KR101714505B1 - Actuating Device And Multi-Joint Walking Robot Having The Same - Google Patents

Abstract

The present invention relates to a driving device capable of driving a plurality of objects to be driven through a same rotation shaft, and capable of simultaneously providing driving forces of different sizes; and a multi-joint traveling robot including the same. According to the present invention, a driving device comprises: a center motor; a plurality of satellite motors; a plurality of gear portions; an internal gear in a form of a ring gear; and a driving disk.

Description

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

The present invention relates to a driving apparatus and a multi-joint traveling robot including the same. More particularly, the present invention relates to a driving apparatus capable of driving a plurality of driven objects through the same rotation axis and capable of simultaneously providing driving forces of different sizes, and a multi-joint traveling robot including the driving apparatus.

A robot is a machine that automatically processes or operates a given task by its own abilities, and is widely used in various fields in recent years.

Among these robots, multi-purpose traveling robots for various purposes are being introduced. Unlike conventional robots having a moving function in a wheel-rolling manner, such a multi-band traveling robot is capable of traveling at a high speed such as in a mountainous area. Recently, a multi-band traveling robot has been able to travel in a variety of environments including a plurality of joints Technology is also being introduced.

Since the traveling robot having such a multi-joint structure needs to install a driving device on all the joints for controlling the motion of each joint, the weight and volume of the traveling robot can be increased, and the amount of power consumed by the battery, And the electrical wiring connecting the joints is complicated.

In addition, if there is a joint requiring a higher driving force than the joint provided in the traveling robot, a larger and heavier driving device must be mounted for driving the corresponding joint, thereby increasing the weight and volume of the traveling robot .

Therefore, there is a desperate need for a technique in which one driving device simultaneously drives a plurality of joints, and at the same time, a driving force can be selectively provided in accordance with a driving force required for each of a plurality of joints.

The present invention can drive a plurality of driving objects simultaneously by driving a plurality of driving force output stages on the same rotation axis independently. Since each of a plurality of driving force output stages providing driving force can provide different driving forces, There is provided a driving apparatus capable of wide application and a multi-joint traveling robot including the same.

According to an aspect of the present invention, there is provided a motor control apparatus for a vehicle, comprising: a center motor having a motor shaft; a plurality of satellite motors disposed around the center motor and having a motor shaft parallel to the motor shaft of the center motor; An internal gear in the form of a ring gear which is rotationally driven in accordance with the rotation of the plurality of gears, a gear train which is mounted on the internal gear and is rotationally driven, and a motor shaft It is possible to provide a driving disk that penetrates and protrudes to the outside.

The driving disc may be driven to rotate independently of the motor shaft of the center motor about the motor shaft of the center motor.

The plurality of satellite motors may be disposed at equal intervals around the center motor.

Here, the plurality of gear portions may include a deceleration structure.

In this case, each of the plurality of gear portions may include a plurality of gears connected to rotate on different parallel axes.

Also, the internal gear may be driven by a plurality of gears in contact with at least one gear constituting each of the plurality of gears.

The driving disc may be fastened to the internal gear so that the inner side thereof surrounds the outer peripheral surface of the internal gear.

Here, the module housing may include a motor shaft of the center motor, a module housing protruding through the motor shaft of the plurality of satellite motors, and accommodating a plurality of the gear portions driven by motor shafts of the plurality of satellite motors, respectively .

In this case, the center motor and the heat dissipation unit may be provided to surround the outside of the housing of the plurality of the satellite motors and radiate heat to the center motor and the plurality of the satellite motors.

In addition, the heat dissipating unit may include a water jacket for forming a cooling channel on the outside of each of the center motor and the plurality of satellite motors, a cooling jacket for cooling the cooling fluid in the cooling channel, And a thermoelectric element in which a heat absorbing surface is mounted on the outer surface of the jacket.

The heat sink may further include a heat sink provided on a heating surface of the thermoelectric element and a heat dissipation fan mounted on the heat sink.

The heat dissipation unit may include a heat dissipation fan, a heat dissipation housing surrounding the center motor, and a plurality of the satellite motors and blowing inward through the heat dissipation fan.

According to another aspect of the present invention, there is provided a driving apparatus comprising a body, a driving device according to any one of claims 1 to 12 mounted on the body, a thigh member connected to the driving disc at one end thereof, A knee joint member connected to the other end of the thigh member, one end connected to the motor shaft of the center motor, and the other end connected to the knee joint member, and the knee joint member is connected to the thigh member A knee joint link member for rotationally driving the knee joint member, and a hip member which is mounted at one end of the knee joint member and driven in accordance with rotational driving of the knee joint member.

The knee joint link member may include a joint driving member having one end connected to the motor shaft of the center motor and rotationally driven by the driving of the center motor and one end connected to the other end of the joint driving member, And a knee joint pulling member connected to the other end of the knee joint member and driven by rotation of the joint driving member to rotate the knee joint member about the femoral component.

The knee joint link member is provided along a side surface of the femur member, and the knee joint link member and the femoral member can receive respective driving forces through the same rotation axis.

And a piston rod mounted on the femoral member and connected to the knee joint member and piston-driven in accordance with rotation of the knee joint member, wherein the damping function according to the rotational drive of the knee joint member And a cylinder for supplying the gas.

Since the driving apparatus according to an embodiment of the present invention includes a plurality of driving force output stages that are independently driven to rotate on the same rotation axis, the apparatus can be efficiently driven while minimizing the volume and weight of the apparatus to be mounted.

Further, the driving apparatus according to an embodiment of the present invention can be configured such that each of the plurality of output stages providing the driving force provides different driving forces, thereby enabling wide application of the mounted device.

In addition, since the articulated robot including the driving device according to an embodiment of the present invention can drive a plurality of articulated regions including the minimum driving device, the number of driving devices provided is minimized, And the volume can be reduced, and the production cost of the articulated robot can also be reduced.

1 shows a driving apparatus according to an embodiment of the present invention.
2 shows an exploded perspective view of a driving apparatus according to an embodiment of the present invention.
3 shows a coupling between a satellite motor, a gear portion not including a reduction gear structure, and an internal gear according to an embodiment of the present invention.
4 shows a coupling diagram between a satellite motor, a gear portion including a reduction gear structure, and an internal gear according to an embodiment of the present invention.
Figure 5 shows a drive device provided with an exterior through a module housing according to an embodiment of the invention.
6 shows a configuration in which a driving disk is separated in a driving apparatus according to an embodiment of the present invention.
FIG. 7 illustrates a driving apparatus including a water-cooled heat dissipating unit according to an embodiment of the present invention.
8 is a perspective view of the heat dissipating unit of the driving apparatus including the water-cooled heat dissipating unit according to the embodiment of the present invention.
FIG. 9 shows an internal cross-sectional view of a water-cooled heat dissipating unit according to an embodiment of the present invention.
10 shows a driving apparatus including an air-cooled heat-radiating portion according to an embodiment of the present invention.
11 is a perspective view of the heat dissipating unit of the driving apparatus including the air-cooled heat dissipating unit according to the embodiment of the present invention.
12 shows a bridge structure of a multi-joint traveling robot according to an embodiment of the present invention.
FIG. 13 illustrates the inside of a leg structure of a multi-joint traveling robot according to an embodiment of the present invention.
FIG. 14 illustrates a driving mode of a multi-joint traveling robot according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described herein but may be embodied in other forms. Rather, the embodiments disclosed herein are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the invention to those skilled in the art. Like reference numerals designate like elements throughout the specification.

FIG. 1 shows a driving apparatus according to an embodiment of the present invention, and FIG. 2 shows an exploded perspective view of a driving apparatus according to an embodiment of the present invention.

The driving apparatus 1000 according to an embodiment of the present invention includes a center motor 100 having a motor shaft 110, motor shafts 210a, 210b, and 210c parallel to the motor shaft 110 of the center motor 100, A plurality of gears 300a, 200b and 200c driven by motor shafts 210a, 210b and 210c of the plurality of satellite motors 200a, 200b and 200c, respectively, An internal gear 400 in the form of a ring gear that rotates in accordance with the rotation of the plurality of gears 300a, 300b and 300c, and an internal gear 400 mounted on the internal gear 400 to rotate, The center motor 100 may include a driving disc 500 through which the motor shaft 110 penetrates and protrudes to the outside.

The center motor 100 and the plurality of satellite motors 200a, 200b and 200c rotatably drive the respective motor shafts 110, 210a, 210b and 210c, and each of the motor shafts 110, 210a, 210b, And 210c, respectively.

The center motor 100 and the plurality of satellite motors 200a, 200b and 200c are not particularly limited as long as they can transmit the driving force to the driven object through the rotation of the rotating shaft. However, for example, A brushless less direct current motor (BLDC) may be used.

Here, the center motor 100 and the plurality of satellite motors 200a, 200b and 200c may be the same or different types. In the present invention, the center motor 100 and the plurality of satellite motors 200a The center motor 100 and the plurality of satellite motors 200a and 200b may be used instead of the center motor 100 and a plurality of the satellite motors 200a, 200b and 200c. , And 200c.

That is, as can be understood from the respective names, the plurality of satellite motors 200a, 200b, and 200c may be disposed around one central motor 100, and preferably, a plurality of the satellite motors 200a, 200b, and 200c may be spaced equidistantly from each other around the center motor 100.

The plurality of satellite motors 200a, 200b and 200c are equally spaced about the center motor 100. The plurality of satellite motors 200a, 200b and 200c are connected to the motor It can be understood that the distance between the plurality of satellite motors 200a, 200b, and 200c is maintained at the same distance, and that the same distance is spaced around the shaft 110. [

The driving force provided from each of the plurality of satellite motors 200a, 200b, and 200c may be collected and amplified. Alternatively, the driving force may be collected without a separate amplification process before being collected, So that a larger driving force can be generated.

3 shows a coupling between a satellite motor, a gear portion not including a reduction gear structure, and an internal gear according to an embodiment of the present invention.

3, the motor shafts 210a, 210b, and 210c of the plurality of satellite motors 200a, 200b, and 200c include gears 300a, 300b, and 300c, each of which includes one gear 310a, And a plurality of gear portions 300a, 300b and 300c connected to the motor shafts 210a, 210b and 210c of the plurality of satellite motors 200a, 200b and 200c are connected to the internal gears 400 So as to rotate the internal gear.

That is, in the above-described example, the plurality of gear portions 300a, 300b, and 300c rotate simultaneously to rotate the internal gear 400 so that the internal gear 400 is provided through the respective satellite motors 200a, 200b, and 200c The driving force can be collected through the internal gear 400. However, no separate driving force amplification process is required before each driving force is supplied to the internal gear 400. [

According to another embodiment, the plurality of gear portions 300a, 300b, and 300c may include a deceleration structure to drive the internal gear 400 through respective amplified driving forces, The magnitude of the driving force collected through the driving shaft 400 can be further increased.

4 shows a coupling diagram between a satellite motor, a gear portion including a reduction gear structure, and an internal gear according to an embodiment of the present invention.

4, the motor shafts 210a, 210b, and 210c of the plurality of satellite motors 200a, 200b, and 200c include gears 300a and 300b including a plurality of gears 310a, 310b, and 310c, respectively. The plurality of gears 310a, 310b and 310c constituting each of the plurality of gear portions 300a, 300b and 300c can be formed to have a deceleration structure by being connected to each other.

The plurality of gears 300a, 300b, and 300c may include a plurality of gears 300a, 300b, and 300c connected to each other and rotating on different parallel axes.

2 and 4, a plurality of gears 300a, 300b and 300c constituting each of the plurality of gear portions 300a, 300b and 300c is connected to each of the satellite motors 200a, 210b, 210c of the satellite motors 200a, 200b, 200c and the motor shafts 210a, 210b, 210c of the satellite motors 200a, 200b, 311c, respectively, so that the gear portions 300a, 300b, 300c can form a deceleration structure.

The gears 310a, 310b and 310c provided on the motor shafts 210a, 210b and 210c of the plurality of satellite motors 200a, 200b and 200c and the gear shafts 311a, 311b and 311c, respectively, A plurality of gears may be stacked on the gear shafts 311a, 311b, and 311c to rotate with the same rotation axis as shown in FIG. 2 and FIG. 4. This is because the driving apparatus 1000 according to one embodiment of the present invention The motor shafts 210a, 210b, and 210c of the satellite motors 200a, 200b, and 200c may be one of various embodiments for controlling the driving force that the driving device 1000 can implement. And gears 300a, 300b, and 300c through the gear shafts 311a, 311b, and 311c are not described in detail.

The gear portions 300a, 300b, and 300c may or may not include a deceleration structure. The gear portions 300a, 300b, and 300c may include the deceleration structure, May be optional by the designer of the device 1000 or by a third party.

However, in order to facilitate understanding of the present invention, the gear portions 300a, 300b, and 300c described below with reference to the drawings of the present invention and the detailed description thereof, And it can be understood that it is applied to the gear portions 300a, 300b and 300c which do not adopt the deceleration structure.

The plurality of gear portions 300a, 300b and 300c can rotate the internal gear 400 and rotate the internal gear 400 rotating through the plurality of gear portions 300a, 300b and 300c The driving force provided from each of the plurality of satellite motors (200a, 200b, 200c) can be collected and amplified according to driving.

The internal gear 400 may be driven by a plurality of gears 300a, 300b and 300c in contact with at least one gear constituting each of the plurality of gears 300a, 300b and 300c .

Specifically, the internal gear 400 may be in contact with at least one of the plurality of gears 300a, 300b, and 300c, through which the internal gear is connected to the plurality of gears And when the plurality of gears rotate, they can be rotationally driven accordingly.

As shown in Figs. 2 to 4, the internal gear 400 may be a circular ring gear having internal teeth formed thereon and having a constant distance from the center to all the circumferential areas. Therefore, the internal gear 400 May be rotationally driven at a constant rotation axis in accordance with rotation of the plurality of satellite motors 200a, 200b, 200c.

If the shape of the internal gear 400 is different from that of the internal gear 400, the distance from the rotation axis to the outer circumference is changed and continuously irregularly changed, 300a, 300b, and 300c, and rotational driving through them may not be possible.

Therefore, it is preferable that the internal gear 400 is formed in a circular shape having a constant distance from the center to all the peripheral regions.

Since the internal gear 400 is connected to the plurality of gears 300a, 300b and 300c and rotated by a constant rotation axis, the internal gear 400 is rotated by the rotation axis of the gears constituting each of the plurality of gears 300a, 300b and 300c The motor shafts 210a, 210b and 210c and / or the gear shafts 311a, 311b and 311c of the plurality of satellite motors 200a, 200b and 200c which can be provided are parallel to the rotation axis of the internal gear 400 And the gears 310a, 310b, 310c, which are engaged with the inner surface of the internal gear 400 among the gears 310a, 310b, 310c constituting each of the plurality of gear portions 300a, 300b, 300c, 310b, 310c may be configured with the same height as the internal gear.

The driving force provided from the plurality of satellite motors 200a, 200b and 200c is transmitted to the internal gear 400 through the gear portions 300a, 300b and 300c to rotate the internal gear 400, The internal gear 400 may rotate the drive disk 500. [

The driving disc 500 may be fastened to the internal gear 400 so that the inner side thereof surrounds the outer peripheral surface of the internal gear 400.

The driving disc 500 may have a shape corresponding to the internal gear 400 and may have a circular peripheral shape such as the internal gear 400. The internal gear 400 may be mounted on the inner surface of the driving disc 500, And may be fastened to the internal gear 400 so as to surround the outer peripheral surface of the internal gear 400.

Accordingly, the driving disc 500 can be rotated by the same rotation axis as that of the internal gear 400 by driving the internal gear 400 to rotate.

However, the driving disc 500 is not limited to the above-described shape. The driving disc 500 may include a motor shaft 110 of the center motor 100, which is driven by rotation of the internal gear 400, It is possible to use any shape as long as the shape can be rotationally driven by the same rotational axis as the rotational axis.

The plurality of satellite motors 200a, 200b, and 200c that provide the driving force for rotating the driving disk 500 are disposed around the center motor 100, And the motor shaft 110 of the center motor 100 is connected to the plurality of satellite motors 200a, 200b, 200c from the center area of the drive disc 500, which may be located on a line extending from the center area of the drive disc 500 to the center of the internal gear 400. [

The shape in which the motor shaft 110 of the center motor 100 passes through the center of the driving disc 500 is determined by the driving force of the driving disc 500 itself and the driving force of the driving disc 500, It is possible to drive different or the same driven object according to the rotation of each of the motor shafts 110 of the center motor 100.

That is, the driving disc 500 is provided from a plurality of the satellite motors 200a, 200b, and 200c and is collected through the internal gear 400 through the plurality of gear portions 300a, 300b, and 300c, The motor shaft 110 of the center motor 100 protruding through the center of the driving disc 500 is driven by a driving force of the central motor 100, which is independent of the plurality of satellite motors 200a, 200b, 100, the driving disc 500 can be driven to rotate independently of the motor shaft 110 of the center motor 100.

Here, the driving disc 500 and the motor shaft 110 of the center motor 100 may drive the same driven object, but the driving disc 500 and the center Driving one driving object through the motor shaft 110 of the motor 100 can not produce an effect suitable for the driving apparatus 1000 through the present invention and is capable of rotating the driven object through one amplified driving force The driving disc 500 and the motor shaft 110 of the center motor 100 are driven to drive different driving targets according to the embodiment of the present invention, .

In the above, driving force provided from the core components of the driving apparatus 1000 according to an embodiment of the present invention, that is, a plurality of the satellite motors 200a, 200b, and 200c is collected to drive the driving disk 500 And a driving motor provided in the center of the driving motor and driven by a driving force provided from the center motor and having a rotation axis passing through the center of the driving disk and having the same rotation axis as the driving disk, The motor shaft 110 of the motor 100 rotating and driven has been described.

Hereinafter, a module housing 600 that provides a skeleton of the structure of the driving apparatus 1000 to enable the driving apparatus 1000 to be applied to an object to be driven, and a driving apparatus 1000 ) Can be considered as a heat dissipation part which can improve the efficiency.

FIG. 5 illustrates a drive apparatus provided with an exterior through a module housing 600 according to an embodiment of the present invention.

1 and 2 and FIG. 5, the driving apparatus 1000 according to an embodiment of the present invention includes a motor shaft 110 of the center motor 100 and a plurality of the satellite motors (not shown) 210b, 210c of the plurality of satellite motors 200a, 200b, 200c are driven by motor shafts 210a, 210b, 210c of the plurality of satellite motors 200a, 200b, And a module housing 600 that receives the gear portions 300a, 300b, and 300c.

The center motor 100 and the plurality of satellite motors 200a, 200b and 200c may be fixed to the module housing 600. As shown in FIG. 2, A center motor shaft penetration portion 610 through which the motor shaft 110 of the center motor 100 can penetrate and protrude and motor shaft portions 210a, 210b, and 210c of the plurality of satellite motors 200a, 200b, May include a satellite motor shaft penetration (620) which may be penetrated.

The center motor 100 and the plurality of satellite motors 200a, 200b and 200c are connected to the motor shaft 110 of the center motor 100 and the motors of the plurality of satellite motors 200a, 200b and 200c, The shafts 210a, 210b, and 210c may be supported and fixed to the module housing 600 as they penetrate the module housing 600 and protrude therefrom.

Each of the plurality of gear portions 300a, 300b and 300c is mounted on the module housing 600 such that the motor shafts 210a, 210b and 210c of the plurality of satellite motors 200a, 200b and 200c are protruded And may be provided on the same plane and connected to the motor shafts 210a, 210b, and 210c of the plurality of satellite motors 200a, 200b, and 200c.

The plurality of gear portions 300a, 300b and 300c may be provided on the motor shafts 210a, 210b and 210c of the respective satellite motors 200a, 200b and 200c, 310b, and 310c provided on the gear shafts 311a, 311b, and 311c disposed on other parallel lines with the motor shafts 210a, 210b, and 210c of the gears 310a, The plurality of satellite motors 200a, 200b and 200c are connected to the motor shafts 210a, 210b and 210c of the satellite motors 200a, 200b and 200c, respectively, 210b and 210c are fixed to the module housing 600 while passing through the satellite motor shaft penetration portion 620 of the module housing 600 so that the motor shafts of the satellite motors 200a, 200b, The gears 310a, 310b, and 310c provided on the module housings 210a, 210b, and 210c are also positioned on the stable rotation axis through the module housing 600 It may implement a phase rotation drive.

The gears 310a, 310b and 310c constituting the gear portions 300a, 300b and 300c are not the motor shafts 210a, 210b and 210c of the satellite motors 200a, 200b and 200c, It is necessary that the gear shafts 311a, 311b and 311c are fixed to the module housing 600 so that the gears 310a, 310b and 310c are driven to be normally rotated when the gears 311a, 311b and 311c are provided .

Accordingly, the module housing 600 may include a gear shaft lower fixing hole 652 to which the plurality of gear shafts 311a, 311b, and 311c can be fixed, The gears provided on the gear shafts 311a, 311b, and 311c, one end of which is fixed to the sun gears 652 and 652, can be normally rotated by the shafts of the satellite motors 200a, 200b, and 200c.

6 shows a configuration in which a driving disk is separated in a driving apparatus according to an embodiment of the present invention.

The other ends of the gear shafts 311a, 311b, and 311c fixed to the module housing 600 through the gear shaft lower fixing holes 652 may be fixed to the gear shafts 311a, 311b and 311c can be more completely fixed and the gears 310a, 310b and 310c provided on the gear shafts 311a, 311b and 311c can be stably rotated.

The other ends of the gear shafts 311a, 311b, and 311c, one end of which is fixed to the gear shaft lower fixing hole 652 of the module housing 600, are connected to the plurality of satellite motors 200a And a gear fixing plate 350 that fixes the other ends of the gear shafts 311a, 311b, and 311c to a surface opposite to a surface on which the shafts of the shafts 200a, 200b, and 200c protrude.

2 and 6, the gear fixing plate 350 may include a gear shaft upper fixing hole 352 for fixing the other ends of the gear shafts 311a, 311b, and 311c, The gear shaft fixing hole 352 of the gear fixing plate 350 has one end fixed through the gear shaft lower fixing hole 652 of the module housing 600 and the other end fixed to the gear shaft fixing hole 352, The shafts 311a, 311b and 311c are stably fixed at one end and the other end so that the gears 310a, 310b and 310c, which can be provided on the gear shafts 311a, 311b and 311c, Lt; / RTI >

The bearings 312a, 312b, and 312c are fixed to the gear shafts 311a, 311b, and 311c by fixing one end thereof through the gear shaft lower fixing holes 652 and the other ends thereof are fixed through the gear shaft upper fixing holes 352, The rotation of the gears 310a, 310b, and 310c provided on the gear shafts 311a, 311b, and 311c can be smoothly performed. However, in general, The bearings 312a, 312b and 312c are indispensable and general matters, so that a description thereof may be omitted.

The gear fixing plate 350 can fix the other ends of the gear shafts 311a, 311b and 311c so that the gear shafts 311a, 311b and 311c, to which one ends of the gear shafts 311a, 311b and 311c are fixed, Between the housing including the lower fixing hole and the gear fixing plate 350, a predetermined space in which the gears 300a, 300b, and 300c can be positioned may exist.

Accordingly, the internal gear 400 may be positioned in a predetermined space between the module housing 600 and the gear fixing plate 350, to which a plurality of gear portions 300a, 300b, and 300c are connected.

The gear fixing plate 350 may be disposed between the internal gear 400 and the driving disc 500 to be coupled to the internal gear 400. If the gear fixing plate 350 is positioned between the internal gear 400 and the driving disc 500, When the driving disc 500 and the internal gear 400 rotate when the internal gear 400 and / or the driving disc 500 are fastened between the driving disc 400 and the driving disc 500, The driving disk 500 and the internal gear 400 may be rotated, and the driving device 1000 may not be driven.

Therefore, the driving disc 500 is positioned between the internal gear 400 and the driving disc 500 to be coupled to each other, and is not engaged with the internal gear 400 and / or the driving disc 500 And may be fixed to the other end of the gear shafts 311a, 311b, and 311c through the gear shaft upper fixing hole 352. [

The driving apparatus 1000 according to an embodiment of the present invention receives the structure of the driving apparatus 1000 and provides a skeleton to the driving apparatus 1000 to drive the driving apparatus 1000 With the module housing 600 allowing for the application of the present invention.

Since the driving apparatus 1000 is driven by the driving force provided from the center motor 100 and the plurality of satellite motors 200a, 200b and 200c, the center motor 100 and a plurality of Energy loss may occur in the course of driving the satellite motors 200a, 200b, and 200c to convert electrical energy into mechanical energy. Due to this loss, the center motor 100 and the plurality of satellite motors 200a , 200b, and 200c may generate heat.

Since the heat loss in the center motor 100 and the plurality of satellite motors 200a, 200b and 200c causes a deterioration of the function thereof, the driving apparatus 1000 includes the center motor 100, And a configuration for radiating heat to the satellite motors 200a, 200b, and 200c.

FIG. 7 is a perspective view of a driving apparatus including a water-cooled heat dissipating unit according to an embodiment of the present invention, and FIG. 8 is a perspective view of the heat dissipating unit in a driving apparatus including a water-cooled heat dissipating unit according to an embodiment of the present invention. 9 shows an internal cross-sectional view of a water-cooled heat dissipating unit according to an embodiment of the present invention.

More specifically, the driving apparatus 1000 according to an embodiment of the present invention is configured to surround the outside of the housing of the center motor 100 and a plurality of the satellite motors 200a, 200b, and 200c, And heat dissipation units 700 and 800 for dissipating heat from the plurality of satellite motors 200a, 200b, and 200c.

Generally, the heat dissipation units 700 and 800 may be water-cooled or air-cooled depending on whether the cooling medium used for radiating heat from the center motor 100 and the plurality of satellite motors 200a, 200b, and 200c is liquid or air. Air-cooled type.

The driving apparatus 1000 including the heat dissipating unit according to an embodiment of the present invention includes the center motor 100 and a plurality of the satellite motors 200a A water jacket 710 in which a cooling channel 715 is formed on the outer side of each of the water jackets 710, 200b and 200c and a cooling fluid flows in the cooling channel 715, And a thermoelectric element 720 to which a heat absorbing surface is mounted on the outer surface of the water jacket 710.

Specifically, the water jacket 710 may include a hollow portion in which the center motor 100 and the plurality of satellite motors 200a, 200b, and 200c may be positioned, and the outer circumferential surface of the hollow portion, A cooling flow path 715 through which the cooling fluid flows along the outer sides of the center motor 100 and the plurality of satellite motors 200a, 200b, and 200c can be formed.

The cooling fluid is not particularly limited as long as it can absorb heat from the center motor 100 and a plurality of the satellite motors 200a, 200b and 200c. However, for example, Can be used.

9, the cooling fluid is injected through the cooling fluid inlet 711 provided on the outer surface of the water jacket 710 and flows through the cooling channel 715 formed in the water jacket 710 And the cooling fluid absorbed from the center motor 100 and the plurality of satellite motors 200a, 200b and 200c while flowing in the cooling channel 715 is provided on the outer surface of the water jacket 710 And may be discharged through the cooling fluid outlet 712.

Since the cooling fluid injected into the cooling passage 715 is generally lower than the temperatures of the center motor 100 and the plurality of satellite motors 200a, 200b and 200c, (100) and a plurality of the satellite motors (200a, 200b, 200c) can be dissipated.

The center motor 100 and the plurality of satellite motors 200a and 200b may be driven in accordance with the time when the driving device 1000 is used, the external climatic conditions, or the design of the driving force applied to the driving device 1000. However, 200b, and 200c may have much higher heat generation.

Accordingly, the heat dissipation unit 700 may include the thermoelectric element 720 on which the heat absorbing surface is mounted on the outer surface of the water jacket 710 so as to realize higher heat dissipation performance.

The thermoelectric element 720 is a device that generates heat and absorbs heat on different sides according to the application of a current. The heat absorbing surface is mounted on the outer surface of the water jacket 710, To maximize the heat exchange efficiency between the center motor 100 and the plurality of satellite motors 200a, 200b, 200c and the cooling fluid by cooling the cooling fluid flowing through the plurality of satellite motors 200a, 200b, 200c.

Accordingly, the cooling fluid cooled through the thermoelectric element 720 can dissipate the center motor 100 and the plurality of satellite motors 200a, 200b, and 200c more quickly and effectively.

The heat absorbed by the heat absorbing surface of the thermoelectric element 720 from the cooling fluid to cool the cooling fluid may be conducted to the heat generating surface of the thermoelectric element 720.

Accordingly, the heat-generating surface of the thermoelectric element 720 radiates heat on the heat-generating surface to actively activate the heat transfer path leading to the cooling fluid, the heat absorbing surface of the thermoelectric element 720, and the heat generating surface of the thermoelectric element 720 And a heat dissipating fan 740 for blowing the heat dissipating plate 730 and maximizing heat dissipation through the heat dissipating plate 730 may be mounted on the heat dissipating plate 730. [ .

The heat dissipation unit 700 having the water-cooled structure has a structure in which the cooling fluid used as a cooling medium flows through the cooling passage 715 formed around the center motor 100 and a plurality of the satellite motors 200a, 200b, And the thermoelectric element (720) for radiating heat from the center motor (100) and the plurality of satellite motors (200a, 200b, 200c) and cooling the cooling fluid, It is possible to provide heat dissipation performance that is quicker and more effective than the conventional method.

FIG. 10 is a perspective view of a driving apparatus 1000 including an air-cooling type heat dissipating unit according to an embodiment of the present invention, to be.

The driving apparatus 1000 according to an embodiment of the present invention may use an air-cooling type structure as the heat dissipation unit 800 as well as the water-cooled structure described above.

The heat dissipating unit 800 for providing a heat dissipating function to the driving apparatus 1000 according to an embodiment of the present invention includes a heat dissipating fan 820 and a plurality of the center motors 100 and the plurality of satellite motors 200a, 200b, and 200c, and a heat dissipation housing 810 blown inward through the heat dissipation fan 820. [

The heat dissipation unit 800 is connected to the center motor 100 and the plurality of satellite motors 810 located inside the heat dissipation housing 810 through the heat dissipation fan 820 mounted on one side of the heat dissipation housing 810. [ 200b, and 200c to cool the center motor 100 and the plurality of satellite motors 200a, 200b, and 200c, there is no need to use a separate cooling fluid, Can be provided.

The heat dissipating units 700 and 800, which can radiate heat from the center motor 100 and a plurality of the satellite motors 200a, 200b and 200c by employing a water-cooled and air-cooling structure, In the heat dissipation unit 700, the outer surface of the water jacket 710 and the heat dissipation unit 800 adopting the air-cooling type structure, , And at least one radiating fin (not shown) for enhancing the cooling effect.

As described above, the structure of the driving apparatus 1000 according to an embodiment of the present invention and the coupling relationship therebetween and the additional structure capable of increasing the driving efficiency of the driving apparatus 1000 have been described.

The driving apparatus 1000 includes the motor shaft 110 and the driving disk 500 of the center motor 100 that are independently driven to rotate on the same rotating shaft so that a plurality 200b, and 200c, it is possible to collect and provide the driving force that can be provided from the plurality of satellite motors 200a, 200b, 200c, so that the driving target that requires a relatively high driving force, Can be provided.

In addition, by including the heat dissipating units 700 and 800 having a structure capable of effectively dissipating the center motor 100 and the plurality of satellite motors 200a, 200b and 200c, the lifetime of the driving apparatus 1000 can be extended And it is possible to prevent the efficiency from deteriorating.

The driving apparatus 1000 may be usefully applied to any apparatus that requires a driving force, and is preferably applicable to a multi-rotation shaft or a plurality of joints, that is, a device including a plurality of driven objects, It is useful to apply to devices that require a small weight and volume drive because they are subject to constraints.

For example, the driving apparatus 1000 may be applied to a multi-joint traveling robot that includes a plurality of joints and is driven through control of joint movement. The conventional multi-joint traveling robot controls each joint movement , A driving device mounted on each joint was driven to generate a necessary torque to rotate the joint.

However, in the above-described conventional articulated robot, since the weight and the volume of joints are increased by attaching a driving device to each joint, power consumption supplied by a battery or the like is increased, Wiring and the like become complicated.

Further, since a large driving apparatus is required to provide a driving force with high output in a joint region requiring a high driving force in accordance with the joints provided, there is a problem that the volume of the articulated- And the design of the multi-joint traveling robot is complicated.

Therefore, the driving apparatus 1000 according to an embodiment of the present invention can be mounted on the articulated robot, which can solve the above-mentioned problems in the conventional articulated robot.

Hereinafter, the multi-joint traveling robot including the driving apparatus 1000 will be described in detail.

FIG. 12 shows a bridge structure of a multi-joint traveling robot according to an embodiment of the present invention, and FIG. 13 shows an interior of a bridge structure of a multi-joint traveling robot according to an embodiment of the present invention.

The articulated robot according to an embodiment of the present invention includes a body part, the driving unit 1000 mounted on the body part, and one end connected to the driving disk 500 to rotate and drive the driving disk 500. [ A knee joint member 20 connected to the other end of the thigh member 10 and one end connected to a motor shaft 110 of the center motor 100, A knee joint link member 30 connected to the other end of the knee joint member 20 to drive the knee joint member 20 to rotate with respect to the thigh member 10 in accordance with the driving of the center motor 100, And a hip member 40 having one end mounted on the member 20 and driven in accordance with rotation of the knee joint member 20.

The multi-joint traveling robot may be used for various purposes such as a traveling robot that has two or more legs and includes a plurality of joints on each leg and is put into a disaster scene or put into military operations. In addition to the robots functioning according to the remote control or the autonomous control by the user, the robots which are directly supported by the body of the user worn on the body of the user who has lost the functions of the lower body or lowered the function of the lower body, There is also water.

Therefore, the body part (not shown) may include a controller (not shown) for controlling the articulated robot, a battery (not shown) for providing electric power for driving the articulated robot, In the case where the articulated robot is a robot that is worn on the body of the user and assists the body movement of the user, the robot may include body seating means (not shown) that is seated on the body of the user to be supported by the body of the user.

As described above, the body part may be different in structure (form) according to the purpose and design of the articulated robot, and since the characteristic of the body part is universally applied to a general robot, a detailed description of the body part And the following description will be focused on a leg structure for causing the articulated robot to travel on the articulated robot in which the driving device 1000 is applied. .

The multi-joint traveling robot according to an embodiment of the present invention may include the driving unit 1000 mounted on the body part.

The driving device 1000 functions to drive the respective joints included in the leg structure of the articulated robot and is mounted on the body part or other area of the articulated robot as in the case of the battery (not shown) And can be driven by receiving electric power from external power supply means provided outside the internal power supply means or the articulated robot.

The driving apparatus 100 can drive the articulated robot by driving the leg structures of the articulated robot.

In general, the natural running of the articulated robot includes the leg structure to which a so-called biomimetic technique is applied, which mimics a joint structure of a person or an animal. The joints of the leg structures are separately controlled, It can be defined as being able to behave like a person in an environment.

Therefore, as shown in FIGS. 12 and 13, the leg structure of the articulated robot includes the drive disk 500, the hip joint region, the knee region, the femur region, and the hip region of the human or animal leg structure, And may include the knee joint member 20, the femur member 10, and the hip member 40.

Here, the motor shaft 110 of the center motor 100 protruding through the center of the driving disc 500 and the driving disc 500 constituting the driving apparatus 1000 has the same structure as the above- , And independently driven to rotate with the same rotational axis to rotationally drive the femoral component 10 and the knee joint member 20, respectively.

Specifically, the driving disc 500 is directly coupled to the thigh member 10 to directly drive the thigh member 10, and the motor shaft 110 of the center motor 100 is coupled to the knee joint member 20 and the knee joint link member 30 to the knee joint member 20.

Here, the motor shaft 110 of the center motor 100 drives the knee joint link member 30, so that the knee joint member 20 connected to the knee joint link member 30 is driven by the knee joint member 20, It is possible to rotate and drive the ash 10.

As described above, the driving apparatus 1000 is mounted in the region of the femoral component 10, which is a hip joint region of the articulated robot, and is driven by rotation of the femur member in accordance with the rotational drive of the driving disk 500 The knee joint member 20 and the knee joint link member 30, which are knee regions of the articulated robot, can be rotated in the hip joint region in the articulated robot, 100 can rotate the knee joint member 20 to rotate the knee area of the articulated robot by rotating the motor shaft 110 of the knee joint member 20.

As described above, since the driving apparatus 1000 is installed only in the hip joint region of the articulated robot, it is possible to simultaneously drive the hip joint region and the knee region of the articulated robot. Therefore, 1000 can be minimized to provide a weight saving and volume reduction effect of the articulated robot.

Hereinafter, the engagement relationship between the thigh member 10, the knee joint member 20, the knee joint link member 30, and the hip member 40, which form the leg structure of the articulated robot, The driving mode of the multi-joint traveling robot through the apparatus 1000 can be examined in more detail.

One end of the thigh member 10 may be connected to the driving disc 500 constituting the driving apparatus 1000 and connected to a surface of the driving disc 500 perpendicular to the rotational axis of the driving disc 500 And can be rotationally driven at the same rotational axis as the rotational axis of the driving disc 500 according to the rotational driving of the driving disc 500. [

One end of the thigh member 10 and one end of the thigh member 10, which are connected to the driving disk 500 at one end, can form the femoral region of the robot, 10 may form a hip joint region of the articulated robot.

The knee joint member (20) may be connected to the other end of the femoral member (10).

The knee joint member 20 may be formed by a combination of a seat plate 21 and a right plate 22. The knee joint member 20 extends through the seat plate 21 and the right plate 22, The knee joint member 20 is rotatably driven by engaging with the femoral member 10.

The knee joint member 20 may be rotatably connected to the other end of the femur member 10 so that the knee joint member 20 can be rotated with respect to the femur member 10. The knee joint member 20 includes the femur member 10 The driving device 1000 is not directly connected to the knee joint member 20 as shown in FIG. 1, so that a means for transmitting the driving force provided by the driving device 1000 to the knee joint member 20 is needed.

One end of the link member 30 is connected to the motor shaft 110 of the center motor 100 and the other end of the link member 30 is connected to the knee joint member 20, The knee joint member 20 can be driven to rotate with respect to the femur member 10 according to driving.

Specifically, the knee joint link member 30 includes a joint driving member 31, one end of which is connected to the motor shaft 110 of the center motor 100 and is rotationally driven by the driving of the center motor 100, One end of the knee joint member 20 is connected to the other end of the joint driving member 31 and the other end of the knee joint member 20 is connected to the other end of the knee joint member 20, And a knee joint pulling member 32 for rotationally driving the femoral member 10.

The joint drive member 31 constituting the knee joint link member 30 is connected at one end to the motor shaft 110 of the center motor 100 so that the motor shaft 110 And the knee joint pulling member 32 whose one end is connected to the other end of the joint driving member 31 can be pulled and driven so as to be directed in the up and down direction in accordance with the rotation driving of the plate driving member.

Therefore, the knee joint member 20 connected to the other end of the knee joint pulling member 32 can be driven to rotate with respect to the femur member 10 in accordance with the traction drive of the knee joint pulling member 32.

The other end of the knee joint pulling member 32 can be coupled through a rotation shaft between a seat plate 21 and a right plate 22 of the knee joint member 20, The rotational axis of the joint member 20 may be parallel to the rotational axis of the knee joint member 20 coupled to the femoral component 10. [

Therefore, the knee joint member 20 can be rotationally driven by receiving a driving force from the knee joint pulling member 32 about a rotation axis that engages with the femoral member 10. [0044] FIG.

Here, the knee joint link member 30 may be provided along the side surface of the femur member 10, so that the knee joint link member 30 and the femoral member 10 are connected to each other through the same rotation axis. The driving force can be transmitted.

That is, as described above, the driving disc 500, which provides the driving force to the femoral member 10, provides a driving force to the knee joint link member 30 to rotate the knee joint member 20 The knee joint member 20 can transmit the respective driving forces to the motor shaft 110 of the center motor 100 through the same rotation axis, The robot is rotationally driven with respect to the femur member 10 by a rotation axis parallel to the robot 110, so that the robot can be moved forward and backward.

The hip joint member 40 may be mounted on one end of the knee joint member 20 and the hip joint member 40 may be driven by rotation of the knee joint member 20, Can be constituted.

In order to maintain stable running and posture, the articulated robot needs to be able to sufficiently support the load of the articulated robot so that the leg member 40 of the articulated robot in contact with the ground can fully support the load of the articulated robot. It is necessary to minimize the external impact that may be adversely affected by stable traveling of the articulated robot.

Therefore, the articulated robot includes a piston rod 51 mounted on the femoral member 10 and connected to the knee joint member 20 and piston-driven in accordance with rotation of the knee joint member 20 The knee joint member 20 may further include a cylinder 50 provided with a damping function according to rotation of the knee joint member 20.

As shown in FIG. 13, the cylinder 50 is disposed in parallel with the knee joint link member 30 along the femur member 10, It is possible to minimize the external impact that can be transmitted from the ground surface to the knee joint member 20 through the hip joint member 40, A force capable of sufficiently supporting the load of the traveling robot can be provided through the knee joint member 20.

The above-described driving apparatus and the articulated traveling robot on which the driving apparatus is mounted and driven have been described.

Hereinafter, an embodiment of the driving method of the articulated robot according to the driving of the driving device will be described.

FIG. 14 illustrates a driving mode of a multi-joint traveling robot according to an embodiment of the present invention.

The articulated robot can control a plurality of leg structures and a plurality of articulated regions provided in the leg structures to suit a situation and an environment.

In order for the multi-joint traveling robot to travel, a part of a plurality of leg structures constituting the multi-joint traveling robot supports the ground, so that the multi-joint traveling robot can move in the traveling direction And some other leg structures must go in the running direction so that the articulated robot moves.

In order to form a leg structure for supporting the ground in order to serve as a support for the forward movement of the articulated robot, the femur member 10 must be driven to rotate backward, and the knee joint member 20 The end of the leg member 40 must be rotationally driven on the ground so as to move in the backward direction of the articulated robot.

Therefore, the driving disc 500 is rotationally driven in a counterclockwise direction (a solid line arrow of the driving disc image 500 in FIG. 14 (b)) to move the femoral member 10 in the backward direction And the motor shaft 110 of the center motor 100 is also driven to rotate in a counterclockwise direction (a solid line arrow on the joint drive member 31 in Fig. 14 (b)), The knee joint member 20 can be rotationally driven so as to push the ground more strongly so that the articulated robot can move forward.

The knee joint member 20 is also rotated by the hip joint member 40 so that the knee joint member 20 is rotated in the forward direction to form a leg structure that moves forward in order for the articulated robot to move forward. Should be driven to rotate so that the end of the robot moves far enough to allow the articulated robot to move forward.

The drive disk 500 is driven in a clockwise direction (indicated by the dotted arrow on the drive disk 500 in FIG. 14 (b)) to rotate the femoral member 10 in the forward direction with respect to the drive disk 500 The motor shaft of the center motor is also driven to rotate clockwise (indicated by the dotted arrow on the joint drive member 31 in FIG. 14 (b)) so that the hip joint member 40 is moved to a distance The knee joint member 20 can be driven to rotate.

The leg structure of the articulated robot can be greatly differentiated according to the connection structure of the thigh member 10, the knee member 20, the knee link member 30, and the leg member 40, , Even if the same leg structure is provided, rotation of the hip joint region and the knee region during the walking cycle is different depending on whether the articulated robot is a bipod walking robot, a quadruple traveling robot, or a body attachment robot mounted on a user .

Furthermore, the shape of the ground running on the multi-joint traveling robot, that is, the slopes, the downward planes, the planes, the mountainous areas, the gravel areas, and the like can be different.

Therefore, the driving type of the articulated robot according to the driving of the driving apparatus according to the embodiment of the present invention is not limited to the driving disk 500 And the rotational movement of the shaft 110 of the center motor 100 causes the femoral component 10 and the knee joint member 20 of the articulated robot to be rotationally driven, It should be understood that this is an example for explaining that the robot is driven.

While the present invention has been particularly shown and described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims. . It is therefore to be understood that the modified embodiments are included in the technical scope of the present invention if they basically include elements of the claims of the present invention.

100: center motor 110: motor shaft of center motor
200a, 200b, 200c: Satellite motors 210a, 210b, 210c: motor shafts of satellite motors
300a, 300b, 300c: gear portion 400: internal gear
500: Driving disk

Claims (16)

A center motor having a motor shaft;
A plurality of satellite motors disposed around the center motor and having a motor shaft parallel to the motor shaft of the center motor;
A plurality of gears each driven by a motor shaft of the plurality of satellite motors;
An internal gear in the form of a ring gear that rotates and drives in accordance with the rotation of the plurality of gears; And
And a drive disc mounted on the internal gear and rotationally driven, the motor shaft of the center motor passing through the center of the drive shaft and projecting to the outside. The method according to claim 1,
Wherein the driving disc is rotatably driven independently of a motor shaft of the center motor about a motor shaft of the center motor. The method according to claim 1,
Wherein the plurality of satellite motors are arranged at equal intervals around the center motor. The method according to claim 1,
And the plurality of gear portions include a deceleration structure. 5. The method of claim 4,
Wherein each of the plurality of gear portions includes a plurality of gears connected to each other on different parallel axes and rotated. The method according to claim 1,
Wherein the internal gear is in contact with at least one gear constituting each of the plurality of gear portions, and is driven by the plurality of gear portions. The method according to claim 1,
Wherein the drive disc is fastened to the internal gear so that an inner side thereof surrounds an outer peripheral surface of the internal gear. The method according to claim 1,
And a module housing which houses a plurality of gears each of which is driven by a motor shaft of a plurality of the satellite motors, the motor shaft of the center motor and the motor shaft of the plurality of satellite motors being protruded, Driving device. The method according to claim 1,
And a heat dissipation unit which surrounds the center motor and a plurality of the housings of the plurality of satellite motors and radiates heat to the center motor and a plurality of the satellite motors. 10. The method of claim 9,
The heat-
A water jacket in which a cooling channel is formed outside each of the center motor and the plurality of satellite motors, and a cooling fluid flows in the cooling channel; And
And a thermoelectric element mounted on the outer surface of the water jacket to cool the cooling fluid in the water jacket. 11. The method of claim 10,
Further comprising: a heat sink provided on a heating surface of the thermoelectric element; and a heat dissipation fan mounted on an upper portion of the heat sink. 10. The method of claim 9,
The heat-
Heat radiating fan; And
And a heat dissipation housing surrounding the center motor and a plurality of the satellite motors and blowing inward through the heat dissipation fan. Body part;
A driving device according to any one of claims 1 to 12 mounted on the body part;
A femoral member having one end connected to the driving disc and rotationally driven in accordance with rotation of the driving disc;
A knee joint member connected to the other end of the thigh member;
A knee joint link member having one end connected to the motor shaft of the center motor and the other end connected to the knee joint member to drive the knee joint member to rotate with respect to the femoral component in accordance with the driving of the center motor; And
And a hip member which is installed at one end of the knee joint member and driven in accordance with rotational driving of the knee joint member. 14. The method of claim 13,
The knee joint link member includes:
A joint driving member having one end connected to a motor shaft of the center motor and rotationally driven by the driving of the center motor; And
A knee joint traction unit having one end connected to the other end of the joint driving member and the other end connected to the knee joint member and traction driven by the rotation drive of the joint driving member to rotate the knee joint member about the femoral member Wherein the robot comprises: a body; 14. The method of claim 13,
Wherein the knee joint link member is provided along a side surface of the thigh member, and the knee joint link member and the femoral member receive respective driving forces through the same rotation axis. 14. The method of claim 13,
And a piston rod which is mounted on the thigh member and connected to the knee joint member and which performs a piston movement in response to the rotation drive of the knee joint member, thereby providing a damping function according to the rotational drive of the knee joint member And a cylinder for driving the multi-joint traveling robot.

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