KR101784146B1 - Suit Replaceable Articulated Humanoid Robot - Google Patents

Abstract

In the present invention, the joints of the chutes coupled to the coupling grooves of the core robot are all formed in the same shape and size, so that a multi-joint humanoid robot having various shapes and colors modified by various combinations of core robots and chutes can be manufactured , A simple structure is formed by fastening the coupling groove and the coupling hole so that the core robot and the chute can be easily assembled and the suits can be manufactured as a 3D printer, To-humanoid humanoid robot capable of implementing a multi-jointed humanoid robot.

Description

{Suit Replaceable Articulated Humanoid Robot}

The present invention relates to a multi-joint humanoid robot used for a toy or an educational use, and more particularly, to a multi-joint humanoid robot capable of changing a hue or shape of an external appearance or an external shape.

As is known, various types of toy articulated robots or educational articulated robots that produce joint motions by combining servo motors are manufactured, but they are a single model in which the appearance or appearance is uniformly standardized Joint robots are common.

Considering the limited demand of multi-jointed humanoid robots in reality, it is unproductive and inefficient to construct various kinds of multi-jointed humanoid robots by constructing various production lines. However, It is necessary to produce a multi-joint humanoid robot.

Therefore, a manufacturing method of a multi-joint humanoid robot capable of having a variety of appearance and appearance that can satisfy various tastes and desires of consumers in an efficient manner at a low cost is required.

SUMMARY OF THE INVENTION The object of the present invention is to solve the above-mentioned problems and to provide a robot which can replace a suit having an outer appearance and an outer shape that can meet various tastes and needs while avoiding a uniform single-model articulated humanoid robot And to provide a multi-joint humanoid robot.

In order to achieve the above object,
The suit-exchangeable articulated humanoid humanoid robot according to an embodiment of the present invention comprises a core robot embodying multiple joints by a servo motor module and a servo motor module connecting member, and a plurality of suits fastened to the outer surface of the core robot And a coupling groove corresponding to the coupling hole is formed in the core robot. The coupling between the coupling hole and the coupling groove allows the chute to be coupled to the core robot To provide a suitably replaceable multi-joint humanoid robot.

In addition, in the suit-exchangeable articulated humanoid humanoid robot according to the embodiment of the present invention, the engaging groove includes a pair of backs of the core robot, a pair of elbows, a pair of shoulders, A center chest, a head, a right and left waist, a central waist, a pair of medial upper and lower knees, a pair of upper and lower knees, a pair of center knee upper and lower, And is formed on the pair of legs.

In the suit-replaceable articulated humanoid humanoid robot according to an embodiment of the present invention, the coupling groove is a square hole having two lines.

The servo motor module for realizing the neck joint of the core robot includes an upper and a lower case and a transparent material disposed between the upper case and the lower case, A servo motor mounted on the inside of the housing for receiving a torque from the servo motor; a position sensor for detecting rotation of a drive shaft of the gear stage; And a PCB unit for controlling the color of the LED unit and the servo motor, wherein light emitted from the LED unit is scattered and diffused through the housing through color control of the PCB unit, The housing is formed such that four sides are exposed in a strip shape between the upper case and the lower case And the LED light is irradiated through a light transmission hole formed between the coupling grooves of the two lines formed in the central chest.

According to an aspect of the present invention, there is provided a humanoid robot capable of replacing a suit, wherein the chute comprises a weapon, a shield, an armor, a pocket or a helmet, A pair of elbows, a pair of shoulders, a right and left chest, a center chest, a head, a right and left waist, a central waist, a pair of inner upper ends A lower knee, a pair of outer upper and lower knees, a pair of middle knee upper and lower ends, and a coupling groove formed on a pair of legs, respectively.

In the humanoid humanoid humanoid robot according to an embodiment of the present invention, the coupling hole may be a quadrangular prism of two lines or a crisscross protrusion of Lauren corresponding to a square hole of two lines.

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According to the present invention, since the joints of the chutes to be coupled to the core robot are all formed in the same shape and size, it is possible to manufacture a multi-joint humanoid robot in which various shapes and colors are modified by various combinations of core robots and chutes .

Further, since the coupling grooves formed by the simple structure and the coupling holes are fastened together, the core robot and the chute can be assembled more easily.

In addition, since the suits can be manufactured as a 3D printer, the consumer who purchases the core robot can implement a multi-joint humanoid robot of a character having a desired appearance or external appearance.

Furthermore, it is possible to make a variety of suits to be connected to the core robot for various deformation of the multi-joint humanoid robot using the 3D printer, so that it is possible to assemble and teach the robot education market using the 3D printer. Output (injection) 3D printer related education is possible.

1 is a perspective view of a suitably replaceable multi-joint humanoid robot according to the present invention.
FIG. 2A is a perspective view of the core robot of FIG. 1. FIG.
FIG. 2B is an exploded view in which the core robot and the chute shown in FIG. 1 are separated. FIG.
Fig. 3 is an enlarged view of a part of Fig. 2b.
Fig. 4 is a photograph illustrating the core robot of Fig. 2;
5 is a perspective view of the chute frame.

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

FIG. 1 is a perspective view of a suitably replaceable articulated humanoid humanoid robot according to an embodiment of the present invention, FIG. 2 (a) is a perspective view of the core robot of FIG. 1, FIG. 3 is an enlarged view of a portion of FIG. 2B, and FIG. 4 is a photograph illustrating the core robot of FIG.

Referring to FIGS. 1 to 4, the suit-exchangeable articulated humanoid humanoid robot according to an embodiment of the present invention includes a core robot 100 having a plurality of coupling grooves and a plurality of coupling holes 210 corresponding to coupling grooves As shown in FIG.

The core robot 100 is a robot main body that forms multiple joints by a plurality of servo motor modules 120 and a plurality of servo motor module connecting members 130 to implement various motions.
That is, the core robot 100 refers to a prototype robot body having no configuration for decorating, such as a helmet, armor, weapon, shield or pouch.

On the other hand, in the core robot 100, coupling grooves corresponding to the shape and size of the coupling hole 210 of the chute 200 described later are respectively formed.

The chute 200 is a helmet, armor, weapon, shield, pocket, or other ornaments and accessories attached to the outer surface of the core robot 100.

On the other hand, as shown in FIG. 2B, coupling holes 210, which are standardized to have the same shape and size, are formed on the inner surface of each chute 200.

The above-described various chutes 200 are fastened to the core robot 100 by the fastening of the coupling holes 210 of the chute 200 and the coupling grooves of the core robot 100, Humanoid robots can be produced in various models.
That is, since the fittings 210 of the chute 200 are standardized to have the same shape and size to form the chutes 200, various shapes and colors can be obtained by various combinations of the core robot 100 and the chute 200 A deformed articulated humanoid robot can be produced.

2A, the coupling groove of the core robot 100 includes a pair of handles 111, a pair of elbows 112, a pair of shoulders 113, A center chest 114, a right and left chest 114-1, a head 115, a central waist 116, a right and left waist 116-1, a pair of upper and lower knees A pair of outer upper and lower knees 117-2 and a pair of center knee upper and lower ends 117 and a pair of foot lamps 118 respectively.

Further, each of the above-described engagement grooves is formed for each fastening position in the form of a pair of two-line, square-shaped holes.

As shown in FIGS. 2A and 2B, the chute 200 according to an embodiment of the present invention is formed in the shape of a weapon, a shield, an armor, a pocket, or a helmet, The coupling groove of the pair of elbows 112 is connected to the coupling groove of the pair of back lights 111 of the core robot 100, An armor or a shield is attached to the coupling groove of the pair of shoulders 113 and a coupling hole of the armor 214 is inserted into the coupling groove of the central chest 114 and the coupling of the right and left chest 114-1 A coupling hole of the helmet 215 is inserted into the coupling groove of the head 115 and a coupling hole of the armor 216 is inserted into the coupling groove of the central waist 116, A coupling hole of the armor 216-1 is inserted into the coupling groove of the left waist 116-1 and a coupling hole of the armor 217-1 is inserted into the coupling groove of the pair of inner upper end and the lower knee 117-1, One A coupling hole of the armor 217-2 is inserted into the coupling groove of the outer upper end and the lower knee 117-2 of the pair and the coupling groove of the pair of the central knee upper and lower ends 117, A coupling hole of an inorganic or armor 218 is fastened to the coupling groove of the pair of foot lamps 118.

In addition, the coupling member 210 may be formed as a rectangular column-shaped protrusion of two lines of size and shape corresponding to the coupling grooves of the two lines.

Here, as shown in FIG. 5 (b), the coupling hole 210 is formed by a projecting portion of a cross shape (++) of Lauren of two lines of the size and shape corresponding to the two-line rectangular coupling grooves .
In order to correspond to the coupling grooves of the two lines that can be formed differently (horizontally aligned or vertically aligned or diagonally aligned) according to the positions of the core robot 100 to which the chute 200 is fastened, The protrusions of the chute 200 may be laterally aligned (210a), longitudinally aligned (210b), or diagonally aligned (210c) to the inner side of the chute (200).

Therefore, since the coupling grooves 210 and the coupling grooves of the two lines having the simple structure as described above are fastened, the assembling of the core robot 100 and the chute 200 can be facilitated.

Although the coupling groove is illustrated as a rectangular hole of two lines and the coupling hole 210 is a protrusion of two lines, the present invention is not limited thereto, and if the core robot 100 and the chute 200 are fastened together Various modifications of the coupling groove and the coupling hole 210 are possible.

3, the servomotor module 120 that implements the neck joint of the core robot 100 includes upper and lower cases 121 and 122 and an upper case 121 and a lower case 122, A housing 123, a servo motor (not shown) that is seated inside the housing 123, a gear stage (not shown) that is seated inside the housing 123 and receives torque from the servo motor, And a control unit (not shown) for controlling the color of the LED unit and the servo motor. The control unit (not shown) controls the color of the LED unit and the servo motor. The light emitted from the LED unit through the color control is scattered and diffused through the housing 123 so that the housing 123 is exposed in four strips between the upper case 121 and the lower case 122 And the engagement groove of the two lines formed in the center chest The LED light can be irradiated through the light transmission hole 140 formed between the LEDs 114-2.

A light exposure hole (not shown) corresponding to the light transmission hole 140 is formed in the chute 214 to be fastened to the coupling groove 114-2 of the central chest. When the chute 214 is worn, The LED light diffused from the servo motor module 120 can be irradiated to the outside of the chute 214, so that the visibility of the articulated humanoid robot can be further improved.

5 is a perspective view of the chute frame. Here, FIG. 5A illustrates the entire front of the chute frame, and FIG. 5B illustrates the rear view of the chute frame of FIG.

Referring to FIG. 5, a chute frame 300 having injection molded chutes 200 of various shapes and colors is illustrated. As described above, coupling holes 210a, 210b, and 210c are formed on the inner surface of the chute 200, each coupling hole 210a having the same shape and size and formed of protruding portions of two lines that are standardized and aligned.

On the other hand, the source of the shoot 200 can be recorded as a 3D printer file so that the shoot 200 of various colors and shapes can be produced by a 3D printer.

Accordingly, the chute 200 fastened to the core robot 100 can be variously manufactured by a 3D printer for various modifications of the articulated humanoid robot.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not endless disclosure of the present invention. Accordingly, various equivalents and modifications Examples should be understood.

100: Core robot 120: Servo motor module
130: Servo motor module connecting member 200: Chute
210: coupling unit 300: chute frame

Claims (7)

A core robot embodying multiple joints by a servo motor module and a servo motor module connecting member, and a plurality of suits fastened to an outer surface of the core robot,
A coupling groove corresponding to the coupling hole is formed in the core robot so that the chute is engaged with the core robot by engagement of the coupling hole and the coupling groove, In the articulated humanoid robot,
The coupling groove includes a pair of backs of the core robot, a pair of elbows, a pair of shoulders, a right and left chest, a center chest, a head, a right and left waist, a central waist, A pair of upper and lower knees, a pair of center knee upper and lower ends, a pair of legs, and is formed into a square hole of two lines,
A servomotor module for realizing the neck joint of the core robot includes a top and a bottom case, a housing disposed between the top and bottom cases and made of a transparent material, a servomotor mounted on the inside of the housing, A position sensor for detecting the rotation of the drive shaft of the gear stage; and an LED unit disposed on the upper side of the lower case, wherein the LED unit is controlled in color and the servo motor is controlled A PCB,
Wherein light emitted from the LED unit is scattered and diffused through the housing through color control of the PCB unit,
The housing is formed so as to expose four sides in a strip shape between the upper case and the lower case, and the LED light is irradiated through a light transmission hole formed between the coupling grooves of the two lines formed in the central chest It is possible to replace the suit with a multi-jointed humanoid robot.
delete delete delete The method according to claim 1,
The suit may comprise a weapon, a shield, an armor, a pocket or a helmet,
A pair of elbows, a pair of shoulders, a right and left chest, a center chest, a head, a right and left waist, a center waist, And a pair of upper and lower knees, a pair of outer upper and lower knees, a pair of middle knee upper and lower ends, and coupling grooves respectively formed in a pair of legs, Replaceable articulated humanoid robot.
The method according to claim 1,
Wherein the coupling portion is a rectangular columnar shape of two lines corresponding to square holes of two lines or a cross-shaped protrusion of Lauren. delete

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