KR101490822B1 - Transformable ball-like robot for rough terrain - Google Patents

Abstract

The transformable ball-like robot includes: a first unit, a second unit, a first frame, first connecting units, a second frame, second connecting units, and a plurality of a first legs. The first unit and the second unit is coupled up and down respectively to form a ball shape, and the first frame is located on the upper part of the robot. The first connecting units is extruded on the outer surface of the first frame and the upper and lower part of the coupling part in a plurality of the first legs coupled with the first and second frame to be rotatable on the left and right side.

Description

{TRANSFORMABLE BALL-LIKE ROBOT FOR ROUGH TERRAIN}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a variable type ball robot, and more particularly, to a variable type ball robot for use with a hull.

In recent years, robots have been developed that perform tasks that are difficult for human beings to replace, such as military robots, exploration robots, and industrial robots.

Military robots that can minimize human casualties, buildings that are filled with desert or debris, robots that reconnaissance and explore places where people can not move, such as radioactive contaminated areas, robots for exploring hunting or shooting dangerous animals, earthquakes or landslides These necessities, such as life-saving robots capable of supplying oxygen and water to people who have crushed, and robots that provide convenience to people with mobility difficulties during the age of aging, .

One of the recently studied robots is a variable ball robot. Variable ball robots are robust and resilient due to their good mobility and buffering ability when they form a ball. Therefore, in the case of forming a ball shape, it is possible to move without energy consumption, and a variety of outer cases can be varied to realize various structures, which can be widely used for military use, industrial use, structural use, leisure use, and toys.

Conventional robotic technologies have been developed mainly in the form of Caterpillar, wheels, and legs. However, in order to implement various structures by varying while maintaining the ball shape, there is a disadvantage that complicated structure and operation mechanism must be applied by using various parts.

In order to overcome these problems, it is necessary to develop a variable ball robot that can implement various motions with simple structure.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide a variable-type ball robot for improving mobility and energy efficiency through a ball-shaped drive and a variable structure capable of speed control.

According to an embodiment of the present invention, a variable ball robot includes a first unit, a second unit, a first frame, first connecting portions, a second frame, second connecting portions, and a plurality of first legs Wherein the first unit and the second unit are coupled to each other to form a ball shape, the first frame is located at an upper portion, the first connecting portions are projected to the outer circumferential surface of the first frame, The upper and lower portions of the coupling portion are respectively coupled to the first frame and the second frame so as to be rotatable from side to side.

In one embodiment, the first and second frames are formed with holes in the center, and the first legs are respectively coupled between the first and second connection portions.

In one embodiment, the first legs each include a first motor, a second motor, a first H link, a third motor, a first rod, and a first cover, And the second motor is coupled to the outside of the first motor, and the first H link is coupled to the second motor and the second motor is coupled to the second motor, And the third motor is coupled to the other end of the first H link and rotates up and down. The first rod is coupled to the third motor and is driven by the third motor The first cover is rotated up and down, the weight is supported, and the first cover is prevented from slipping, and the first cover includes an elastic first cover which is coupled to the outside to mitigate the impact and prevent foreign matter from entering.

In one embodiment, the first covers include any one of a resilient metal, a reinforced plastic, and a composite material, wherein the first covers and the second covers are positioned between the first legs and the second legs, The respective outer circumferential surfaces are in close contact with each other to form the shape of the ball as a whole.

In one embodiment, the second unit includes second legs, a seventh motor and second covers, wherein the second legs are formed below the first unit, And the second covers are coupled to the outside of the second legs to alleviate the impact, prevent foreign matter from entering, and have elasticity, and the second legs have the same structure as the first legs And is coupled with the first unit in a vertically symmetrical structure.

In one embodiment, the first cover and the second cover, which partially come in close contact with the ground surface, are simultaneously unfolded to push the ground surface to start a rolling operation. When the ball is rotated by the ball rolling operation, The adjacent first cover and the second cover are continuously unfolded and rolled with a pushing force of the ground, and the first cover and the second cover are lifted immediately after being unfolded.

In one embodiment, the speed control portion is formed between the first unit and the second unit.

In one embodiment, the speed control section includes a seventh motor, a first gear, a first screw gear, and a weight, and the seventh motor is coupled between the first lower frame and the second lower frame, 1 gear is coupled to the seventh motor and is positioned between the second upper frame and the first lower frame, the first screw gear is vertically engaged with the first gear, and the weight is connected to the first screw gear And when the first screw gear rotates, it moves inward or outward according to the rotational direction.

In one embodiment, the weight slows down the speed of the ball rolling motion in proportion to the distance traveled in the outward direction, and speeds up the ball rolling motion in proportion to the distance traveled in the inward direction.

In one embodiment, one of the sensors is located between the first legs and the second legs and is actuated when positioned on the front of the direction of movement to determine the presence of an obstacle, and does not operate if it is not the front.

In one embodiment, the camera is formed at the center of the space between the first and second frames, and protrudes through the holes formed at the ends of the first legs or the second legs to record an image.

In one embodiment, the control circuit is formed on the second frame, and includes a receiver for receiving a signal transmitted from the remote control device, and controls the first to third motors according to the received signal.

According to another aspect of the present invention for realizing the object of the present invention, there is provided a variable ball robot including a first unit and a third unit, wherein the first unit and the third unit are respectively coupled up and down to form a ball shape , Said third unit comprises a third frame, a plurality of fourth motors, a plurality of first links, second fasteners and third covers, said third frame being located at the top, The motors are coupled to the upper portion of the third frame, the plurality of first links are respectively coupled to the fourth motors to rotate up and down, the second fasteners are respectively coupled to the first links, The covers are respectively coupled to the second fasteners, and include third covers that are elastic and prevent shocks and foreign matter from entering.

In one embodiment, the first cover and the third cover, partially in close contact with the ground surface, are simultaneously opened to push the ground surface to start a rolling operation. When the ball is rotated by the ball rolling operation, The first cover and the third cover adjacent to each other are continuously unfolded and rolled by force pushing out the ground, and the first cover and the third cover are lifted immediately after being unfolded.

In one embodiment, when one sensor is located between the first legs and the third legs and is located at the front of the moving direction, it determines whether an obstacle is present, and does not operate if it is not the front.

According to embodiments of the present invention, the variable ball-type robot may be connected to and controlled by Wi-Fi or Bluetooth using a remote control device such as a smart phone, a computer, or a remote controller, and may include a plurality of legs, Because it can be changed into a robot of various shapes by combination, it is advantageous in exploring the harsh which can not be accessed by people.

The plurality of upper and second covers are coupled to the outside of the plurality of first legs and the second legs to mitigate the impact generated from the outside and prevent foreign matter from entering. In addition, when the outer circumferential surfaces of the upper and second covers are in close contact with each other to form a ball shape, it rolls in a ball shape because it is elastic, and when an obstacle is encountered or dropped, the impact is absorbed by the elasticity, .

The battery can be charged either wired or wireless. For example, in order to charge a variable ball robot, a complicated charger connection drive is required to move to a position where a charger is installed. However, when a wireless charging module of a magnetic induction type or a magnetic resonance type is mounted under the battery, If you are located within a certain distance, you can charge wirelessly. Therefore, convenience of the user can be improved.

The variable ball robot can control the speed of the ball rolling motion by moving the position of the weight inside or outside. The variable ball-type robot can speed up the speed of the variable-angle ball robot when the obstacle meets an obstacle, thereby avoiding obstacles due to the high speed and the elasticity of the upper and second covers.

A sensor may be formed between each of the first covers and the second covers to sense obstacles ahead of the ball encountered by the ball rolling motion. Therefore, when the obstacles in the front are detected, the obstacle can be avoided or overcome by controlling the speed by the movement of the weight.

1 is a perspective view illustrating an internal structure of a variable ball-shaped robot according to an embodiment of the present invention.
FIG. 2 is a rear view showing a ball rolling operation in which the upper cover and the lower cover of the variable ball robot of FIG. 1 unfold and move.
3 is a perspective view showing an internal structure of a variable ball-shaped robot according to another embodiment of the present invention.
4 to 5 are side views showing a ball rolling operation in which the first cover and the second cover of the variable ball robot of FIG. 3 unfold and move.
FIG. 6 is a rear view showing a ball rolling operation in which the first cover and the second covers of the variable ball robot of FIG. 3 unfold and move.
FIG. 7 is a cross-sectional view showing a state in which the variable ball-shaped robot of FIG. 3 moves to the inside to increase the ball rolling operation speed.
8 is a cross-sectional view showing a state in which the variable ball robot of FIG. 3 moves further outward to lower the ball rolling operation speed.
FIGS. 9 and 10 are side views showing a method of driving a sensor provided in the variable ball-type robot shown in FIG.
Fig. 11 is a perspective view showing the multi-legged walking of the variable-type ball robot shown in Fig. 3;
FIG. 12 is a flowchart showing a driving method of the variable ball robot of FIG. 3;

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a variable ball robot according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not limited to the disclosed embodiments. It is to be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but on the contrary, is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Like reference numerals are used for like elements in describing each drawing. The terms first, second, etc. 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. The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the term "comprises" or "comprising ", etc. is intended to specify that there is a stated feature, figure, step, operation, component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

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

1 is a perspective view illustrating an internal structure of a variable ball-shaped robot according to an embodiment of the present invention.

Referring to FIG. 1, the variable ball robot 10 includes a first unit 21 and a third unit 23, and the third unit 23 includes a plurality of third legs 400, 3 frame 420 and the first unit 21 includes a plurality of first legs 100, a first cover 107, and a body 300. The third leg 400 includes a third cover 401, a second fastener 402, a fourth motor 403, and a first link 404.

The fourth motor 403 is coupled to the upper portion of the third frame 420. The first link 404 is coupled with the fourth motor 403 and rotates up and down according to the driving of the fourth motor 403. [

The second fastener 402 is formed on the first link 404 and is engaged with the third cover 401. The material of the third cover 401 includes any one of metal, reinforced plastic, and a composite material having a surface that is round, has elasticity, and is resistant to abrasion, and transparent acrylic may be used depending on the application.

The outer surfaces of the plurality of third covers 401 combined with the plurality of third legs 400 closely contact each other to form a hemispherical shape as a whole. When the plurality of first legs 100 are retracted, the first unit 21 is in contact with the outer circumferential surfaces of the first covers 107 coupled with the plurality of first legs 100 to form a hemispherical shape . Therefore, the third unit 23 and the first unit 21 are combined to form a ball-shaped structure as a whole.

FIG. 2 is a rear view showing a ball rolling operation in which the upper cover and the lower cover of the variable ball robot of FIG. 1 unfold and move.

For example, the variable ball robot 10 may include six first top covers 407a, 407b, 407c, 407d, 407e, 407f and second bottom covers 417a, 417b, 417c , 417d, 417e, 417f.

Referring to FIGS. 1 and 2, the third leg 400 of the variable ball robot 10 is structurally different from the first leg 100. Therefore, the shape of the first upper covers 407a, 407b, 407c, 407d, 407e, 407f is different from that of the first leg 100 when the first upper covers 407a, 407b, 407c, 407d, 407e, 407f are unfolded.

The ball rolling operation of the variable ball robot 10 may be performed in a state in which the first upper cover 407a and the first lower cover 417a are in close contact with the ground, The first bottom cover 417a is pushed outward and the ground surface is pushed and the variable ball robot 10 is rotated in the direction opposite to the pushing direction to start the ball rolling operation. When the variable ball robot 10 rotates at a predetermined angle, the second upper cover 407b and the second lower cover 417b come into close contact with the ground. At this time, the second upper cover 407b and the second lower cover 417b are unfolded and push the ground again, and the third to sixth upper covers 407c, 407d, 407e, 407f and third to sixth The lower covers 417c, 417d, 417e, and 417f are sequentially deployed to push the variable ball robot 10 to maintain the ball rolling operation.

3 is a perspective view showing an internal structure of a variable ball-shaped robot according to another embodiment of the present invention.

Referring to FIG. 3, the variable ball robot 10 includes the first unit 21, the velocity control unit 340, and the second unit 22.

The first unit 21 includes the first leg 100 and the body 300.

The first leg 100 includes a first motor 100a, a second motor 100b, a third motor 100c, a first fastener 100d, a first rod 100e, a first H link 100f and the first cover 100g.

The first leg 100 is formed between the first frame 300a and the second frame 300c. The upper and lower portions of the first motor 100a are connected to a lower portion of the first connecting portion 300b of the first frame 300a and a lower portion of the second connecting portion 300c of the second frame 300c And 300d, respectively. Accordingly, the first leg 100 is rotated right and left by driving the first motor 100a.

The first motor 100a is coupled to the second motor 100b and the second motor 100b is coupled to one end of the first H link 100f. The first H link 100f rotates up and down by driving the second motor 100b.

The other end of the first H link 100f is engaged with the third motor 100c. The third motor 100c is coupled with the first rod 100e and driven by the first rod 100e so as to rotate the other end of the first H link 100f together with the first rod 100e, Or in an outward direction.

The first cover 100g is coupled to the first fastener 100d and the first fastener 100d is coupled to the first H link 100f. The material of the first cover 100g includes any one of metal, reinforced plastic, and composite material having a surface that is round and has elasticity and resistance to abrasion, and transparent acrylic may be used depending on the application.

The first leg 100 may have a plurality of first legs 100 according to the size of the first and second frames 300a and 300c, The outer circumferences of the plurality of first covers 100g coupled with the plurality of first legs 100 are in close contact with each other to form a hemispherical shape as a whole.

The speed control unit 340 includes a first screw gear 341, a first gear 342, and a weight 343.

One end of the first screw gear 341 is engaged with the center of the weight 343 between the second frame 300c and the third frame 320 and the other end of the first screw gear 341 is engaged with the first gear 340a. The first gear 342 is coupled with the seventh motor 208 and rotated.

When the first gear 342 rotates, the first screw gear 341 is engaged and rotated, and the weight 343 engaged with the first screw gear 341 moves. The weight 343 is moved inward or outward of the variable ball-type robot 10 in accordance with the rotation direction of the first gear 342.

The second unit 22 includes a second leg 110 and a seventh motor 208 and a second cover 207.

The second leg 110 is formed in the same structure as the first leg 100 and the body of the second unit 22 is formed in the same structure as that of the body 300, 208 are formed between the frames of the second unit 22. The seventh motor 208 is coupled with the first gear 342 to be driven.

When the plurality of second legs 110 are retracted inward, the outer circumferential surfaces of the plurality of second covers 207 coupled with the plurality of second legs 110 come into close contact with each other to form a hemispherical shape as a whole do.

Accordingly, the first unit 21 and the second unit 22 form a ball-like structure as a whole, and the first unit 21, the speed control unit 340, and the second unit 22 And the variable ball robot 10 of various structures can be manufactured by using the first unit 21, the second unit 22 and the third unit 23, (10) can be manufactured.

The first rod 100e is coupled to an upper portion of the third motor 100c and rotates up and down according to the driving of the third motor 100c and rotates left and right by the first motor 100a. It is possible. The first rod 100e is advantageous in that when the first leg 100 is moved downward by attaching a rubber packing, the variable ball robot 10 is driven slidably and promptly

The first frame 300a and the second frame 300c are coupled to each other with the first leg 100 interposed therebetween and the first legs 100 are connected to the first frame 300a and the second frame 300c, A plurality of holes are formed to be radially coupled to the second frame 300c. The first frames 300a and the second frames 300c form a circular shape and the first connection portions 300b and the second connection portions 300d are radially protruded from the sides . The first frame 300a and the second frame 300c are not limited in size and may be connected to two or more bridges by increasing the first and second connection portions 300b and 300d in some cases .

Holes formed at the center of the first frame 300a and the second frames 300c reduce the weight of the first and second frames 300a and 300c and reduce the weight of the first to third motors 100a and 100b And 100c are arranged in the holes so as not to affect the driving of the variable ball-type robot 10. [

When the first legs 100 of the first unit 21 and the second unit 22 of the first unit 21 are retracted into the inside of the second unit 22, The outer circumferential surfaces of the balls 207 are in close contact with each other to form the shape of the ball as a whole.

A battery is formed at the center of the body of the side of the seventh motor 208. The battery can be charged either wired or wirelessly. For example, in order to charge the variable ball robot 10, a complicated charger connection drive is required to go to a position where the charger is installed. However, when a wireless charging module of a magnetic induction type or a magnetic resonance type is mounted under the battery, 10) can be charged wirelessly if it is located within a certain distance from the wireless charger. Therefore, the convenience of the user can be improved by installing the wireless charging module in the variable ball robot 10.

4 to 5 are side views showing a ball rolling operation in which the first cover and the second cover of the variable ball robot of FIG. 3 unfold and move.

6 is a rear view showing a ball rolling operation in which the first cover and the second covers of the variable ball robot of Fig. 3 unfold and move

For convenience of explanation, the variable ball robot 10 includes, for example, six upper legs and six lower legs, each of which is formed by combining six upper covers and lower covers to form a ball shape . Here, the upper covers represent the first covers 100g of FIG. 3, and the lower covers represent the second covers 207 of FIG.

The lower covers include first to sixth lower covers 207a, 207b, 207c, 207d, 207e, 207f, and the upper covers include first to sixth upper covers 107a, 107b, 107c, 107d, 107e, 107f.

4 to 6, the ball rolling operation of the variable ball robot 10 is performed by, for example, moving the first upper cover 107a and the first lower cover 207a of the variable ball- The first bottom cover 207a and the first top cover 107a are extended outwardly to push the ground surface, and the variable ball robot 10 rotates in a clockwise direction, . When the variable ball robot 10 rotates at a predetermined angle, the second upper cover 107b and the second lower cover 207b are brought into close contact with the ground. At this time, the second upper cover 107b and the second lower cover 207b are unfolded and push the ground again, and the third to sixth upper covers 107c, 107d, 107e, 107f, The sixth bottom covers 207c, 207d, 207e, and 207f are unfolded in order to push the variable ball robot 10 to maintain the ball rolling operation.

FIG. 7 is a cross-sectional view showing a state in which the variable ball robot according to another embodiment of FIG. 3 moves to the inside to increase the ball rolling operation speed, FIG. 8 is a view showing the ball roll of the variable ball robot according to another embodiment of FIG. Sectional view showing a state of moving to an additional outside in order to lower the operating speed.

Referring to FIGS. 7 and 8, the variable ball robot 10 is in a state of rotating and rolling by the ball rolling operation. At this time, if the weight 343 located at the outer edge moves toward the inside of the variable ball-type robot 10, the mass inertial moment becomes small, so that the speed of the ball rolling operation is increased. The increase in the speed of the ball rolling operation is advantageous in overcoming an obstacle or a sloping part.

On the contrary, when the variable ball-type robot 10 is rotating rapidly, when the weight 343 moves from the inside to the outside, the mass inertial moment becomes large. Therefore, every time the variable ball- The speed of the ball rolling operation is reduced. The speed reduction of the ball rolling operation is advantageous in that a stable ball rolling operation can be performed when moving up or down a slow but sloping region.

FIGS. 9 and 10 are side views showing a method of driving a sensor provided in the variable ball robot of FIG.

For convenience of explanation, the variable ball robot 10 includes, for example, six upper legs and six lower legs, each of which is formed by combining six upper covers and lower covers to form a ball shape .

The lower covers include first to sixth lower covers 207a, 207b, 207c, 207d, 207e, 207f, and the upper covers include first to sixth upper covers 107a, 107b, 107c, 107d, 107e, 107f.

Referring to FIGS. 3 and 9, the sensors 500 are formed between the upper covers and the lower covers formed on the outside of the speed control unit 340, respectively. The sensor 500 is disposed between each of the upper covers 107a, 107b, 107c, 107d, 107e and 107f located at the center and the lower covers 207a, 207b, 207c, 207d, 207e, Are formed. The sensor 500 uses an ultrasonic sensor and selectively operates only the sensor 500 positioned in the direction of rotating forward in accordance with the ball rolling operation through the gyro sensor formed inside the variable ball robot 10 do.

Referring to FIGS. 9 and 10, only the sensor 500, which is formed in a direction in which the ball 500 rotates and moves in the ball rolling operation, is selectively operated to detect obstacles appearing in a forward direction. Accordingly, the variable ball-type robot 10 advances to the ball rolling operation and senses an obstacle appearing in a direction of advancing to the sensors 500. If the obstacle can be overcome by speeding up, the weight type ball robot 10 can move the weight 343 to the inside If the speed is to be decreased, there is a remarkable effect that the weight 343 can be moved in the outward direction to reduce the speed.

The variable ball robot 10 is controlled by a remote controller such as a smart phone application or a computer program including a display, and a remote controller.

When a robot selection button displayed on the display of the remote control device is pressed, a separate selection window is displayed and the variable ball robot 10 can be selected in the selection window. When one robot is selected in the selection window, the remote controller transmits a signal corresponding to the selected robot to the variable ball robot 10 and changes to a robot selected from the remote control device.

A camera is formed above the first frame 300a of the variable ball-type robot 10. When a signal of the remote-control device is received, the first legs 100 are deployed at a predetermined angle, The camera protrudes through the space. The camera is controlled through the remote controller, and the recorded image is stored in the internal memory or in real time on the display of the remote control device.

A camera is disposed at the center of the variable ball robot 10, and the camera is protruded through a central space formed by the third legs 400 being deployed at a certain angle. The camera is controlled through the remote controller, and the recorded image is stored in the internal memory or in real time on the display of the remote control device.

Fig. 11 is a perspective view showing the multi-legged walking of the variable-type ball robot shown in Fig. 3;

For convenience of explanation, the variable ball robot 10 includes six first through sixth lower legs 407a, 407b, 407c, 407d, 407e, and 407f, for example.

Referring to FIG. 11, the variable ball robot 10 includes a first movement group 450 and a second movement group 460.

The first movement group 450 includes the first lower leg 407a, the third lower leg 407c and the fifth lower leg 407e, and the second movement group 460 includes the first 2 lower leg 407b, the fourth lower leg 407d, and the sixth lower leg 407f.

The variable ball robot 10 moves in the first direction 470 and the first moving group 450 simultaneously moves away from the ground in the first direction 470 and lands on the ground at the same time, (10). While the first movement group 450 supports the variable ball robot 10, the second movement group 460 moves away from the ground in the first direction 470 and lands on the ground at the same time, And the second movement groups 450 and 460 are performed.

FIG. 12 is a flowchart showing a driving method of the variable ball robot of FIG. 3;

The variable ball-type robot 10 is turned on and ready for driving (step S101).

A wireless communication connection is formed between the circuit part of the variable ball robot 10 and the remote controller during wireless communication including Wi-Fi or Bluetooth (step S102).

When the wireless communication connection is established, the variable ball robot 10 forms a standing as a second leg as a multi-legged robot (step S103).

When the wireless communication connection is established, the gyro sensor formed inside the variable ball robot 10 operates to recognize the direction (step S104).

The variable ball robot 10 moves through the ball rolling operation by selecting a rolling operation displayed on the display of the remote control device (step S105).

The variable ball-type robot 10 rotates or advances by the multi-legged walking of the second legs in step S106.

When the variable ball robot 10 moves to a target point, a camera formed inside the variable ball robot 10 protrudes outward to start image capturing (step S107).

And transmits the image recorded by the camera of the variable ball-type robot 10 to the remote controller (step S108).

The remote controller receives the image transmitted from the variable ball robot 10 (step S109).

The image is received by the remote control device, and the variable ball robot 10 is terminated (step S110).

According to the embodiments of the present invention as described above, a battery is formed in the upper center of the second frame 300c of FIG. The battery can be charged either wired or wirelessly. For example, in order to charge the variable ball robot 10, a complicated charger connection drive is required to go to a position where the charger is installed. However, when a wireless charging module of a magnetic induction type or a magnetic resonance type is mounted under the battery, 10) can be charged wirelessly if it is located within a certain distance from the wireless charger. Therefore, the convenience of the user can be improved by installing the wireless charging module in the variable ball robot 10.

The variable ball robot 10 moves the position of the weight 343 to the inside or the outside to control the speed of the ball rolling operation. The variable ball-type robot 10, through the speed control, has a remarkable effect of avoiding an obstacle by avoiding an obstacle by avoiding the obstacle due to the high speed and the elasticity of the upper and second covers have.

The sensor 500 may be formed between each of the first covers 100g and the second covers 207 so as to detect obstacles ahead of the ball 200 encountered by the ball rolling operation. Accordingly, when the front obstacles are sensed, there is a remarkable effect that the obstacle can be avoided or overcome by controlling the speed by the movement of the weight 343.

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 present invention as defined by the following claims. It can be understood that it is possible.

The variable ball robot according to the present invention has the possibility of being industrially usable for navigation or military use because of its ease of movement due to the ball rolling operation and the speed control function through movement of the weight.

10: variable ball robot 21: first unit
22: second unit 23: third unit
100: first leg 207: second cover
208: seventh motor 300: body part
340: speed control section 341: first screw gear
342: first gear 343:
450: first movement group 460: second movement group
470: First direction

Claims (11)

In a variable ball robot including a first unit and a second unit that are coupled to each other to form a ball shape,
A first frame positioned at an upper portion or a lower portion;
First connection portions protruding from the outer surface of the first frame;
A second frame positioned above or below the first frame;
Second connecting portions protruding from the outer surface of the second frame; And
And a plurality of first legs coupled to the upper and lower portions of the coupling portion so as to be rotatable in the left and right direction of the first frame and the second frame, respectively,
Each of the first legs,
A first motor coupled between the first connection portions and the second connection portions and rotating leftward and rightward;
A second motor coupled adjacent to an exterior of the first motor;
A first H link, one end of which is coupled to the second motor and is rotated up and down by driving of the second motor; And
And a third motor coupled to the other end of the first H link and rotating up and down,
Wherein the first and second frames are each formed with a hole at the center thereof, wherein the first legs are coupled between the first and second connection portions, respectively. 2. The apparatus of claim 1, wherein each of the first legs comprises:
A first rod coupled to the third motor to rotate up and down by driving the third motor, to support weight, and to prevent slipping; And
And a first cover which is coupled to the outside so as to mitigate the impact and prevent the inflow of foreign matter and is resilient. 3. The method of claim 2,
Wherein the first covers include any one of elastic metal, reinforced plastic and composite material,
Wherein the first covers and the second covers are in close contact with each other when the first legs and the second legs are retracted inward, thereby forming a ball shape as a whole. The apparatus of claim 1, wherein the second unit comprises:
Second legs formed below the first unit;
A seventh motor formed on an inner side surface of the second legs; And
And second covers coupled to the outside of the second legs to mitigate impact, prevent foreign matter from entering, and have elasticity,
Wherein the second legs have the same structure as the first legs and are coupled with the first unit in a vertically symmetrical structure and a speed control unit is formed between the first unit and the second unit. robot. The method according to claim 1 or 4,
The first cover and the second cover, which partially come in close contact with the ground surface, are simultaneously unfolded,
The first cover and the second covers adjacent to each other, which are sequentially in contact with the ground while starting to rotate by the ball rolling operation, are each continuously deployed and rolled by a force pushing the ground,
Wherein the first cover and the second covers are respectively retracted and then retracted. 5. The apparatus of claim 4,
A seventh motor coupled between the first lower frame and the second lower frame;
A first gear coupled to the seventh motor and positioned between the second upper frame and the first lower frame;
A first screw gear vertically engaged with the first gear; And
And a weight which is engaged with the first screw gear and moves inward or outward according to the rotation direction when the first screw gear rotates. The method according to claim 6,
The weight of the ball-shaped variable ball-robot rotates in proportion to the distance of movement of the weight in the outward direction, and the speed of the ball-rolling operation is increased in proportion to the distance of movement in the inward direction Wherein the ball-shaped robot is a ball-shaped robot. 5. The method of claim 4,
Wherein one sensor is located between each of the first legs and the second leg,
Wherein the sensor is operated when the sensor is positioned on the front side in the moving direction to determine whether or not an obstacle is present, and does not operate when the sensor is not on the front side. 5. The method of claim 4,
And a control circuit formed on the second frame,
Wherein the control circuit includes a receiver for receiving a signal transmitted from a remote control device, and controls the first to third motors according to a received signal. In a variable ball robot including a first unit and a third unit that are coupled to each other to form a ball shape,
A third frame positioned at an upper portion;
A plurality of fourth motors coupled to an upper portion of the third frame;
A plurality of first links each coupled to the fourth motors and rotating up and down;
Second fasteners respectively coupled to the first links; And
And third covers coupled to the second fasteners to reduce impact and prevent foreign matter from entering the first and second fasteners. 11. The method of claim 10,
The first cover and the third cover, which partially come in close contact with the ground surface, are simultaneously unfolded,
The first cover and the third covers adjacent to each other, which are in turn contacted to the ground surface, start to rotate by the ball rolling operation, and each of the first cover and the third cover is rolled by force pushing the ground continuously,
Wherein the first cover and the third covers are respectively retracted and then retracted.

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