KR102494487B1 - Walking Robot Leg Mechanism - Google Patents

Abstract

The present invention, a driving unit for generating a driving force; a sole member connected to the driving unit to move relative to each other by the driving force generated from the driving unit; and a link member disposed between the driving unit and the foot member and receiving the driving force to enable movement of the foot member.

Description

Walking Robot Leg Mechanism

The present invention relates to a leg mechanism of a walking robot, and more particularly, to a leg mechanism of a walking robot capable of moving in various directions in various postures.

It is known that the environment to be responded to in the event of a nuclear power plant accident is analyzed and the environment simulated by constructing the necessary nuclear facilities based on actual measured data is known.

An exemplary simulated environment has a floor surface composed of concrete and a grating floor surface, and has a narrow passage, ledge, and obstacle of 37 (L) * 104 (W) * 14 (H) cm. In addition, in order to operate the valve, which is one of the initial responses to a nuclear accident, it is possible to reach the valve position only after climbing a 1.2m vertical ladder and crossing a 0.6m step.

In such a situation, a humanoid-type robot at a level similar to that of a worker that can effectively perform emergency work is required.

Humanoid-type robots are more efficient than wheeled or track-type robots.

Patent Literature 1 discloses a lower extremity joint structure of a conventional humanoid robot.

The lower extremity joint structure of the humanoid robot of Patent Document 1 includes a first frame having a first motor, a first link having one end coupled to the first motor, a joint unit having the other end of the first link rotatably coupled, and a joint unit. A second frame including a second link to which one end is rotatably coupled and a second motor to which the other end of the second link is coupled.

In the case of Patent Document 1 or a conventional humanoid robot, an electric motor and a speed reducer are built into each joint as a drive source of a leg mechanism, so there is a problem that the leg is heavy and there is a limit to rapid movement.

In addition, in the case of some humanoid robots, the driving source of the leg joint is mounted on the waist to realize rapid movement, but it is difficult to stand in place due to light legs, and it is difficult to access work spaces inside nuclear facilities such as high steps, vertical ladder climbing, and grating floors. There was a problem with limitations.

Therefore, in order to increase the rapid movement capability in an environment with nuclear facilities, the development of a lightweight robot structure that can easily change the size and shape of the robot and move in various directions in various postures according to the environment is required.

Registered Patent Publication No. 10-2125835 (2020.06.23)

The present invention has been made to solve the above problems, and one object of the present invention is to be able to move in various directions in various postures that can replace human workers in a nuclear power plant, and to be independently driven in horizontal and vertical directions. It is to provide a walking robot leg mechanism.

Another object of the present invention is to provide a walking robot leg mechanism having a structure capable of increasing rapid movement capability.

In order to solve the above problems, a walking robot leg mechanism of the present invention includes a driving unit generating a driving force; a sole member connected to the driving unit to move relative to each other by the driving force generated from the driving unit; and a link member disposed between the driving unit and the sole member, and receiving the driving force to enable movement of the sole member.

The driving unit may include a first driving motor unit driving in a vertical direction; and a second drive motor connected to the first drive motor and driven in a horizontal direction.

The link member may include a vertical driving link connected to the first driving motor unit, one side of which is moved in a vertical direction and is rotatably disposed; And a horizontal driving link connected to the second driving motor unit and one side of which is moved in a horizontal direction and rotatably disposed, wherein the vertical driving link and the horizontal driving link are connected to the sole member to operate the sole member. It is possible to move up and down or forward and backward.

The link member is rotatably connected between the vertical driving link, the horizontal driving link, and the sole member to enable movement of the sole member by force transmitted from the vertical driving link and the horizontal driving link. It may further include homogeneous links.

The horizontal drive link, one side is connected to the second drive motor unit and the other side is connected to the vertical drive link is rotated, thereby enabling a first horizontal rotation to transmit the driving force of the second drive motor unit to the vertical drive link link; and a second horizontal pivoting link having one side connected to the second driving motor and being rotated to enable movement of the sole member.

In the walking robot leg mechanism of the present invention, the first linear motion transmission member is disposed between the first driving motor unit and the vertical driving link and transmits driving force from the first driving motor unit to the vertical driving link. may further include.

The first linear motion transmitting member may include a first rail portion connected to the first driving motor portion and extending in a vertical direction; and a first block portion having a groove insertable and installable into the first rail portion so as to be relatively movable with respect to the first rail portion, and installed such that one side of the vertical driving link is movable together.

The walking robot leg mechanism of the present invention is disposed between the second driving motor unit and the horizontal driving link, and transmits a driving force from the second driving motor unit to the horizontal driving link. may further include.

The second linear motion transmitting member may include a second rail part connected to the second drive motor part and having a groove formed in a horizontal direction; and a second block portion having a groove insertable and installable into the second rail portion so as to be relatively movable with respect to the second rail portion, and installed such that one side of the horizontal drive link is movable together.

The first rail part may be composed of two rails disposed to be spaced apart from each other and extending in a vertical direction, and the first block part may be movably inserted between the two rails extending in a vertical direction.

In order to solve another of the above problems, a walking robot leg mechanism of the present invention includes a driving unit generating driving force; a sole member connected to the driving unit to move relative to each other by the driving force generated from the driving unit; a link member disposed between the driving unit and the sole member, and enabling movement of the sole member by receiving the driving force; and a first linear motion transmitting member disposed between the driving unit and the link member and enabling transmission of a force in a vertical direction among driving forces from the driving unit to the link member, wherein the first linear motion transmitting member comprises , a first rail portion provided to extend in the vertical direction; and a first block portion having a groove capable of being inserted into the first rail portion so as to be relatively movable with respect to the first rail portion, and having one side of the link member installed so as to be movable together.

A second linear motion transmission member disposed between the driving unit and the link member and capable of transmitting a force in a horizontal direction among driving forces from the driving unit to the link member, wherein the second linear motion transmission member, a second rail unit provided to extend in a horizontal direction; and a second block portion having a groove capable of being inserted into the second rail portion so as to be relatively movable with respect to the second rail portion, and having one side of the link member installed so as to be movable together.

The driving unit may include a first driving motor unit driving in a vertical direction; and a second drive motor connected to the first drive motor and driven in a horizontal direction.

The link member may include a vertical driving link connected to the first driving motor unit, one side of which is moved in a vertical direction and is rotatably disposed; And a horizontal driving link connected to the second driving motor unit and one side of which is moved in a horizontal direction and rotatably disposed, wherein the vertical driving link and the horizontal driving link are connected to the sole member to operate the sole member. make it possible to move

The link member is rotatably connected between the vertical driving link, the horizontal driving link, and the sole member to enable movement of the sole member by force transmitted from the vertical driving link and the horizontal driving link. It may further include homogeneous links.

The horizontal drive link, one side is connected to the second drive motor unit and the other side is connected to the vertical drive link is rotated, thereby enabling a first horizontal rotation to transmit the driving force of the second drive motor unit to the vertical drive link link; and a second horizontal pivoting link having one side connected to the second driving motor and being rotated to enable movement of the sole member.

In order to solve another of the above problems, a walking robot leg mechanism of the present invention includes a driving unit generating driving force; a sole member connected to the driving unit to move relative to each other by the driving force generated from the driving unit; and a link member disposed between the driving unit and the sole member and receiving the driving force to enable movement of the sole member, wherein the link member is connected to the driving unit so that one side thereof moves in a vertical direction and rotates. possibly arranged vertical drive links; And a horizontal driving link connected to the driving unit and one side of which is moved in a horizontal direction and rotatably disposed, wherein the vertical driving link and the horizontal driving link are connected to the sole member to enable movement of the sole member .

The link member is rotatably connected between the vertical driving link, the horizontal driving link, and the sole member to enable movement of the sole member by force transmitted from the vertical driving link and the horizontal driving link. It may further include homogeneous links.

The walking robot leg mechanism of the present invention may further include an ankle rotation control rod connected between the sole member and the vertical drive link to enable rotation of the sole member in a lateral direction.

In the present invention, by using configurations such as a driving unit and a link member, it can be moved in various directions in various postures that can replace a human operator in a nuclear power plant, and can be independently driven in horizontal and vertical directions.

In addition, the present invention applies a mechanical method in which the driving source (motor, reducer) of the leg moving part is not built into the leg link, so that the robot's feet are always parallel to the ground and two-rotational square joint motion (roll, pitch) is possible. do.

1 is a perspective view showing a leg mechanism of a walking robot according to the present invention;
Fig. 2 is a side view showing the walking robot leg mechanism of the present invention;
Fig. 3 is a front view showing the walking robot leg mechanism of the present invention;
4 is a perspective view illustrating an auxiliary driving motor unit;
5 is a perspective view showing a second driving motor unit and a second linear motion transmission member connected thereto;
6 is a perspective view showing a first drive motor unit and a first linear motion transmission member connected thereto;
7 is a perspective view of a first driving motor unit, a first linear motion transmission member, and an auxiliary driving motor unit viewed from one side;
8 is a perspective view of a first driving motor unit, a first linear motion transmission member, and an auxiliary driving motor unit viewed from another side;
Fig. 9 is a plan view showing pitch or roll rotation of the sole member.
Fig. 10 is a side view showing a horizontal posture of the leg mechanism of the walking robot according to the present invention and an operation of rotating in the forward and backward directions;
11 is a side view illustrating a pitch motion, which is a motion in which a part of a sole member is separated from the ground by rotating in the front and rear directions of the walking robot leg mechanism according to the present invention.
12 is a side view illustrating a pitch motion, which is a motion in which a part of a sole member is separated from the ground by rotating in the front and rear directions of the walking robot leg mechanism according to the present invention.
13 is a side view showing a roll motion, which is an operation in which a part of the foot member of the walking robot leg mechanism of the present invention is rotated in a lateral direction and a part of the foot member is separated from the ground.
14 is a side view illustrating a roll motion, which is an operation in which a part of the foot member of the walking robot leg mechanism of the present invention is rotated in a lateral direction and a part of the foot member is separated from the ground.

Hereinafter, the walking robot leg mechanism 100 related to the present invention will be described in more detail with reference to the drawings.

In this specification, the same or similar reference numerals are given to the same or similar components even in different embodiments, and overlapping descriptions thereof will be omitted.

In addition, a structure applied to one embodiment may be equally applied to another embodiment as long as there is no structural or functional contradiction between different embodiments.

Singular expressions include plural expressions unless the context clearly dictates otherwise.

In describing the embodiments disclosed in this specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in this specification, the detailed descriptions thereof will be omitted.

The accompanying drawings are only for easy understanding of the embodiments disclosed in this specification, and the technical idea disclosed in this specification is not limited by the accompanying drawings, and all changes and equivalents included in the spirit and technical scope of the present invention are included. It should be understood to include water or substitutes.

Hereinafter, the walking robot leg mechanism 100 according to this embodiment will be described in detail based on an embodiment shown in the accompanying drawings.

Referring to FIG. 1 , the walking robot leg mechanism 100 of the present invention includes a driving unit 10 , a sole member 20 and a link member 30 .

The drive unit 10 generates a driving force.

The driving unit 10 may include a first driving motor unit 12 and a second driving motor unit 14 .

The first drive motor unit 12 drives in the vertical direction.

For example, the first driving motor unit 12 may be a brushless direct current motor (BLDC motor).

As shown in FIG. 6 or the like, the first driving motor unit 12 may include a controller 12a. The controller 12a has a configuration such as a substrate and electronic terminals of various configurations capable of providing power to the first driving motor unit 12 or controlling the driving of the motor, these configurations are known in the art. Therefore, a detailed description thereof will be omitted.

The second drive motor unit 14 is connected to the first drive motor unit 12 and drives in the horizontal direction.

Like the first driving motor unit 12, the second drive motor unit 14 may also be a brushless direct current motor (BLDC motor).

As shown in FIG. 5 or the like, the second drive motor unit 14 may include a controller 14a. The controller 14a includes various configurations of substrates and electronic terminals capable of providing power to the second driving motor unit 14 or controlling driving of the motor, these configurations being known in the art. Therefore, a detailed description thereof will be omitted.

The driving unit 10 may further include an auxiliary driving motor unit 13 .

The auxiliary driving motor unit 13 is connected to the first driving motor unit 12 and applies force to the link member 30 in a vertical direction together with the first driving motor unit 12 .

Also, the auxiliary drive motor unit 13 may control the operation of the link member 30 .

As shown in FIG. 4 , the auxiliary driving motor unit 13 may include a controller 13a. The controller 13a has various configurations of substrates and electronic terminals capable of providing power to the auxiliary driving motor unit 13 or controlling driving of the motor, these configurations being known technologies. A detailed description thereof will be omitted.

The sole member 20 is connected to the driving unit 10 so as to be relatively moved by a driving force generated from the driving unit 10 .

In addition, the sole member 20 may receive a driving force from the drive unit 10 through a link member 30 to be described later, and rotate in an up/down direction.

For example, in the present invention, the front and rear movement distance of the sole member 20 may be designed to be 600 mm, the vertical movement distance to be 600 mm, and the magnification ratio may be 4 times forward and 3 times up and down. However, it is not necessarily limited to these dimensions.

The front-back direction may be understood as a direction in which the walking robot leg mechanism 100 of the present invention moves forward or backward, and a direction in which the sole member 20 rotates while kicking the ground in the front-back direction. In FIGS. 10 to 12 , examples in which the sole member 20 rotates in the forward and backward directions are indicated by arrows.

In addition, the lateral direction is a direction toward the side that intersects the front and rear, and can be understood as a direction in which the sole member 20 rotates outward or inward. 13 and 14, examples in which the sole member 20 rotates in the lateral direction are indicated by arrows.

For example, a first hinge part 23 and a second hinge part 25 may be formed in the sole member 20 . The first hinge part 23 may be connected to the homogeneous link 35 so as to rotate the sole member 20 forward and backward.

On the other hand, referring to FIG. 9 , the sole member 20 is rotatably connected to the second hinge part 25, and the second hinge part 25 is connected to the ankle rotation control bar 60 so that the sole member 20 may be rotatable in the lateral direction. In addition, as shown in FIG. 9, when the distance from the center of a circle on one side of the second hinge part 25 to the center of the sole member 20 is set as d, the rotation angle θ = tan-1 (1/ d) can be calculated.

9 shows a configuration enabling driving of pitch and roll of the sole member 20 .

In FIG. 9, as an example, in order to effectively increase the rotational driving force of two BLDC motors, it can be manufactured to convert it into a rotational motion about a fixed point after converting it into a linear drive using a ball screw.

Due to this, the rotation driving torque for the fixed point drives the sole member 20 by two consecutive parallelogram mechanisms. When the two sole members 20 are driven in the same direction, the pitch operation When issued and driven in the opposite direction, a roll operation occurs.

The link member 30 is disposed between the driving unit 10 and the sole member 20, and enables linear motion at one point by a driving force.

Alternatively, the link member 30 is provided with rotational driving force from the drive unit 10 to perform a linear motion so that one point can perform a linear motion.

The link member 30 may include a vertical driving link 31 and a horizontal driving link 33 .

The link member 30 may be a pantograph mechanism that is a displacement enlargement mechanism.

For example, the link member 30 of the present invention may be designed so that the pantograph mechanism has an enlargement ratio of 4 times in the front-back direction and 3 times in the vertical direction.

The vertical driving link 31 is connected to the first driving motor unit 12 so that one side thereof moves in a vertical direction and is rotatably arranged.

The horizontal driving link 33 is connected to the second driving motor unit 14 so that one side thereof moves in a horizontal direction and is rotatably arranged.

The vertical driving link 31 and the horizontal driving link 33 are connected to the sole member 20 to allow the sole member 20 to move.

1 and 2, a vertical drive link 31 connected in an oblique direction to the first drive motor unit 12 and a horizontal drive link 31 connected to the second drive motor unit 14 in an “L” shape. An example of a drive link 33 is shown.

As shown in FIGS. 1 and 2 , the left end of the vertical drive link 31 is connected to the first drive motor unit 12 so that the left end moves in the vertical direction. At this time, since the right end of the vertical driving link 31 is connected to a homogeneous link 35 to be described later, the vertical driving link 31 also rotates.

In the vertical driving link 31, a sprocket 31a rotatably coupled to both sides and having protrusions on the outer circumference, and a vertical driving link 31 installed to surround the sprocket 31a and the vertical driving link 31 A chain 31b that is in contact with and rotates on the outer periphery of may be installed.

A chain power transmission method is applied by the sprocket 31a and the chain 31b, enabling efficient transmission of power from the first drive motor unit 12.

Meanwhile, as shown in FIGS. 1 and 3 , two vertical driving links 31 may be disposed on both sides of the driving unit 10 in pairs. 1 and 3, each link structure is arranged in pairs so as to be parallel to each other.

Horizontal drive link 33 connected to the vertical drive link 31, like the vertical drive link 31, as shown in Figure 2, two on both sides of the drive unit 10 on the drawing form a pair can be placed.

Also, referring to FIGS. 1 and 2 , the left end of the horizontal drive link 33 is connected to the second drive motor unit 14 so that the left end moves in the horizontal direction. At this time, since the right end of the horizontal driving link 33 is connected to a vertical driving link 31 and a homogeneous link 35 to be described later, the horizontal driving link 33 also rotates.

The horizontal driving link 33 may include a first horizontal pivoting link 33a and a second horizontal pivoting link 33b.

The first horizontal pivoting link 33a has one side connected to the second driving motor unit 14 and the other side connected to the vertical driving link 31 so as to be rotated so that the driving force of the second driving motor unit 14 to be transmitted to the vertical driving link 31.

The second horizontal pivoting link 33b, one side of which is connected to the second driving motor unit 14 and rotated, enables the sole member 20 to move.

1 and 2, the first horizontal pivoting link 33a is disposed in an oblique direction on the upper right side, and the lower left side of the first horizontal pivoting link 33a is connected to the second driving motor unit 14, The upper right side of the first horizontal pivot link 33a is connected to the vertical driving link 31 . In addition, the second horizontal pivoting link 33b is disposed in the oblique direction of the lower right side, and the upper left side of the second horizontal pivoting link 33b is connected to the second drive motor unit 14 and the second horizontal pivoting link ( An example in which the lower right side of 33b) is connected to a homogeneous link 35 described later is shown.

An example in which pins are installed between the vertical driving link 31 and the first and second horizontal pivoting links 33a and 33b for mutual rotation is shown in FIGS. 1 to 3 and the like.

The link member 30 may further include a homogeneous link 35 .

A homogeneous link 35 is rotatably connected between the vertical driving link 31 and the horizontal driving link 33 and the sole member 20 .

In addition, the homogeneous link 35 enables the sole member 20 to move by the force transmitted from the vertical driving link 31 and the horizontal driving link 33 .

As shown in FIGS. 1 and 3 , two homogeneous links 35 may be arranged in a pair so as to be parallel to the vertical driving link 31 and the horizontal driving link 33 .

Meanwhile, the walking robot leg mechanism 100 of the present invention may further include a first linear motion transmitting member 40 .

The first linear motion transmission member 40 is disposed between the first drive motor unit 12 and the vertical drive link 31, and transfers the driving force from the first drive motor unit 12 to the vertical drive link ( 31) to make it transferable.

The first linear motion transmission member 40 is connected to the first driving motor unit 12 and has a first rail unit 41 having a groove formed in a vertical direction, and relative movement to the first rail unit 41 It may include a first block portion 43 provided with a groove capable of being inserted into the first rail portion 41 and installed such that one side of the vertical drive link 31 is movable together.

The first rail part 41 is composed of two rails disposed to be spaced apart from each other and extending in the vertical direction, and the first block part 43 is between the two rails 41a and 41b extending in the vertical direction. It is installed to be inserted so as to be movable in the first block portion 43 is provided with a groove so that the rails 41a and 41b can be inserted, and an example in which these components are disposed inside the casing 46 is shown in FIG. 6 . In addition, a connecting member 45 connecting the first linear motion transmitting member 40 and the second linear motion transmitting member 50 to be described later may be installed on the bottom surface of the casing 46 .

However, the first linear motion transmission member 40 and the second linear motion transmission member 50 to be described below do not necessarily have to be connected to each other by a connecting member 45, and may be fixed to different support members, respectively. .

The first block portion 43 may be provided with a vertical link coupling portion 43a formed so that the vertical driving link 31 is coupled thereto. As an example, the vertical link coupling portion 43a is shown in FIG. 6 as an example in which it protrudes from both sides of the first block portion 43 in a rod or pin structure, and thereby, the first block portion 43 Vertical driving links 31 on both sides are installed to be rotatable.

In addition, the walking robot leg mechanism 100 of the present invention may further include a second linear motion transmitting member 50 .

The second linear motion transmitting member 50 is disposed between the second driving motor unit 14 and the horizontal driving link 33, and transfers the driving force from the second driving motor unit 14 to the horizontal driving link 33. make it possible to transmit

The second linear motion transmission member 50 is connected to the second driving motor unit 14 and has a second rail unit 51 having a groove formed in a horizontal direction, and relative movement to the second rail unit 51. It may include a second block portion 53 installed so that one side of the vertical drive link 31 is movable together and has a groove capable of being inserted into the second rail portion 51.

The second rail part 51 is composed of two rails 51a and 51b disposed to be spaced apart from each other and extending in the horizontal direction, and the second block part 53 is composed of two rails extending in the horizontal direction ( 51a, 51b) is installed to be inserted so as to be movable, and an example in which these components are arranged inside the casing 56 is shown in FIG. The second block portion 53 may have a groove into which two rails 51a and 51b extending in the horizontal direction are inserted.

The second block portion 53 may include a horizontal link coupling portion 53a formed to couple the horizontal driving link 33 thereto. For example, the horizontal link coupling portion 53a is formed by protruding from one side of the second block portion 53 in a rod or pin structure in FIG. 5, but also protrudes from one side of the opposite side of the second block portion 53. is formed That is, the horizontal link coupling portion 53a may have a rod or pin structure protruding from both sides of the second block portion 53 . Due to this, the horizontal driving links 33 are installed on both sides of the second block portion 53 to be rotatable.

The walking robot leg mechanism 100 of the present invention may further include an ankle rotation control rod 60.

The ankle rotation control bar 60 is disposed between one side connected to the first drive motor unit 12 of the vertical driving link 31 and one side provided on the opposite side and the sole member, and the sole member It is possible to rotate in the lateral direction of the walking robot.

Ankle rotation control rod 60 may be provided with, for example, two, and the two ankle rotation control rods may be disposed to be spaced apart from each other.

1 and 2, an example in which the ankle rotation control bar 60 is connected between one end of the right lower side of the vertical drive link 31 and the sole member 20 so as to be parallel to the same link 35 is shown. do. In addition, referring to FIG. 3, an example in which two ankle rotation control rods 60 are provided and arranged to be spaced apart from each other, and the two ankle rotation control rods 60 are installed on both sides of the sole member 20, respectively. is shown

By adjusting the two ankle rotation control rods 60, the sole member 20 is rotated in the left and right directions. An example of rotating the sole member 20 in a counterclockwise direction is shown in FIG. 13 .

In addition, an example in which the sole member 20 rotates clockwise by upward adjustment of the left ankle rotation control rod 60a of the two ankle rotation control rods 60 is shown in FIG. 14 .

The rotation driving torque for the fixed point drives the sole member 20 by two ankle rotation control rods 60 and the link member 30, which are two consecutive parallelogram mechanisms. 9, a pitch operation occurs when the auxiliary drive motor unit 13 in FIG. 9 is driven in the same direction, and a roll operation occurs when driven in the opposite direction.

It is disposed between one side connected to the first driving motor unit 12 and one side provided on the opposite side and the sole member, and enables the foot member 20 to rotate in the lateral direction of the walking robot.

The above-described walking robot leg mechanism 100 is not limited to the configuration and method of the embodiments described above, but the embodiments may be configured by selectively combining all or part of each embodiment so that various modifications can be made. there is.

It is apparent to those skilled in the art that the present invention can be embodied in other specific forms without departing from the spirit and essential characteristics of the present invention. Accordingly, the above detailed description should not be construed as limiting in all respects and should be considered illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

100: walking robot leg mechanism
10: driving unit 12: first driving motor unit
12a: controller 13: auxiliary drive motor unit
12b: connection bracket 13a: controller
14: second drive motor unit 14a: controller
20: sole member 23: first hinge part
25: second hinge portion 30: link member
31: vertical drive link 31a: sprocket
31b: chain 33: horizontal drive link
33a: first horizontal pivot link
33b: second horizontal pivot link
35: Homogenous Links
40: first linear motion transmission member
41: first rail portion 41a, 41b: rail
43: first block portion 43a: vertical link coupling portion
45: connecting member 46: casing
50: second linear motion transmission member
51: second rail part

Claims (19)

a drive unit that generates a driving force;
a sole member connected to the driving unit to move relative to each other by the driving force generated from the driving unit;
a link member disposed between the driving unit and the sole member, and enabling movement of the sole member by receiving the driving force; and
An ankle rotation control rod connected between the sole member and the link member to enable rotation of the sole member in a lateral direction,
A second hinge unit is connected between the sole member and the ankle rotation control bar,
the driving unit,
a first drive motor unit that drives in a vertical direction;
a second driving motor unit connected to the first driving motor unit and driven in a horizontal direction; and
It is connected to the first drive motor unit to enable power from the first drive motor unit to be transmitted to the link member, and includes two auxiliary drive motor units provided to be rotatable in the same direction or in different directions,
The link member,
a vertical drive link connected to two auxiliary drive motor units to receive power, and connected to the first drive motor unit, one side of which is rotatably moved in a vertical direction;
a horizontal driving link connected to the second driving motor unit and having one side moved in a horizontal direction and rotatably arranged; and
It is rotatably connected between the vertical drive link, the horizontal drive link, and the sole member so that the sole member can be moved back and forth by the force transmitted from the vertical drive link and the horizontal drive link. And a homogeneous link rotatably connected in the lateral direction,
The ankle rotation control rod is disposed between the vertical driving link and the sole member,
The ankle rotation control rod is provided in two to be disposed on both sides of the sole member,
Sprockets rotatably coupled to both sides of the vertical drive link and having protrusions on the outer circumference are respectively installed, and the vertical drive link is installed to surround the sprocket on both sides of the vertical drive link and the vertical drive link. A chain that contacts and rotates on the outer periphery of the driving link is further installed,
A sprocket disposed on one side of the vertical driving link is rotatably connected to the auxiliary driving motor unit, and a sprocket disposed on the other side of the vertical driving link is rotatably connected to the homogeneous link and the ankle rotation control bar. Then, the power from the auxiliary drive motor unit is transmitted to the homogeneous link and the ankle rotation control rod through the vertical drive link, and when the two auxiliary drive motor units rotate in different directions, the sole member moves in the lateral direction. A walking robot leg mechanism characterized in that it is capable of rotation.
delete delete delete According to claim 1,
The horizontal drive link,
A first horizontal pivoting link having one side connected to the second driving motor unit and the other side connected to the vertical driving link to transmit driving force of the second driving motor unit to the vertical driving link by being rotated; and
The walking robot leg mechanism comprising a second horizontal rotational link, one side of which is connected to the second drive motor and rotates to enable movement of the foot sole member.
According to claim 1,
And a first linear motion transmission member disposed between the first drive motor unit and the vertical drive link and enabling transmission of a driving force from the first drive motor unit to the vertical drive link. Robot leg mechanism.
According to claim 6,
The first linear motion transmission member,
a first rail part connected to the first driving motor part and provided to extend in a vertical direction; and
Characterized in that it comprises a first block portion having a groove that can be inserted into and installed with respect to the first rail portion so as to be relatively movable with respect to the first rail portion, and one side of the vertical driving link is installed to be movable together. Walking robot leg mechanism.
According to claim 6 or 7,
And a second linear motion transmitting member disposed between the second driving motor unit and the horizontal driving link and enabling transmission of a driving force from the second driving motor unit to the horizontal driving link. Robot leg mechanism.
According to claim 8,
The second linear motion transmission member,
a second rail part connected to the second driving motor part and having a groove formed in a horizontal direction; and
A second block portion having a groove insertable and installable for the second rail portion so as to be relatively movable with respect to the second rail portion, and one side of the horizontal drive link being installed to be movable together. Walking robot leg mechanism.
According to claim 7,
The first rail part is composed of two rails arranged to be spaced apart from each other and extending in a vertical direction, and the first block part is inserted to be movable between the two rails extending in a vertical direction. leg mechanism.
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