KR101899633B1

KR101899633B1 - Inchworm robot using torsional actuator

Info

Publication number: KR101899633B1
Application number: KR1020150113459A
Authority: KR
Inventors: 김영식; 장태수
Original assignee: 한밭대학교 산학협력단
Priority date: 2015-08-11
Filing date: 2015-08-11
Publication date: 2018-09-17
Also published as: KR20170019273A

Abstract

The present invention relates to a method of manufacturing an electric rotating machine, which comprises a wire-shaped material which is wound on a rotating shaft of two or more rotating bodies in opposite directions to each other and which is connected to the rotating body and whose longitudinal deformation is controllable, A torsion spring using a torsion actuator capable of bi-directional driving by generating a power such as a torsion spring by using a shrinking phenomenon in which the length is reduced and a memory effect which changes linearly in the initial state of the material, .

Description

{INCHWORM ROBOT USING TORSIONAL ACTUATOR}

The present invention relates to a looper robot using a torsion actuator, and more particularly to a looper robot using a torsion actuator, which comprises a wire-like material that is wound on a rotating shaft of two or more rotating bodies in opposite directions to each other, A power such as a torsion spring is generated by using a shrinking phenomenon in which the length is reduced when the temperature of the material rises above a predetermined value due to external influences and a memory effect that changes linearly in an initial state of the material, To a bugle robot using a torsion actuator capable of bidirectional driving.

A robot is a mechanical artifact that has a visual appearance capable of performing mechanical movements and behaviors. In recent years, it has also tended to be called robots that operate according to software and command systems that perform specific functions and produce specific results. For example, a software command system that collects search words from Web documents around the world to create Google's search index is also called a robot.

Robots that provide artificial power can work on behalf of people or with people, and robots are usually designed to do what the creator has planned.

These robots are replacing many things that have been done by humans in the past and can easily handle repetitive, tedious or unpleasant tasks in the industrial field by using robots. Riveting, welding, and painting the car body are good examples. Therefore, in today's life or industry, robots play an important role, so that the quality of the product is always constant, and there is no need to take a break, so that a large amount of product can be produced.

Recently, robots have been manufactured more precisely with industrial development, and Shape Memory Alloy (SMA) has been developed so that they can be moved without using a motor in a medical industry or a game field requiring precision and precision such as medical treatment. Various miniature robots are being produced.

The above-mentioned shape memory alloy refers to an alloy which, when a processed object is broken or deformed, returns to its original shape when heated by current or boiling water. In the 1960s, W. Beuler of the United States (Nickel + titanium: nitinol), and alloys exhibiting thermoelastic martensitic transformation exhibit shape memory properties without exception. Nickel-titanium alloy, and copper-zinc-aluminum alloy have been put to practical use and are used in fighter planes, satellite antennas, and medical applications.

Current applications include F14 fighter's pipe counts, satellite antennas, and greenhouse window opening and closing devices.

In addition, there are artificial joints, heart pumps, fire doors and temperature sensors in research and development. In Korea, KAIST's material testing team first succeeded in a nickel-titanium 50:50 ratio alloy in 1983, and in April 1986, a team of precision metal materials laboratories teamed up with medical (orthodontic wire) Shape memory alloy. This increases the body temperature even if the device is placed in the mouth to tighten the teeth tightly.

A robot using a shape memory alloy (SMA) wire as described above is characterized in that the wire is installed in a body of the robot formed of a metal plate or a synthetic resin of a predetermined length and a current is applied to the wire, The wire is shrunk and restored, and the robot body is shrunk and restored on the same principle as the moving method of the looper.

An example of a looper robot using such a shape memory alloy is Korean Registered Patent No. 10-1102755 (Registered on Dec. 28, 2011, hereinafter referred to as "Prior Art").

BACKGROUND ART [0002] The prior art described above relates to a looper robot in which a robot body is contracted and restored and moved by a shape memory effect (SME) of a shape memory alloy (SMA) wire. More particularly, A shape memory alloy wire which penetrates the body and shrinks and restores by current supply to move the body; and a shape memory alloy wire formed on both ends of the body so as to move the body in one direction by friction The wire is repeatedly stretched to expand and contract, and the wire is repeatedly stretched and contracted due to expansion and contraction of the body. The present invention relates to a robot which can move easily.

In the conventional technique, a robot having a motion similar to that of a rope was manufactured using a shape memory alloy wire. However, since a shape memory alloy wire is operated by the contraction and expansion of a single rope, there is a disadvantage in that the operating speed is extremely limited .

In addition, since the shape memory alloy wire only uses the shrinkage and expansion of the shape memory alloy wire, only one of the movements of the beaver can be realized, and another movement operation or other various operations can not be realized.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is an object of the present invention to provide a method of manufacturing a semiconductor device, which uses a memory effect in which a deformed material is returned to an initial state linearly as well as contraction and expansion of a wire- And to provide a looper robot using a torsion actuator capable of implementing various operations.

It is another object of the present invention to provide a looper robot using a torsion actuator capable of controlling the operation of each joint of the looper robot in a fast and precise manner.

According to an aspect of the present invention, there is provided a looper robot using a torsion actuator, comprising: N rotation shafts arranged in parallel; 2N rotors disposed with the rotation shafts interposed therebetween; A rotating force generating unit having a wire-shaped material whose ends are connected to two adjacent rotating bodies in a state where the rotating shaft is wound and whose length deformation is controllable; And a power supply line connected to the rotation force generating unit to supply current to the rotation force generating unit, wherein the rotation force generating unit includes a first line wound around the rotation axis in a first direction and a second line wound around the rotation axis in a second direction opposite to the first direction, And a second line wound in the direction of the second line.

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At this time, the torque generating unit is formed of a shape memory alloy, and controls the angle between the pair of rotating bodies according to the current control.

Each of the rotating bodies includes a link mechanism having an insertion hole for inserting the rotation shaft at both ends thereof, and a substrate mounted on the link mechanism and electrically connected to the power source line and the torque generating unit.

In addition, a leg portion, which acts as a leg, may be mounted on the lower end of the rotating body, which is in contact with the ground while separating the rotating body from the ground.

According to the looper robot using the torsion actuator according to the present invention, not only the shrinkage and swelling of the rotational force generating portion composed of a wire-shaped material whose length deformation can be controlled, but also various operations using a memory effect in which the deformed material returns to an initial state, It is possible to realize a biomimetic technique capable of simulating the motion of a looper and to realize various application operations.

Particularly, according to the present invention, each joint of the looper robot can rotate in one direction and reverse direction, so that various and free operations can be realized.

Further, according to the present invention, there is an effect that the operation of each joint of the looper robot can be controlled to perform quick and precise operation control.

FIG. 1 is a perspective view showing a configuration of a looper of a single unit according to the present invention,
FIG. 2 is a view for explaining the operation principle of a looper of a single unit according to the present invention,
3 is a view showing the operation of a looper robot composed of a single unit according to the present invention,
FIG. 4 is a perspective view showing a configuration of a looper robot composed of a plurality of units according to the present invention,
5 is a view showing the operation of a looper robot composed of a plurality of units according to the present invention.

While the present invention has been described in connection with certain exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and similarities. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

In the following description of the present invention, detailed description of known related arts will be omitted when it is determined that the gist of the present invention may be unnecessarily obscured.

Also, in this specification, when an element is referred to as being "coupled "," connected ", or "connected" with another element, the element is directly connected to the other element, Or may be directly bonded, but it should be understood that, unless otherwise specifically contradictory, there may be intervening, interlinked, or connected via another element in the middle.

Hereinafter, a looper robot using a torsion actuator will be described in detail with reference to the accompanying drawings.

First, a looper robot composed of a single unit will be described.

FIG. 1 is a perspective view illustrating a configuration of a single-unit robot according to the present invention, FIG. 2 is a view for explaining the operation principle of a single-unit robot according to the present invention, and FIG. Fig. 3 is a diagram showing the operation of a single-unit looper robot.

As shown in the drawing, the looper robot according to the present invention includes a rotating shaft 10, first and second rotating bodies 20-1 and 20-2, a rotating force generating unit 30, and a power line 40.

The rotating shaft 10 is formed in a rod shape. The material of the rotating shaft 10 is not particularly limited. However, it is preferable that the rotating shaft 10 is made of an insulator so that the current applied to the wire is prevented from flowing out by contact with the shape memory alloy wire.

The first and second rotating bodies 20-1 and 20-2 are coupled to the rotating shaft 10 so as to be rotatable about the rotating shaft 10. Each of the rotors includes a link mechanism 21 provided at both ends of the insertion hole 22 into which the rotation shaft 10 is inserted and a link mechanism 21 mounted on the link mechanism 21, And a substrate 23 to which the substrate 30 is electrically connected.

The configuration in which the power supply line 40 and the rotation force generating unit 30 are electrically connected to the substrate 23 is applicable in various manners. For example, the power supply line and the torque generating unit may be connected to each other by soldering or spot welding. Alternatively, as shown in FIG. 1, A plurality of through holes 24 may be formed in the substrate 23 so that the power supply line 40 and the torque generating unit 30 are connected to each other through the through holes 24. [

Each of the first and second rotating bodies 20-1 and 20-2 is provided with a leg portion 25 which is in contact with the ground surface while separating the rotating bodies from the ground, .

The rotational force generating unit 30 is coupled to each of the rotors 20-1 and 20-2 at each end thereof while the rotational shaft 10 is wound. That is, when one end of the torque generating unit 30 is coupled to the first rotating body 20-1, the other end is coupled to the second rotating body 20-2 while the rotating shaft 10 is wound. The rotation force generating unit 30 includes a first line 31 that winds the rotation axis 10 in a first direction and a second line that rotates the rotation axis 10 in a second direction opposite to the first direction 33).

Each of the lines 31 and 33 is made of a wire-shaped shape memory material having a shape memory effect, such as a shape memory alloy, whose shape is restored according to a temperature change caused by current supply. Such a shape memory material may include not only a shape memory alloy but also other materials having a shape restoration effect according to a temperature change due to current supply. In recent years, a shape memory material made of a polymer material has been developed. The shape memory material of the present invention includes a shape memory material of such a polymer material.

2, each of the lines 31 and 33 is made of a material capable of exerting an elastic restoring force in a state where the rotation axis 10 is wound. When the current is flowed in the state where the rotation axis 10 is wound, And is released in the upward direction while being linearly deformed in the state. At this time, the same force as the torsion spring is generated.

Since the first line 31 and the second line 33 are wound in opposite directions to each other, the elastic restoring force of the first line 31 and the second line 33 is equal to each other, The one rotating body 20-1 and the second rotating body 20-2 are located on the same plane. When a current is supplied to the first line 31 in this state, as shown in Fig. 3A, due to the shrinkage of the first line 31 and the memory effect, The angle between the first line 20-1 and the second line 20-2 decreases in one direction and conversely the current flows through the second line 33. As a result, The angle between the first rotating body 20-1 and the second rotating body 20-2 decreases in the other direction with respect to the rotating shaft 10 due to the contraction and the memory effect of the first rotating body 20-1 and the second rotating body 20-2. When the current flow to the first line 31 and the second line 33 is blocked, the first rotating body 20-1 and the second rotating body 20-2 are positioned on the same plane by the elastic restoring force Return to the state. By this operation, the looper robot according to the present invention can be driven in both directions.

The power supply line 40 is connected to the rotation force generating unit 30 to supply current to the rotation force generating unit 30. That is, the power supply line 40 is connected to the first and the second rotating bodies 20-1 and 20-2 so as to individually supply current to the first and second lines 31 and 33, 1 line 31 and the second line 33, respectively. The power line 40 is connected to the first line 31 in a state where the power line 40 is fixed to the through hole 24 by soldering in the substrate 23 of the first and second rotating bodies 20-1 and 20-2. And the second line 33, respectively.

As described above, in the single-unit looper robot according to the present invention, the torsion actuator that generates the rotational force by using the shape memory alloy wire contraction and expansion and the linearly changing memory effect in the initial state is constituted to simulate the movement of the looper robot And the return to the initial state in the state in which the angle between the rotating bodies is changed can be made quickly by the memory effect so that the operation can be performed more quickly and the return speed is also adjusted by controlling the wire wound in the opposite direction And precise operation control becomes possible.

Next, a looper robot including a plurality of units in which a plurality of single units are combined will be described.

FIG. 4 is a perspective view illustrating a configuration of a looper robot composed of a plurality of units according to the present invention, and FIG. 5 is a diagram illustrating an operation of a looper robot composed of a plurality of units according to the present invention.

As shown in the figure, a looper robot composed of a plurality of units is constructed such that the single units are mutually coupled, so that the single units must be interconnected. At this time, although the single units may be combined so as not to be rotated, in this embodiment, joints are also provided between single units, thereby enabling delicate operation and control of the looper.

That is, in this embodiment, the number of the rotating shafts 10-1 to 10-N) and the 2N rotating bodies 20-1 to 20-2N disposed between the rotating shafts, The rotation force generating unit 30 and the power source line 40 are provided to constitute a plurality of units.

In this case, the link mechanism 21 of the rotating body must be coupled to one end of the link mechanism 21 and the other end of the link mechanism 21, A hole 22 is formed and a second insertion hole 22 is formed at the other end.

(The first rotating body 20-1 and the second N rotating body 20-2N) disposed in the foremost and the last of the 2N rotating bodies 20-1 to 20-2N, And the second N rotors 20-1 and 20-2N are spaced apart from the ground, the leg portions 25, which are in contact with the ground and serve as legs, Respectively. At this time, the second to 2N-1 rotors 20-2 to 20-2N-1 disposed at the lower ends of the second to 2N-1 rotors 20-2 to 20-2N-1 disposed between the first and second rotors 20-1 and 20-2N, An auxiliary leg portion 27 that separates the rotating body from the ground can be mounted.

As described above, when a looper robot made up of a plurality of units is manufactured and the current to each torque generating unit 30 is controlled, as shown in Fig. 5 (a), it is possible to drive like a usual looper. In addition, according to the control of the current, as shown in Fig. 5 (b), it is also possible to realize a twisted motion.

Other configurations and operations are the same as those of the single unit, and a detailed description thereof will be omitted.

Although the present invention has been described in connection with the preferred embodiments mentioned above, various other modifications and variations will be possible without departing from the spirit and scope of the invention. It is, therefore, to be understood that the appended claims are intended to cover such modifications and changes as fall within the true scope of the invention.

10:
20-1: First Whole 20-2: Second Whole
20-1 to 20-2N: first to second rotating bodies 21: link mechanism 22: insertion hole
23: substrate 24: through-hole
25: leg portion 27: auxiliary leg portion
30: rotational force generating part 31: first line 33: second line
40: Power line

Claims

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N rotation shafts (10) arranged in parallel;
2N rotors disposed with the rotating shafts 10 therebetween;
And the other end is connected to the other one of the rotating bodies and is made of a wire-shaped material whose length deformation can be controlled. A rotation force generating unit 30 that exhibits a restoring force to return to an initial linear state;
And a power supply line (40) connected to the torque generating unit (30) and supplying current to the torque generating unit (30)
The rotation force generating unit 30 includes a first line 31 that rotates the rotation shaft 10 in a first direction and a second line 33 that rotates the rotation axis 10 in a second direction opposite to the first direction, Lt; / RTI >
The rotation force generating unit 30 is made of a shape memory alloy and controls the angle between the pair of rotating bodies according to the current control,
Each of the rotors includes a link mechanism (21) having at both ends thereof insertion holes (22) for inserting the rotating shaft (10) And a substrate (23) to which the substrate (30) is electrically connected,
An auxiliary leg portion (27) for engaging with the adjacent rotating body and spaced from the ground surface is mounted forward and rearward of the two rotating bodies with the rotating shaft therebetween,
Characterized in that a leg portion (25), which acts as a leg, comes into contact with the ground while separating the rotating body from the ground, and is mounted on the lower end of the rotating body, Looper robot using an actuator.

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