KR101675504B1 - Moving Robot Having Multiple Protrusion Members - Google Patents

Moving Robot Having Multiple Protrusion Members Download PDF

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Publication number
KR101675504B1
KR101675504B1 KR1020150045158A KR20150045158A KR101675504B1 KR 101675504 B1 KR101675504 B1 KR 101675504B1 KR 1020150045158 A KR1020150045158 A KR 1020150045158A KR 20150045158 A KR20150045158 A KR 20150045158A KR 101675504 B1 KR101675504 B1 KR 101675504B1
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KR
South Korea
Prior art keywords
main body
mobile robot
protrusions
protrusion
mesh
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Application number
KR1020150045158A
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Korean (ko)
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KR20160116843A (en
Inventor
양현석
김용준
Original Assignee
연세대학교 산학협력단
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Application filed by 연세대학교 산학협력단 filed Critical 연세대학교 산학협력단
Priority to KR1020150045158A priority Critical patent/KR101675504B1/en
Publication of KR20160116843A publication Critical patent/KR20160116843A/en
Application granted granted Critical
Publication of KR101675504B1 publication Critical patent/KR101675504B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065—Snake robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1085—Programme-controlled manipulators characterised by positioning means for manipulator elements positioning by means of shape-memory materials

Abstract

A mobile robot including a plurality of projections is disclosed. The mobile robot 100 according to the embodiment of the present invention includes: a body portion having a flexible structure that can be bent in an arbitrary direction; At least two bending drivers mounted at equal intervals along the outer circumferential surface of the transverse main body of the main body; And a plurality of protrusions protruding from the outer surface of the main body by a predetermined length, the protrusions being aligned in one direction and having an elastic force of a predetermined magnitude.
According to the mobile robot of the present invention, since the main body portion and the driving portion, which can implement the swim of the fish, and the protruding portion that mimics a plurality of protruding portions of the steel quick pool are provided, It is possible to provide a mobile robot that can travel.

Description

 [0001] Moving Robot Having Multiple Protrusion Members [

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a mobile robot including a plurality of protrusions, and more particularly, to a mobile robot that can easily travel in various environments including narrow and rough terrain.

1 is a photograph showing a mobile robot according to the prior art.

As shown in FIG. 1, a large number of robots capable of moving in a narrow space have been developed so far.

Figure 1 (a) shows Robobee developed by Harvard University's SEAS team. (B) Star developed by UC Berkeley University. (C) Paroys developed by Yonsei University. (D) Asterisk, (e) Meshworm developed by MIT, and (f) ACM-R5H developed by Hibot, Japan.

FIG. 1 (a) shows a robot flying on a small wing, (b) a robot traveling on a rough terrain by using a sawtooth type rotary blade, (c) a robot traveling in a pipe by using an infinite orbit, (d) is a multifunctional robot having a plurality of joints, (e) is a robot that wriggles using a mesh structure, and (f) is a robot that travels like a snake using a body formed with a plurality of joints.

These robots have different transport mechanisms to drive narrow and rough terrain.

However, the above-mentioned robots have problems. Specifically, Robobee in (a) has a problem that it is difficult to fly in a very narrow space. In case of (b) Star, it is difficult to downsize because it uses many motors and uses a saw blade type rotating blade. (C) has a problem that it is difficult to downsize because it uses an infinite orbit, and (d) the Asterisk requires a lot of driving motors to support and move the body, (E), there is a problem that the support is required to support the body in the case of the meshhworm having a very weak force, and (f) In this paper, we propose a new control algorithm for the driving motors. "He said.

Accordingly, there is a need for a technique capable of solving the problems of the conventional mobile robot.

Korean Published Patent Application No. 10-2012-0014379 (published on Feb. 17, 2012)

It is an object of the present invention to provide a mobile robot which can easily travel in various environments including narrow and rough terrain.

According to an aspect of the present invention, there is provided a mobile robot comprising: a body portion having a flexible structure that can be bent in an arbitrary direction; At least two bending drivers mounted at equal intervals along the outer circumferential surface of the transverse main body of the main body; And a plurality of protrusions extending from the outer surface of the main body part by a predetermined length, the protrusions being aligned in one direction and having an elastic force of a predetermined magnitude.

In this case, the bending drive unit may be selected from the group consisting of: a muscle wire moving by an electric signal, a shape memory alloy moving by an electric signal (Shape Memory Alloy, SMP), and a tube moving by hydraulic pressure.

According to another aspect of the present invention, there is provided a mobile robot comprising: a tubular structure having a flexible structure capable of bending in an arbitrary direction; A cable which is mounted on one end of the main body and has a rotation pulley and is driven to rotate in one direction or the other direction by a rotation operation of the rotation pulley is mounted on the rotation pulley, A driving unit coupled to the other end of the portion; And a plurality of protrusions extending from the outer surface of the main body part by a predetermined length, the protrusions being aligned in one direction and having an elastic force of a predetermined magnitude.

According to another aspect of the present invention, there is provided a mobile robot comprising: a tubular structure of a flexible structure capable of bending in an arbitrary direction; Wherein a cable driven in one direction or another direction is mounted to each of the rotation pulleys by a rotation operation of the rotation pulley, and both ends of the cable are mounted on the mounting positions A driving unit which is coupled to the other end of the main body facing the main body; And a plurality of protrusions extending from the outer surface of the main body part by a predetermined length, the protrusions being aligned in one direction and having an elastic force of a predetermined magnitude.

According to another aspect of the present invention, there is provided a mobile robot comprising: at least two body portions each having a cylindrical structure and connected to each other by a main body connection portion; A main body connecting portion having a flexible structure which is mounted on both ends of the driving portion fixing member and is arranged between the two driving portion fixing members so as to be spaced apart from each other by a predetermined distance so as to be connected to each other and to be bent in an arbitrary direction; A cable driven in one direction or the other by a rotation operation of the rotation pulley is mounted to each of the rotation pulleys, and the cable is mounted on the driving unit fixing member mounted on both ends of the main body connection portion, The driving unit being coupled to the other end of the main body opposite to the mounting position of each of the driving units; And a plurality of protrusions extending from the outer surface of the main body part by a predetermined length, the protrusions being aligned in one direction and having an elastic force of a predetermined magnitude.

Also, a guide hole through which the cable can move may be formed in the body portion.

In an embodiment of the present invention, the main body may be a tube made of a flexible material or a coil spring composed of a plurality of coils.

In one embodiment of the present invention, the rotation pulleys of the driving units mounted on both end portions of the main body may be installed in directions in which the rotation shafts of the respective rotation pulleys are orthogonal to each other.

In an embodiment of the present invention, both end portions of the cable bundled at both ends of the main body portion may be arranged symmetrically with each other at a predetermined interval on a transverse plane.

According to an embodiment of the present invention, a mesh-like member having a plurality of through-holes is formed on an outer surface of the main body to surround the main body, and a plurality of protrusions are formed on the outer surface of the main body through the through- As shown in FIG.

In this case, the cable located between the rotating pulley and the other end of the main body portion can be connected to the mesh-like member through the plurality of through-holes of the mesh-like member, passing through the inside and outside of the mesh-like member.

Further, the mesh-like member can be changed in the longitudinal direction of the main body portion to change the protruding direction of the protruding portion.

Further, the mesh-like member can be changed in the circumferential direction of the main body to change the protruding length of the protruding portion.

According to an embodiment of the present invention, a fixing member for mounting a plurality of protrusions in a hinge structure may be mounted on the outer surface of the main body portion so as to surround the main body portion.

In this case, the protruding portion is an isosceles triangular or triangular structure on the side surface, and any one vertex portion having the same length on both sides adjacent to each other is bound to the fixing member and the hinge structure, and extends from the vertex portion toward the main body portion, And the fixing member changes its position in the longitudinal direction of the main body to change the protruding direction of the protruding portion.

In one embodiment of the present invention, the mobile robot further includes a power supply unit mounted inside the main body and supplying power to the driving unit. At this time, the power supply unit may be a secondary battery which can be charged and discharged.

In one embodiment of the present invention, the mobile robot may further include: a control unit mounted inside the main body and controlling the operation of the driving unit. The mobile robot may further include: a sensor mounted inside the main body and capable of detecting the state of the peripheral feature of the mobile robot; And a position sensor mounted inside the main body and detecting a direction and an arrangement of the mobile robot, wherein the controller can control operation of the driving unit based on data detected through the sensing sensor and the position sensor.

The present invention can also provide a mobile robot including two or more mobile robots, wherein the mobile robots are connected to each other by a flexible connection structure, a hinge structure, or a universal joint.

As described above, according to the mobile robot of the present invention, by providing the main body portion and the driving portion capable of realizing the swim of the fish, and the protruding portion mimicking the plurality of protruding portions of the dog pool, it is possible to provide a narrow, It is possible to provide a mobile robot that can easily travel in various environments including a mobile robot.

Further, according to the mobile robot of the present invention, by providing the mesh-like member or the fixing member capable of changing the protruding direction of the protruding portion, it is possible to easily change the traveling direction in various environments including narrow and rough terrain.

Further, according to the mobile robot of the present invention, since the protruding length of the protruding portion can be changed and the main body portion is provided, the protruding length of the protruding portion can be adjusted to suit various environments including narrow and rough terrain, It is possible to provide a mobile robot that can easily travel.

1 is a photograph showing a mobile robot according to the prior art.
2 is a front view of a mobile robot according to a first embodiment of the present invention.
3 is an enlarged view of a portion A of Fig. 2
4 is a front view showing the movement of the mobile robot shown in Fig.
5 is a perspective view showing the main body of the mobile robot shown in Fig.
6 is a perspective view of a mobile robot according to a second embodiment of the present invention.
7 is a plan view showing the mobile robot shown in Fig.
FIG. 8 is a perspective view of a mobile robot according to another embodiment of the present invention, which is different from the direction of the rotation axis of the rotation pulley of the driving unit mounted on both ends of the main body in the mobile robot shown in FIG.
9 is a plan view showing the mobile robot shown in Fig.
10 is a perspective view showing a mobile robot according to a third embodiment of the present invention.
11 is an exploded view of the mobile robot shown in Fig.
12 to 16 are schematic diagrams for explaining the principle of moving motion implementation of a mobile robot according to an embodiment of the present invention.
17 is a schematic diagram illustrating various environments in which a mobile robot can move according to an embodiment of the present invention.
18 is a perspective view showing a structure of a projection according to an embodiment of the present invention.
19 is a front view showing the structure of the protrusion shown in Fig.
20 is a cross-sectional view showing the operation principle of the projection shown in Fig.
21 is a cross-sectional view showing the structure of a projection according to another embodiment of the present invention.
Figs. 22 and 23 are cross-sectional views showing a state in which the projecting portion shown in Fig. 21 is actuated to change the projecting direction.
FIG. 24 is a perspective view showing a structure of a protrusion part capable of changing a protrusion length according to an embodiment of the present invention. FIG.
25 is a front view of a mobile robot according to another embodiment of the present invention.
26 is a front view of a mobile robot according to another embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. Prior to the description, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary meanings and should be construed in accordance with the technical concept of the present invention.

Throughout this specification, when a member is "on " another member, it includes the case where there is another member between the two members as well as when the member is in contact with the other member.

Throughout this specification, when an element is referred to as "including" an element, it is understood that it may include other elements as well, without departing from the other elements unless specifically stated otherwise.

The mobile robot according to an embodiment of the present invention may include a main body, a bending driver, and a protrusion 130.

Specifically, the body portion can be a flexible structure that can be bent in any direction. In addition, the bending drive unit may be mounted at two or more in the longitudinal direction of the main body, and may be disposed at regular intervals along the outer peripheral surface of the main body on the transverse side of the main body. The plurality of protrusions may extend from the outer surface of the main body portion by a predetermined length and may be formed of a material having a certain size of elasticity, the protrusions being aligned in one direction.

The operation of the bending drive unit allows the main body to perform a wiggling operation, whereby the mobile robot is moved by the plurality of protrusions formed on the outer surface of the main body.

The above-mentioned bending drive unit is not particularly limited as long as it is a member or apparatus capable of wiggling the body portion. For example, the bending drive unit may be formed by a musical wire moving by an electric signal, a shape memory alloy (SMP) , Or a tube that is moved by hydraulic pressure. The type of the bending driver described above is only one example, and it is needless to say that the bending driver can be appropriately changed according to the designer's intention.

Hereinafter, a detailed configuration will be described in detail.

FIG. 2 is a front view showing a mobile robot according to a first embodiment of the present invention, and FIG. 3 is an enlarged view of a portion A in FIG. Fig. 4 is a front view showing the movement of the mobile robot shown in Fig. 2, and Fig. 5 is a perspective view showing the main body of the mobile robot shown in Fig.

Referring to these figures, the mobile robot 100 according to the present embodiment may include a main body 110, a driving unit 120, and a protrusion 130 formed on an outer surface of the main body.

5, the main body 110 may have a flexible tubular structure that can be bent in an arbitrary direction, and may have a structure in which the driving unit 120 is mounted at one end thereof. In some cases, the body portion 110 may be a tube made of a flexible material or a coil spring composed of a plurality of coils.

The driving unit 120 may be mounted on one end of the main body 110 and include a rotating pulley 121. At this time, a cable 125 driven in one direction or the other direction by the rotation of the rotation pulley 121 may be mounted on the rotation pulley 121. 2 and 3, both ends of the cable 125 can be coupled to the other end portion of the main body portion 110 facing the mounting position of the driving portion 120 (refer to F1 portion in Fig. 3) have.

2 and 3, a mesh member 160 having a plurality of through holes may be mounted on the outer surface of the main body 110 so as to surround the main body 110. At this time, a plurality of protrusions 130 may be fixed to the outer surface of the main body 110 through the through-holes 161 of the mesh-like member 160.

Therefore, as shown in FIG. 4, the cable 125 can be moved in one direction by the rotating operation of the rotating pulley 121 mounted on the driving unit 120. One end of the main body 110 fixed to one end of the cable 125 is pulled in one direction by the cable 125. As a result, the main body 110 can be bent in one direction.

3, a cable 125 positioned between the rotating pulley 121 and the other end of the main body 110 is formed in a substantially cylindrical shape so as to more reliably realize the bending operation of the main body 110, Like member 160 through the plurality of through-holes 161 of the mesh-like member 160. The mesh-like member 160 may be connected to the mesh-like member 160 through the inner and outer sides of the mesh-

The rotation direction of the rotation pulley 121 of the driving unit 120 may be periodically rotated clockwise and counterclockwise to periodically change the bending direction of the main body 110. As a result, It is possible to implement the wobbling motion of the robot 100.

2 and 3, the protrusion 130 may protrude from the outer surface of the main body 110 by a predetermined length. Also, the projecting direction may be arranged in one direction, and may be made of a material having an elastic force of a predetermined size.

FIG. 6 is a perspective view showing a mobile robot according to a second embodiment of the present invention, and FIG. 7 is a plan view showing the mobile robot shown in FIG.

Referring to these figures, the mobile robot 200 according to the present embodiment includes the driving unit 120 mounted on both ends of the main body 110, and the moving robot 200 according to the first embodiment, And the other configuration is the same. Therefore, only the driving unit 120 of the mobile robot according to the second embodiment will be described in detail below. 6, only a part of the protrusion 130 is shown for convenience of explanation.

The driving unit 120 of the mobile robot 200 according to the present embodiment may be mounted at both ends of the main body 110 as shown in FIG. Each of the rotation pulleys 121 and 122 is provided with a cable 125 which is driven in one direction or the other direction by the rotation of the rotation pulleys 121 and 122 . At this time, both ends of the cable 125 can be coupled to the other end of the main body 110, which faces the mounting position of the respective driving parts 120.

6 and 7, the rotation pulleys 121 and 122 of the driving unit 120 mounted on both ends of the main body 110 are connected to the rotation shafts 121 and 122 of the rotation pulleys 121 and 122, respectively, (121A, 122A) may be installed in directions perpendicular to each other. At the same time, both end portions 125 of the cables, which are respectively coupled to both ends of the main body 110, can be symmetrically arranged with a predetermined interval on the transverse plane.

Therefore, as shown in FIG. 6, the main body 110 of the mobile robot 200 according to the present embodiment can be bent in a left-right direction and a vertical direction on a plane. The main body 110 of the mobile robot 200 can be bent in an arbitrary direction by simultaneously performing the left-right motion and the up-and-down motion. 6, the main body 110 of the mobile robot 200 according to the present embodiment includes an operation to rotate with the X axis as a rotation axis, an operation to rotate with the Y axis as a rotation axis, Can be implemented.

As a result, the mobile robot 200 according to the present embodiment can implement an operation to wiggle in an intended direction.

FIG. 8 is a perspective view showing a mobile robot according to another embodiment of the present invention, which is different from the direction of the rotating shaft of the rotating pulley, and FIG. 9 is a plan view showing the mobile robot shown in FIG. 8, only a part of the protrusion 130 is shown for convenience of explanation.

6 and 7, the mobile robot 200 'according to the present embodiment is configured such that, in the direction of the rotation axes 121A' and 122A 'of the rotation pulleys 121' and 122 ' 6 and the direction of the rotation axes 121A, 122A of the mobile robot 200 shown in Fig.

Specifically, the directions of the rotary shafts 121A and 122A of the mobile robot 200 'according to the present embodiment may all be parallel to the longitudinal direction of the main body 110. [

However, in the case of the mobile robot 200 'according to the present embodiment, as shown in Figs. 8 and 9, both end portions 125 of the cables, which are respectively coupled to both ends of the main body 110, It is preferable that they are spaced apart and symmetrically arranged.

Therefore, the mobile robot 200 'according to the present embodiment can also implement the same operation as the mobile robot 200 shown in FIGS.

FIG. 10 is a perspective view showing a mobile robot according to a third embodiment of the present invention, and FIG. 11 is an exploded view of the mobile robot shown in FIG. 10 and 11 show only a part of the protruding portion 130, the mesh-like member 160 and the auxiliary connecting member 165 for convenience of explanation.

Referring to these drawings, the mobile robot 300 according to the present embodiment includes at least two body parts 110, a body connecting part 140 having a flexible structure, a driving part 120 mounted at both ends of the body part 110, And a plurality of protrusions 130 formed on an outer surface of the main body 110. [

Specifically, as shown in FIGS. 10 and 11, the main body 110 has a cylindrical structure, and may be connected to each other by the main body connecting portion 140.

The main body connecting part 140 may be connected to the driving part fixing member 150 at both ends by aligning the main body part 110 by a predetermined distance between the two driving part fixing members 150 and aligning them. Also, the main body connecting portion 140 is preferably a flexible structure that can be bent in an arbitrary direction.

The driving unit 120 may be mounted on the driving unit fixing member 150 mounted on both ends of the body unit connecting unit 140, as shown in FIG. Each of the rotation pulleys 121 and 122 is provided with a cable 125 which is driven in one direction or the other direction by the rotation of the rotation pulleys 121 and 122 . At this time, both ends of the cable 125 can be coupled to the other end of the main body 110, which faces the mounting position of the respective driving parts 120.

11, a cable guide 126 having a guide hole 127 may be additionally mounted on the rotation pulleys 121 and 122 of the driving unit 120. In this case, In this case, the cable guide 126 can prevent the cable from being separated from the rotation pulleys 121 and 122, so that the cable can be stably driven.

Meanwhile, the protrusions 130 may protrude from the outer surface of the main body 110 by a predetermined length, and the protrusions may be aligned in one direction. Also, it is preferable that the protrusion 130 is made of a material having an elastic force of a predetermined size.

11, the mesh-like member 160 may be attached to the outer surface of the main body portion 110 through the auxiliary connecting member 165. In this case, as shown in Fig. At this time, the auxiliary connecting member 165 may be a flexible adhesive material coated with an adhesive material on both sides.

Also, as shown in FIGS. 10 and 11, a guide hole 111 through which the cable can move can be formed in the body 110. The guide hole 111 is preferably formed in a direction parallel to the longitudinal direction of the main body 110.

12 to 16 are schematic diagrams illustrating the principles of mobile motion implementation of a mobile robot according to an embodiment of the present invention.

Referring to FIG. 12, the head 11, the waist 12, and the tail 13 of the mobile robot 100, 200, 200 ' The mobile robot 10 of the present invention is simplified.

13 shows a state in which the mobile robot 10 wiggles in one direction. Specifically, the upper portion of the head portion 11 is driven in the right direction, and at the same time, the upper portion of the tail portion 13 is driven in the leftward direction. At this time, the upper portion of the waist portion 12 between the head portion 11 and the tail portion 13 is driven in the left direction.

As shown in Fig. 14, the head 11 and the tail 13 are driven in different directions, and friction between the projection and the wall surface 1 can be caused.

Specifically, as the upper part of the head part 11 is driven to the right, the protruding part located on the right side of the head part 11 presses the wall surface located on the right side. As a result, the protruding part located on the right side of the head part 11 A frictional force is exerted on the wall surface located on the right side upward, and the head 11 can be displaced upward. On the other hand, the protrusion located on the left side of the head part 11 can be displaced along the head part 11 by sliding with the wall surface located on the left side.

As the upper portion of the tail portion 13 is driven to the left side, the projection portion located on the left side of the tail portion 13 presses the wall surface located on the left side. As a result, the projection portion located on the left side of the tail portion 13, And the tail portion 13 can be displaced upwardly. On the other hand, the protrusion located on the right side of the tail portion 13 can be displaced along the tail portion 13 while sliding on the wall surface located on the right side.

On the other hand, as shown in FIG. 15, the waist portion 12 can perform a dependent driving by driving the head portion 11 and the tail portion 13. Specifically, as the upper portion of the waist portion 12 is driven to the left, the projection portion located on the left side of the waist portion 120 presses the wall surface on the left side. As a result, the projection located on the left side of the waist portion 12 A frictional force directed upward with the wall surface located on the left side can be generated, and the waist portion 12 can be displaced upward. On the other hand, the protrusion located on the right side of the waist portion 12 can be displaced along the waist portion 12 while sliding on the wall surface located on the right side.

As a result, as shown in Fig. 16, the mobile robot 10 can move along the wall surface through the wobbling motion.

17 is a schematic diagram illustrating various environments in which a mobile robot can move according to an embodiment of the present invention.

As described above, the mobile robots 100, 200, 200 ', and 300 according to various embodiments of the present invention can travel in various narrow and narrow sections.

Specifically, the mobile robots 100, 200, 200 ', and 300 according to various embodiments of the present invention may include a continuous bending section L1, a curve section L2, a 120 degree bending section L3, a 90 degree bending section L4 and the rugged section L5.

Therefore, according to the mobile robot of the present invention, by providing the body portion and the driving portion capable of swinging the fish, and the protruding portion mimicking the plurality of protruding portions of the dog pool, it is possible to provide various environments including narrow and rough terrain It is possible to provide a mobile robot which can be easily moved on the road.

FIG. 18 is a perspective view showing the structure of the protrusion according to the embodiment of the present invention, and FIG. 19 is a front view showing the structure of the protrusion shown in FIG. 20 is a sectional view showing the operation principle of the projection shown in Fig.

The mesh-like member 160 according to the present embodiment can change the protruding direction of the protrusion 130 by changing the position in the longitudinal direction of the main body 110.

18, the plurality of protrusions 130 may be fixed to the outer surface of the main body 110 through the through-holes 161 of the mesh-like member 160. As shown in FIG. At this time, the protrusion 130 is preferably made of a material having elasticity of a predetermined size.

At this time, as shown in FIG. 19, the protrusion direction of the protrusion 130 can be changed by changing the position of the mesh-like member 160 in the longitudinal direction of the main body 110.

The principle of the positional change of the mesh-like member 160 will be described in detail with reference to FIG.

As shown in FIG. 20, both ends of the mesh-like member 160 can be bound to a bi-moving member 177 which is displaced along the inside of the body portion 110. A lubricant coating portion 178 is formed between the both moving member 177 and the inner surface of the main body portion 110 so that the bi-moving member 177 smoothly moves along the inner surface of the main body portion 110 . The lubricant coating portion 178 is also formed between the mesh-like member 160 and both ends of the main body 110, so that it is possible to easily change the position of the mesh-like member 160.

The bi-directional moving member 177 is coupled to the driving unit 175 through the rotating shaft 176 and can be driven in both directions by the driving of the rotating shaft 176.

Therefore, the projecting direction of the protrusion 130 can be easily changed through the above-described configuration.

The above-mentioned method is only one embodiment, but the present invention is not limited thereto.

Therefore, according to the mobile robot of the present invention, by providing the mesh-like member capable of changing the protruding direction of the protrusion, it is possible to easily change the traveling direction in various environments including narrow and rough terrain.

21 is a cross-sectional view showing the structure of the protrusion according to another embodiment of the present invention, and Figs. 22 and 23 are sectional views showing a state in which the protrusion shown in Fig. 21 is operated to change the protrusion direction have.

Referring to these drawings, the protrusion 135 according to the present embodiment has an isosceles triangle or triangle structure on the side surface, and any one vertex portion having the same length on both sides adjacent thereto is fixed to the fixing member 170 and the hinge structure 171 Can be bound.

At this time, the fixing member 170 may be mounted so as to surround the main body 110.

A direction changing protrusion 136 extending in the direction of the main body 110 and coupled to the main body 110 may be formed at any one vertex having the same length on both adjacent sides of the protrusion 135.

Accordingly, as shown in FIGS. 22 and 23, the fixing member 170 may be displaced in the longitudinal direction of the main body 110 to change the protruding direction of the protrusion 130.

Therefore, according to the mobile robot of the present invention, since the direction changing projection portion capable of changing the protruding direction of the protruding portion, the protruding portion bound by the hinge structure, and the fixing member are provided, it is possible to easily change the traveling direction in various environments including narrow and rough terrain .

Fig. 24 is a perspective view showing the structure of a protrusion part capable of changing a protrusion length according to an embodiment of the present invention.

Referring to FIG. 24, the mesh-like member 160 according to the present embodiment can change the protruding length of the protrusion 130 by changing the position of the protrusion 130 in the circumferential direction of the main body 110.

Accordingly, the mobile robot including the configuration according to the present embodiment can adjust the length of the protrusion 130 appropriately in a narrow section of various sizes and travel. As a result, the mobile robot according to the present invention can always have the length of the protruding portion optimized in a narrow section, thereby achieving the best running efficiency.

FIG. 25 is a front view showing a mobile robot according to another embodiment of the present invention.

Referring to FIG. 25, the mobile robots 100, 200, 200 ', 300 according to the present embodiment include a power supply unit 181 mounted inside the main body 110 and supplying power to the driving unit 120 . At this time, the power supply unit 181 is preferably a secondary battery that can be charged and discharged.

25, the mobile robots 100, 200, 200 ', and 300 according to the present embodiment include a control unit 300 installed in the main body 110 and controlling the operation of the driving unit 120, (182).

The mobile robots 100, 200, 200 ', and 300 according to the present embodiment include a detection sensor 183 mounted inside the main body 110 and capable of detecting the state of the peripheral feature of the mobile robot, And a position sensor 184 mounted inside the robot 110 for detecting the direction and the orientation of the mobile robot. In this case, the control unit 182 may control the operation of the driving unit 120 based on the data detected through the sensing sensor 183 and the position sensor 184.

26 is a front view showing a mobile robot according to another embodiment of the present invention.

Referring to FIG. 26, the mobile robot 400 according to the present embodiment may include two or more mobile robots 100, 200, 200 ', and 300 according to the above-described various embodiments. At this time, the mobile robots 100, 200, 200 ', and 300 may be connected to each other by a flexible connecting structure, a hinge structure, or a universal joint.

Therefore, according to the mobile robot of the present invention, the protruding direction and the protruding length of the protruding portion can be adjusted so as to be suitable for various environments including narrow and rough terrain, thereby providing a mobile robot that can be easily adapted to various environments.

In the above description of the present invention, only specific embodiments thereof are 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. .

That is, the present invention is not limited to the above-described specific embodiment and description, and various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims. And such variations are within the scope of protection of the present invention.

1: Wall
10: Simplified mobile robot for analysis
11: Head
12: Waist
13: tail
100: Mobile robot
110:
111: Guide hole
120:
121, 121 ': rotation pulley
122, 122 ': rotation pulley
121A and 121A '
122A and 122A '
125: Cable
126: Cable guide
127: Guide hole
130: protrusion
135: protrusion
136: turning protrusion
140:
150:
160: mesh-like member
161: Through hole
165: auxiliary connection member
170: Fixing member
171: Hinge structure
175:
176:
177:
178: lubricating coating portion
181: Power supply
182:
183: Detection sensor
184: Position sensor
185: Connection
186: Camera
200: Mobile robot
200 ': Mobile robot
300: Mobile robot
400: Mobile robot
L1: continuous bending section
L2: curve section
L3: 120 degree bending section
L4: 90 degree bending section
L5: Rugged section

Claims (20)

A body portion 110 of a flexible structure which can be bent in an arbitrary direction;
At least two bending drivers mounted at equal intervals along the outer circumferential surface of the transverse main body of the main body;
A plurality of protrusions 130 protruding from the outer surface of the body portion by a predetermined length, the protrusions being aligned in one direction and having a predetermined elastic force;
And a controller for controlling the robot.
The method according to claim 1,
Wherein the bending drive unit is selected from the group consisting of a musical wire moving by an electric signal, a shape memory alloy moving by an electric signal (Shape Memory Alloy, SMP), and a tube moving by hydraulic pressure.
A tubular structure of a flexible structure which can be bent in an arbitrary direction and includes a main body 110 to which the driving part 120 is attached at one end;
A cable 125 mounted on one end of the main body 110 and provided with a rotating pulley 121 and driven by the rotating pulley 121 in one direction or another direction, And both ends of the cable 125 are coupled to the other end of the main body 110 facing the mounting position of the driving unit 120;
A plurality of protrusions 130 protruding from the outer surface of the main body 110 by a predetermined length, the protrusions being aligned in one direction and having an elastic force of a predetermined magnitude;
(100). ≪ / RTI >
A tubular structure having a flexible structure which can be bent in an arbitrary direction, and includes a main body 110 for mounting the driving part 120 at both ends thereof;
122 are mounted on both ends of the main body 110 and are provided with rotation pulleys 121 and 122. The rotation of the rotation pulleys 121 and 122 is transmitted to one side A driving unit 120 coupled to the other end of the main body 110 opposite to the mounting position of each of the driving units 120;
A plurality of protrusions 130 protruding from the outer surface of the main body 110 by a predetermined length, the protrusions being aligned in one direction and having an elastic force of a predetermined magnitude;
(200).
At least two body portions 110 connected to each other by a body connecting portion 140;
A driving part fixing member 150 is mounted at both ends and a main body part 110 is arranged between the two driving part fixing members 150 by a predetermined distance so as to be aligned with each other and connected to each other, A body connecting portion 140 of a structure;
122 are mounted on a driving part fixing member 150 mounted on both ends of the main body connecting part 140 and each of the rotating pulleys 121 and 122 is provided with a rotation pulley 121, And a cable 125 driven in one direction or another direction by a rotation operation of the driving unit 120. The cable 125 is mounted on the other end of the main body 110 opposite to the mounting position of the driving unit 120, A driving unit 120 coupled to the driving unit 120;
A plurality of protrusions 130 protruding from the outer surface of the main body 110 by a predetermined length, the protrusions being aligned in one direction and having an elastic force of a predetermined magnitude;
(300).
The method of claim 1, 3, 4, or 5,
Wherein the main body (110) is a tube made of a flexible material or a coil spring composed of a plurality of coils.
6. The method of claim 5,
And a guide hole (111) through which a cable can move is formed in the main body (110).
The method according to claim 4 or 5,
The rotation pulleys 121 and 122 of the driving unit 120 mounted on both ends of the main body 110 are installed in a direction in which the rotation shafts 121A and 122A of the respective rotation pulleys 121 and 122 are orthogonal to each other Wherein the mobile robot is a mobile robot.
The method according to claim 4 or 5,
Wherein both end portions (125) of cables, which are respectively coupled to both ends of the body portion (110), are symmetrically arranged at a predetermined interval on a transverse plane.
The method of claim 1, 3, 4, or 5,
A mesh member 160 having a plurality of through holes is mounted on the outer surface of the main body 110 to surround the main body 110,
Wherein a plurality of protrusions (130) are fixed to an outer surface of the main body (110) through a through hole (161) of the mesh - like member (160).
11. The method of claim 10,
The cable 125 positioned between the rotating pulleys 121 and 122 and the other end of the main body 110 is connected to the end of the mesh member 160 through the plurality of through holes 161 of the mesh- And is connected to the mesh-like member (160) while passing between the inner side and the outer side.
11. The method of claim 10,
Wherein the mesh-like member (160) changes its position in the longitudinal direction of the main body (110) to change the protruding direction of the protrusion (130).
11. The method of claim 10,
Wherein the mesh-like member (160) changes its position in the circumferential direction of the main body (110) to change the protrusion length of the protrusion (130).
The method of claim 1, 3, 4, or 5,
Wherein a fixing member (170) for mounting a plurality of protrusions (135) by a hinge structure (171) is mounted on the outer surface of the main body part (110) so as to surround the main body part (110).
15. The method of claim 14,
The protrusion 135 has an isosceles triangle or triangle structure on the side surface,
Any one vertex portion having the same length on both adjacent sides is bound to the fixing member 170 and the hinge structure 171,
A direction changing protrusion 136 extending from the vertex portion in the direction of the main body 110 to be coupled with the main body 110 is formed,
Wherein the fixing member (170) changes its position in the longitudinal direction of the main body (110) and changes the projecting direction of the protrusion (130).
The method of claim 1, 3, 4, or 5,
The mobile robot includes:
Further comprising a power supply unit (181) mounted inside the body part (110) and supplying power to the bending drive unit or the drive unit (120).
17. The method of claim 16,
Wherein the power supply unit (181) is a secondary battery capable of charging and discharging.
The method of claim 1, 3, 4, or 5,
The mobile robot includes:
Further comprising a control unit (182) mounted inside the main body (110) and controlling the operation of the bending drive unit or the drive unit (120).
19. The method of claim 18,
The mobile robot includes:
A detection sensor 183 mounted inside the main body 110 and capable of detecting the state of the peripheral feature of the mobile robot; And
A position sensor 184 installed inside the main body 110 for detecting the direction and arrangement of the mobile robot;
Lt; / RTI >
Wherein the control unit (182) controls the operation of the bending drive unit or the drive unit (120) based on the data detected through the detection sensor (183) and the position sensor (184).
A mobile robot comprising: at least two mobile robots according to any one of claims 1, 3, 4, and 5,
Wherein the mobile robot is coupled to each other by a flexible connection structure, a hinge structure, or a universal joint.
KR1020150045158A 2015-03-31 2015-03-31 Moving Robot Having Multiple Protrusion Members KR101675504B1 (en)

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