of the permanent magnets 111 and 121 constituting the legs 110 and 120, 150%. ≪ / RTI >

The planar shape of each of the air core coils 310 constituting the coil part 300 may be an equilateral triangle, a square, a regular hexagon, a polygonal shape, a circular shape, or an elliptical shape. Most preferably, it may be a square shape or a regular hexagonal shape.

FIG. 5 is a perspective view showing a counterclockwise current CCW and a clockwise current CW applied to an air core coil in an air core coil of a wireless biped walking apparatus according to the present invention.

Referring to FIG. 5 together with FIG. 1, the magnetization direction of each of the air-core coils 310 constituting the coil part 300 can be changed according to the current application direction. Therefore, each of the permanent magnets 111 and 121 can be selectively changed according to the magnetization direction of the air-core coil 310, and the bipedal walking part is constituted by the permanent magnet having the magnetization direction in the positive Z-axis direction And a permanent magnet having a magnetization direction in the negative Z-axis direction.

The wireless biped walking apparatus 500 according to the present invention can implement an operation for walking when the user walks in front, back, left and right, rotates in place, is laid, or falls when the two legs 110 and 120 are elastically connected A specific description thereof will be described later.

6 to 11 are conceptual diagrams for explaining the walking principle of the wireless bipod walking apparatus 500. As shown in FIG. The gray-scale coil shown in these drawings represents an air-core coil which is supplied with electric current and generates an electromagnetic force. In addition, the remaining air-core coils which are not expressed in gray represent air-core coils in which no current is supplied and no electromagnetic force is generated. In this embodiment, a biped walking part 100 composed of permanent magnets 111 and 121 magnetized in a positive Z-axis direction and an air-core coil 310 magnetized in a positive Z-axis direction when a current is applied are adopted . 6 to 11 are referred to as the rightward direction, the negative Y-axis direction is referred to as the leftward direction, the positive X-axis direction as the forward direction, and the negative X-axis direction as the backward direction define.

FIG. 6 is a conceptual diagram for explaining the right-side walking principle of the wireless bipod walking apparatus according to the present invention.

Referring to FIG. 6 together with FIG. 2, the biped walking part 100 of the wireless biped walking apparatus 500 according to the present embodiment can implement a rightward walking operation.

Specifically, the process of walking the biped walking part 100 to the right may include four steps as shown in FIG.

The first step is a step in which a force is applied to the left leg 110. When a counterclockwise current is applied to the air core coil 310a, the upper portion of the air core coil 310a becomes the N pole, and the permanent magnet 111 of the left leg 110 having the S pole at the bottom portion is pulled. The attraction force generated between the air core coil 310a and the permanent magnet 111 can prevent the bipedal walking part 100 from falling.

The second step is to apply thrust to the right leg 120 while maintaining the force applied to the left leg 110 as it is. When a counterclockwise current is applied to the coincidence coil 310c, the upper portion of the coincidence coil 310c becomes the N pole, and the permanent magnet 121 of the right leg 120 having the lower portion of the S pole is pulled. That is, the electromagnetic force of the air-core coil 310c applies a thrust force to the right leg 120 in the positive Y-axis direction. Due to this thrust, the right leg 120 stops after taking one step toward the air core coil 310c, that is, in the positive Y axis direction.

The third step is to remove the attractive force applied to the left leg 110 while maintaining the attractive force acting on the right leg 120. The attraction force acting between the coils 310a and the left leg 110 can be removed by interrupting the current applied to the coils 310a. During the third step, the attractive force acting on the right leg 120 can prevent the bipedal walking part 100 from falling down.

The fourth step is to apply thrust to the left leg 110 while maintaining the force applied to the right leg 120. When a counterclockwise current is applied to the air core coil 310b, the upper portion of the air core coil 310b becomes the N pole, and the permanent magnet 111 of the left leg 110 of which the bottom portion is the S pole is pulled. That is, the electromagnetic force of the air-core coil 310b applies a thrust force to the left leg 110 in the positive Y-axis direction. Due to this thrust, the left leg 110 stops after taking one step toward the air core coil 310b, that is, in the positive Y axis direction.

Thus, the biped walking unit 100 having undergone the four steps in total can implement the rightward walking motion.

FIG. 7 is a conceptual diagram for explaining the principle of walking on the left side of the wireless biped walking apparatus according to the present invention.

Referring to FIG. 7 together with FIG. 2, the biped walking part 100 of the wireless biped walking apparatus 500 according to the present embodiment can implement a leftward walking operation.

Specifically, the process of walking the biped walking part 100 to the left may include four steps as shown in FIG.

The first step is a step in which a force is applied to the right leg 120. When a counterclockwise current is applied to the coincidence coil 310c, the upper portion of the coincidence coil 310c becomes the N pole, and the permanent magnet 121 of the right leg 120 having the lower portion of the S pole is pulled. The attraction force generated between the air core coil 310c and the permanent magnet 121 can prevent the biped walking part 100 from falling down.

The second step is to apply thrust to the left leg 110 while maintaining the force applied to the right leg 120. When a counterclockwise current is applied to the air core coil 310a, the upper portion of the air core coil 310a becomes the N pole, and the permanent magnet 111 of the left leg 110 having the S pole at the bottom portion is pulled. That is, the electromagnetic force of the air-core coil 310a applies a thrust force to the left leg 110 in the negative Y-axis direction. Due to this thrust, the left leg 110 stops after taking one step toward the air core coil 310a, that is, toward the negative Y axis direction.

The third step is to remove the attraction force applied to the right leg 120 while maintaining the force acting on the left leg 110 as it is. The attraction force acting between the coils 310c and the right leg 120 can be removed by blocking the current applied to the coils 310c. During the third step, the force acting on the left leg 110 can prevent the bipedal walking part 100 from falling.

The fourth step is to apply the thrust to the right leg 120 while maintaining the force applied to the left leg 110 as it is. When a counterclockwise current is applied to the coincidence coil 310b, the upper portion of the coincidence coil 310b becomes the N pole, and the permanent magnet 121 of the right leg 120 having the lower portion is attracted. That is, the electromagnetic force of the air core coil 310b applies a thrust force to the right leg 120 in the negative Y axis direction. Due to this thrust, the right leg 120 stops after taking one step toward the air core coil 310b, that is, toward the negative Y axis direction.

Thus, the bipedal walking unit 100 that has undergone the four steps in total can implement the leftward walking operation.

FIG. 8 is a conceptual diagram illustrating the principle of forward walking of the wireless biped walking apparatus according to the present invention.

Referring to FIG. 8 together with FIG. 2, the biped walking unit 100 of the wireless biped walking apparatus 500 according to the present embodiment can implement a forward walking operation.

Specifically, the process of walking the biped walking unit 100 forward can be composed of four steps as shown in FIG.

The first step is a step in which a force is applied to the right leg 120. When a counterclockwise current is applied to the air core coil 310d, the top portion of the air core coil 310d becomes the N pole, and the permanent magnet 121 of the right leg 120 having the bottom portion of the S pole is pulled. The attraction force generated between the air core coil 310d and the permanent magnet 121 can prevent the bipedal walking part 100 from falling down.

The second step is to apply thrust to the left leg 110 while maintaining the force applied to the right leg 120. When a counterclockwise current is applied to the air core coil 310a, the upper portion of the air core coil 310a becomes the N pole, and the permanent magnet 111 of the left leg 110 having the S pole at the bottom portion is pulled. That is, the electromagnetic force of the air-core coil 310a applies a thrust force to the left leg 110 in the positive X-axis direction. Due to this thrust, the left leg 110 stops after taking one step toward the air core coil 310a, that is, in the positive X axis direction.

The third step is to remove the attraction force applied to the right leg 120 while maintaining the force acting on the left leg 110 as it is. The attraction force acting between the coils 310d and the right leg 120 can be removed by blocking the current applied to the coils 310d. During the third step, the force acting on the left leg 110 can prevent the bipedal walking part 100 from falling.

The fourth step is to apply the thrust to the right leg 120 while maintaining the force applied to the left leg 110 as it is. When a counterclockwise current is applied to the coincidence coil 310b, the upper portion of the coincidence coil 310b becomes the N pole, and the permanent magnet 121 of the right leg 120 having the lower portion is attracted. That is, the electromagnetic force of the air-core coil 310b applies a thrust force to the right leg 120 in the positive X-axis direction. Due to this thrust, the right leg 120 is pushed toward the air core coil 310b, that is, in the positive X axis direction, and then stops.

Thus, the biped walking unit 100 that has undergone the four steps in total can implement the forward walking operation.

FIG. 9 is a conceptual diagram for explaining the principle of backward walking of a wireless biped walking apparatus according to the present invention.

Referring to FIG. 9 together with FIG. 2, the biped walking part 100 of the wireless biped walking apparatus 500 according to the present embodiment can implement a backward walking operation.

Specifically, the process of walking the biped walking unit 100 backward may be configured as four steps as shown in FIG.

The first step is a step in which a force is applied to the right leg 120. When a counterclockwise current is applied to the coincidence coil 310b, the upper portion of the coincidence coil 310b becomes the N pole, and the permanent magnet 121 of the right leg 120 having the lower portion is attracted. The attraction force generated between the air core coil 310b and the permanent magnet 121 can prevent the bipedal walking part 100 from falling down.

The second step is to apply thrust to the left leg 110 while maintaining the force applied to the right leg 120. When a counterclockwise current is applied to the core coil 310c, the top portion of the core coil 310c becomes the N pole, and the permanent magnet 111 of the left leg 110, whose bottom portion is the S pole, is pulled. That is, the electromagnetic force of the air core coil 310c applies a thrust force to the left leg 110 in the negative X-axis direction. Due to this thrust, the left leg 110 is stopped toward the air core coil 310c, that is, after taking a step in the negative X axis direction.

The third step is to remove the attraction force applied to the right leg 120 while maintaining the force acting on the left leg 110 as it is. The attraction force acting between the coils 310b and the right leg 120 can be removed by interrupting the current applied to the coils 310b. During the third step, the force acting on the left leg 110 can prevent the bipedal walking part 100 from falling.

The fourth step is to apply the thrust to the right leg 120 while maintaining the force applied to the left leg 110 as it is. When a counterclockwise current is applied to the air core coil 310d, the top portion of the air core coil 310d becomes the N pole, and the permanent magnet 121 of the right leg 120 having the bottom portion of the S pole is pulled. That is, the electromagnetic force of the air-core coil 310d applies a thrust force to the right leg 120 in the negative X-axis direction. Due to this thrust, the right leg 120 is stopped toward the air core coil 310d, that is, after taking a step in the negative X axis direction.

Thus, the biped walking unit 100 having undergone the four steps in total can implement the backward walking operation.

FIG. 10 is a conceptual diagram for explaining the principle of the in-situ rotation of the wireless biped walking apparatus according to the present invention.

Referring to FIG. 10 together with FIG. 2, the biped walking part 100 of the wireless biped walking apparatus 500 according to the present embodiment can implement a turning operation.

Specifically, the process of rotating the bipedal walking part 100 in place may include eight steps as shown in FIG.

The first step is a step in which a force is applied to the right leg 120. When a counterclockwise current is applied to the air core coil 310d, the top portion of the air core coil 310d becomes the N pole, and the permanent magnet 121 of the right leg 120 having the bottom portion of the S pole is pulled. The attraction force generated between the air core coil 310d and the permanent magnet 121 can prevent the bipedal walking part 100 from falling down.

The second step is to apply thrust to the left leg 110 while maintaining the force applied to the right leg 120. When a counterclockwise current is applied to the air core coil 310a, the upper portion of the air core coil 310a becomes the N pole, and the permanent magnet 111 of the left leg 110 having the S pole at the bottom portion is pulled. That is, the electromagnetic force of the air-core coil 310a applies a thrust force to the left leg 110 in the positive X-axis direction. Due to this thrust, the left leg 110 stops after taking one step toward the air core coil 310a, that is, in the positive X axis direction.

The third step is to remove the attraction force applied to the right leg 120 while maintaining the force acting on the left leg 110 as it is. The attraction force acting between the coils 310d and the right leg 120 can be removed by blocking the current applied to the coils 310d. During the third step, the force acting on the left leg 110 can prevent the bipedal walking part 100 from falling.

The fourth step is to apply the thrust to the right leg 120 while maintaining the force applied to the left leg 110 as it is. When a counterclockwise current is applied to the coincidence coil 310c, the upper portion of the coincidence coil 310c becomes the N pole, and the permanent magnet 121 of the right leg 120 having the lower portion of the S pole is pulled. That is, the electromagnetic force of the air-core coil 310c applies a thrust force to the right leg 120 in the negative Y-axis direction. Due to this thrust, the right leg 120 stops after taking one step toward the air core coil 310c, that is, toward the negative Y axis direction.

The fifth step is to remove the attractive force applied to the left leg 110 while maintaining the attractive force acting on the right leg 120. The attraction force acting between the coils 310a and the left leg 110 can be removed by interrupting the current applied to the coils 310a. During the fifth step, the attractive force acting on the right leg 120 can prevent the bipedal walking part 100 from falling down.

The sixth step is to apply thrust to the left leg 110 while maintaining the force applied to the right leg 120. When a counterclockwise current is applied to the air core coil 310b, the upper portion of the air core coil 310b becomes the N pole, and the permanent magnet 111 of the left leg 110 of which the bottom portion is the S pole is pulled. That is, the electromagnetic force of the air-core coil 310b applies a thrust force to the left leg 110 in the positive Y-axis direction. Due to this thrust, the left leg 110 stops after taking one step toward the air core coil 310b, that is, in the positive Y axis direction.

The seventh step is to remove the attraction force applied to the left leg 110 while maintaining the force acting on the right leg 120 as it is. The attraction force acting between the coils 310b and the left leg 110 can be removed by blocking the current applied to the coils 310b. During the seventh step, the attractive force acting on the right leg 120 can prevent the bipedal walking part 100 from falling down.

The last step is to apply thrust to the left leg 110 while maintaining the force applied to the right leg 120. When a counterclockwise current is applied to the air core coil 310d, the upper portion of the air core coil 310d becomes the N pole, and the permanent magnet 111 of the left leg 110, which is the S pole at the lower portion, is pulled. That is, the electromagnetic force of the air core coil 310d applies a thrust force to the left leg 110 in the negative X-axis direction. Due to this thrust, the left leg 110 is stopped toward the air core coil 310d, that is, after taking one step in the negative X axis direction.

As a result, the bipedal walking unit 100 having a total of eight steps can implement an inward turning operation.

FIG. 11 is a conceptual diagram for explaining the principle of standing up the wireless biped walking apparatus according to the present invention.

Referring to Fig. 11 together with Fig. 2, the biped walking part 100 of the wireless biped walking apparatus 500 according to the present embodiment can realize an operation in which the biped walking part 100 stands up in a falled state.

Specifically, the process of causing the bipedal walking part 100 in a fallen state may be constituted by one step as shown in FIG.

The first step is to generate a torque that aligns the left leg 110 and the right leg 120 in the Z-axis direction. When the countercurrent current is applied to each of the two air core coils 310a and 310c, the upper portions of the air core coils 310a and 310c are N poles, and the bottom portions of the air core coils 310a and 310c are permanent The magnets 111 and 121 are pulled. That is, the electromagnetic force of the air-core coils 310a and 310c generates a torque that aligns the legs 110 and 120 in the positive Z-axis direction, thereby causing the bipedal walking unit 100 to fall.

As a result, the bipedal walking unit 100 that has undergone a total of one step can implement an action to stand up in a fallen state.

Therefore, according to the wireless bipod walking apparatus according to the present embodiment, by generating a magnetic force and a magnetic torque through interaction between the magnetic field of the permanent magnet and the current flowing in the air-core coil, two rigid bodies connected by a spring, It is possible to move the magnet legs and there is no need to install the battery, and it is possible to solve the problem of the system size increase due to the battery mounting in the manufacturing of the conventional wireless biped walking robot.

In addition, since the number of the rigid bodies constituting the legs is so large that the structure of the legs is complicated, it is possible to solve the problem that the two permanent magnet legs which are elastically connected are moved back and forth, left and right, rotated in place, In order to stand up when it is lost, there is no need to additionally attach any substance or object (for example, parts made of a rigid body, electric / electronic parts, sensors). Therefore, it is possible to implement the mechanism that moves in the front, rear, left, and right, the mechanism to rotate in place, and the mechanism to stand up in a small and simple structure, which is suitable for work in a space requiring a narrow working environment.

In addition, the size of the permanent magnet mounted on each leg and the size of the air core coil can be miniaturized and the operation range can be expanded by adding a plurality of air core coils. Therefore, a plurality of air-core coils can be additionally disposed to extend the operation range.

In addition, since an air core coil is used, the manufacturing cost can be reduced because an iron core is unnecessary, the coil can be easily miniaturized, and the hysteresis problem caused by the iron core can be solved have.

The robot to which the wireless biped walking apparatus according to the present invention is applied as a walking unit can be applied to a small object manipulation system, a next generation small product assembly and production system such as a microfactory / nanofactory, a wireless small endoscope robot, And robotic-based biomedical engineering technologies, including miniature robots for handling, delivering, or transporting viruses, cancer cells, and small drugs, as well as a wide range of applications that require space constraints or work in tight environments. It has a technical advantage that it can be applied variously according to the application purpose in the field.

In the foregoing detailed description of the present invention, only specific embodiments thereof have been described. It is to be understood, however, that the invention is not to be limited to the specific forms thereof, which are to be considered as being limited to the specific embodiments, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims. .

100: bipedal walking part 110: left leg
111: permanent magnet 112:
120: right leg 121: permanent magnet
122: connection part 200: support plate
300: Coil part 310: Coil coil
400: Power supply unit 401: Power supply cable
450: control unit 500: biped walking device

Claims (9)

A biped walking apparatus (500) using a permanent magnet and an air core coil,
A right leg 120 constituted by a cylindrical permanent magnet 111 and a left leg 110 constituted by a cylindrical permanent magnet 111 and a cylindrical permanent magnet 121 and a right leg 120 constituted by connecting the left leg 110 and the right leg 120, A bipedal walking part (100) having a connecting member (130) having an elastic force;
A plurality of air-core coils 310 positioned below the bipedal walking part 100 and capable of applying and releasing attraction force to the permanent magnets of the left leg 110 and the right leg 120 are formed in a single matrix, A coil part 300 arranged in the form of a coil;
A power supply unit 400 for supplying power to the air core coil 310 of the coil unit 300; And
And a control unit 450 for supplying or cutting off power from the power supply unit 400 to the coil unit 300,
The control unit 450 may be configured such that when the power is supplied to the common core coil 310a in which one of the left leg 110 and the right leg 120 is located, The left foot 110 may be moved by repeating a series of control for supplying power to the other coils 310c adjacent to the coils 310b to apply the thrust to the other legs 120 or 110, Wherein when the right leg 120 and the right leg 120 are tilted, power is supplied to an air core coil having lower ends of the two legs 110 and 120, respectively, to cause the two legs 110 and 120 to be generated.
The method according to claim 1,
Wherein the connecting member (130) is a wire, a coil, or a spring having a predetermined elastic force.
The method according to claim 1,
The wireless biped walking apparatus 500 includes:
Further comprising a plate-like support plate (200) mounted on an upper surface of the coil part (300) and positioned between the biped walking part (100) and the coil part (300) and having a predetermined frictional force. .
delete The method according to claim 1,
Wherein the permanent magnet of the left leg (110) and the permanent magnet of the right leg (120) have the same magnetization direction.
The method according to claim 1,
The planar width W and the length L of each of the air-core coils 310 constituting the coil part 300 are set so that the planar surfaces of the permanent magnets 111 and 121 constituting the legs 110 and 120 Is 100 to 150% of the diameter (D) of the base.
The method according to claim 1,
Wherein the planar shape of each of the air-core coils (310) constituting the coil part (300) is an equilateral triangle, a square, a regular hexagon, a polygonal shape, a circular shape, or an elliptical shape.
A wireless bipod walking apparatus operating system, comprising at least one wireless biped walking apparatus (500) according to any one of claims 1 to 3 or 5 to 7.
9. The wireless biped walking apparatus (500) according to claim 8,
Next-generation compact product assembly and production systems such as micro-object manipulation systems, micro / factory (microfactory / nanofactory);
Robotics-based biomedical engineering technologies system, which includes a wireless mini-endoscope robot and a miniature robot for handling, transferring or transporting various biological cells, viruses, cancer cells, and small drugs; or
Areas of operation that require robotic work within space constrained or confined environments;
Wherein the biped walking part is a walking part of the biped walking device.

Images