KR20000063295A - Connection apparatus of Roboblock using free connecting member of servo motor - Google Patents

Abstract

PURPOSE: A connecting device of roboblock using a servo motor free connecting member is provided to freely connect a servo motor and simplify the structure of a servo free connecting member, thereby manufacturing a robot having various functions. CONSTITUTION: A mini robot system realizing the movement by controlling a control part by variously connecting a plurality of servo motors(10) having a rotary combining part(10a) protruded in one side by using a connecting member(15), wherein a connecting device of roboblock using a servo motor free connecting member includes a connecting mediation member(40) having one side combined with the rotary combining part of the servo motor, and a first connecting member(50) inserted into the other side of the connecting member for being fixed by a nut, a hole(50c) installed in a predetermined position of the servo motor with having a second connecting member(55).

Description

Connection apparatus of Roboblock using free connecting member of servo motor}

The present invention uses a servo motor free connection member that can freely connect a servo motor and simplifies the structure of the connection member in a robo block in which a servo motor achieves a predetermined function by coupling a connection member. It relates to a connection device of the Roboblock.

In general, a servomechanism is an automatic control system in which a control amount is in a mechanical position, that is, a feedback control system configured to follow an arbitrary change in a target value such as an object's position, azimuth, and posture. The motor used in the mechanism is called a servo motor, and there are a DC motor and an AC motor.

Characteristic is blackout and reverse, smooth operation at low speed and rapid acceleration and deceleration.

There are various types of servo motors, but they are also used in robot blocks used for children's intelligence development and learning.

Roboblocks for children's intelligence development and learning are made of servo motors into blocks, and various shapes of connecting members are used to make various shapes and perform operations that match those shapes.

1 is an exemplary view of a conventional servo motor connecting member.

Referring to the conventional servo motor connecting member with reference to Figure 1, the rotary coupling portion (10a) and the screw groove (10b) of the female screw engraved in the center of the rotary coupling portion (10a) of the rotary coupling portion (10a) The non-slip portion 10c is formed to be coupled to the servo motor 10 is rotated in accordance with the input current is formed so that the rotation is normally transmitted, is directly coupled to the servo motor 10 is fixed by a specific fixing means or servo motor The connection member 15 is fixed to the screw groove 10b of the rotary coupling part 10a by the nut 25 and connected to the other servo motor 10 by using the fixing member 20. The connection member 15 has a coupling groove 15a, and may have a plurality of coupling grooves 15a according to the connection distance with the servo motor 10 or the number of connections.

Referring to FIG. 2, a robot for catching an object using the servo motor 10, the connecting member 15, the fixing member 20, and the nut 25 is described below.

2 is an embodiment of a robot using a servo motor connected by the connecting member of FIG. 1.

As shown in FIG. 2, the robot has a total of six servo motors 10 and a total of eight connecting members having two to five coupling grooves 15a coupled to or coupled to each other. 15 to the fixing member 20 and the nut 25 by coupling the connecting member 15 and the servo motor 10 to transmit the rotational force of the rotation coupling part 10a of the servo motor 10. It is composed.

Referring to the coupling and operation of the robot consisting of the above configuration, after placing the two first servo motor 10 in the stator 30, the stator connecting member 15 having two coupling grooves (15a) The first servo motor 10 in the first coupling groove 15a of the connecting member 15 having three coupling grooves 15a after being coupled to the screw groove 10b of the first servo motor 10 disposed in the 30. Pass through the screw groove (10b) of the coupling using the fixing member 20 and the nut (25). In addition, in the two second servo motor 10, the first coupling groove 15a of the connecting member 15 having three coupling grooves 15a is coupled to the screw groove 10b of the second servo motor 10. After passing through the screw groove (10b) of the first servo motor 10 is coupled using the fixing member 20 and the nut (25). In addition, in the two third servo motor 10, the first coupling groove 15a of the connecting member 15 having five coupling grooves 15a is coupled to the screw groove 10b of the third servo motor 10. Let's do it. Then, the third coupling groove 15a of the connecting member 15 coupled to the second servo motor 10 and the first coupling groove 15a of the connecting member 15 coupled to the third servo motor 10. ) Is coupled using the fixing member 20 and the nut 25.

In addition, in order to further reinforce the coupling of the connection member 15 and the servo motor 10, a fixing means having a specific structure may be used.

When the coupling of the robot is completed by the above, each servo motor 10 is rotated according to a controlled command, the end of the connecting member 15 connected to the third servo motor 10 to catch the object 35 As the servo motor 10 is controlled in various ways, various different operations can be performed.

Roboblock connected to such a conventional connecting member has a problem in that the manufacturing process is complicated because the structure of the connecting member is not simple and the utilization of the structure is inferior in making a robot having various functions.

Then, the connecting member 15 is connected to the rotation shaft of the servo motor 10. In other words, the operation is very unstable because only one rotation axis is supported.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a connection device of a robot block using a servo motor free connection member that can freely combine a plurality of servo motors to make various types of robots. I want to do that.

As a technical idea for achieving the object of the present invention, a connection medium member coupled to one side of the rotary coupling portion of the servo motor, the first connection member which is inserted into the other side of the connection medium member can be fixed by a nut Includes, and further comprises a hole in a predetermined position of the servo motor, the invention further comprises a second connection member formed with a hole that can be coupled to the hole and the nut.

1 is an illustration of a conventional servo motor connecting member.

Figure 2 is an embodiment of a robot using a servo motor connected by the connecting member of Figure 1;

Figure 3 is a perspective view of the combination of the present invention free connection member and the servo motor.

Figure 4 is an illustration of a servo motor free connection member of the present invention.

Figure 5 is an embodiment of a robot using the present invention servo motor free connection member.

6 is an exploded perspective view of another embodiment according to the present invention.

7 is a perspective view showing a combined state of another embodiment according to the present invention.

8 is a longitudinal sectional view of another embodiment according to the present invention;

9 is a side view of a servo motor connected by another embodiment of the present invention.

<Description of the symbols used in the main parts of the drawing>

10: servo motor 10a: rotary coupling portion

10b, 40a, 50b: screw groove 10c: non slip section

10d, 50c: hole 15: connecting member

15a: coupling groove 20: fixing member

25 Nut 30 Fixture

35: object 40: connection media member

40b: wing portion 45: bolt

50: first connecting member 50a: long groove

55: second connecting member

BEST MODE Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

Figure 3 is a perspective view of the combination of the present invention the free connection member and the servo motor.

Referring to Figure 3, the servo motor 10 used in the present invention is a rotary coupling portion 10a, a screw groove 10b which is a female screw formed in the center of the rotary coupling portion 10a, and the rotary coupling A non-slip portion 10c formed on a circumferential outer circumferential surface of the circumferential surface so that rotation of the portion 10a is well transmitted, and a first formed at upper and lower edges of the body of the servo motor 10 to be described later between the servo motor 10. It consists of a hole (10b) for connecting by using the connecting member 50, the second connecting member 55, transmits the rotational force of the rotary coupling portion (10a), the first connecting member 50, which will be described later 2 Cylindrical first coupling portion and the first coupling portion having a non-slip portion (not shown) formed therein so as not to be idle by accommodating the rotary coupling portion 10a of the servo motor 10 so as to be coupled to the connecting member 55. It is integrally formed on one side of the part and bent by a predetermined length on both sides to form the wing part 40b, and Groove connection intermediary member (40) (40a) consisting of parts of the second coupling is formed is bonded to the non-slip portion (10c) of the rotary coupling part (10a).

The first connection member 50 is a screw groove (50b) and the long groove (50a) that can be coupled through the wing portion (40b) and the screw groove (40a) and the nut 25 of the connection medium member 40 It is formed. In addition, the second connecting member 55 is a hole 50c which may be coupled to the first connecting member 50 by the hole 10d of the servo motor 10 and the nut 25 and the bolt 45. This is further formed.

The first connecting member 50 and the second connecting member 55 may have various forms according to the coupling form of each servo motor 10. Some examples thereof will be described in detail with reference to FIG. 4. Same as

4 is an exemplary view of a servo motor free connection member according to the present invention.

Referring to the five examples of the servo motor free connection member with reference to Figure 4, the first example 1 is the second connection member 55, three pairs of long grooves (50a) and three screw grooves (50b), two Holes 50c. The coupling medium member 40 of the servo motor 10 may be coupled to a suitable position desired by the user among the three pairs of long grooves 50a of the second connection member 55 of the first example, and the nut 25 may be fixed to the fixing member 25. When coupled to the screw groove (10b) of the rotary coupling portion 10a through the screw groove (50b) is fixed. In addition, if you want to combine another servo motor 10 to the second connecting member 55, one of the remaining long groove (50a) except the long groove 50a is already coupled among the three pair of long groove (50a) The hole 50c of the servo motor 10 may be selected by using the nut 25 to be coupled to each other, or bent at a right angle to the end of the second connection member 55 and protruding outwardly at a right angle after a predetermined distance. The nut 25 and the bolt 45 may be coupled to 10c).

The second example 2 is a second connection member 55 has three pairs of long grooves 50a, three nut through grooves 50b, and two holes 50c. Of the three pairs of long grooves 50a of the first connection member 50 of Example 2, the coupling medium member 40 of the servo motor 10 may be coupled at a suitable position desired by the user, and the nut 25 may be fixed. When coupled to the screw groove (10b) of the rotary coupling portion 10a through the screw groove (50b) is fixed. In addition, if you want to combine another servo motor 10 to the second connecting member 55, one of the remaining long groove (50a) except the long groove 50a is already coupled among the three pair of long groove (50a) The nut 25 and the bolt 45 may be selected and coupled to each other using the nut 25, or the hole 50c bent at a right angle at the end of the second connecting member 55 to the hole 10c of the servo motor 10. ) Can be combined. In the above, the servo motor 10 coupled to the hole 50c of the second connection member 55 is placed at right angles with the servo motor 10 coupled to the long groove 50a.

The third example 3 is a second connection member 55, and further has a hole 50c refracted at right angles to the other end of the second connection member 55 in Example 2, the combined state as in Example 2 In this case, the servo motor 10 may be coupled using the nut 25 and the bolt 45 to be coupled to the hole 50c at the other end. The servo motor 10 coupled to the hole 50c of the second connection member 55 is placed at right angles with the servo motor 10 coupled to the long groove 50a.

The fourth example 4 has four pairs of long grooves 50a and four screw grooves 50b as the first connection member 50. The coupling medium member 50 of the servo motor 10 may be coupled to a suitable position desired by the user among the four pairs of long grooves 50a of the first connection member 50 of Example 4, and the nut 25 may be fixed. When coupled to the screw groove (10b) of the rotary coupling portion 10a through the screw groove (50b) is fixed. In addition, if you want to combine another servo motor 10 to the first connection member 50, one of the remaining long groove (50a) except for the long groove (50a) of the four pair of long groove (50a) already coupled. It is good to select and combine using the nut 25. Since Example 4 has four pairs of long grooves 50a in total, four servo motors 10 can be combined.

The fifth example 5 is formed by only the hole 50c of the second connection member 55 and has a total of five holes 50c. When combining a total of two servo motors 100 through the holes 50c, the holes 10c, the nuts 25, and the bolts 45 of the servo motor 10 through the two holes 50c on one side of the example 5 above. ) And through the other two holes (50c) of the other side using a hole (10c) of the other servo motor 10, using a nut 25 and a bolt (45). The purpose of having the holes 50c is to be coupled at an appropriate position according to the distance between the servo motors 10.

In addition to the five examples shown above, the user can expand and reduce the groove 50a, the screw groove 50b, and the hole 50c according to the needs of the user. By the free design of the member 50, the second connecting member 55 can be changed as much.

By using the servo motor 10, the connection medium member 40, the first connection member 50, the second connection member 55, the nut 25, the bolt 45 to the object shown in FIG. Reconfiguring the catching robot as shown in Figure 5 as follows.

Figure 5 is an embodiment of a robot using the servo motor free connection member of the present invention.

Referring to FIG. 5, the robot includes a total of six servo motors 10, a connection medium member 40 coupled to the servo motor 10 to transmit rotational force, and the servo motor 10 to each other. Two first connecting members 50 having three pairs of long grooves 50a and three screw grooves 50b formed therein, and three pairs of long grooves 50a and three screw grooves 50b as in Example 1 above. ), Four second connecting members 55 having a pair of holes 50c formed therein, and a nut 25 and a bolt 45 for coupling the second connecting member 55 and the servo motor 10 to each other. do.

Referring to the coupling and operation of the robot consisting of the above configuration, after coupling the connecting medium member 40 to each of the six servo motors 10 in total, the two first servo motor 10 is fixed to the ( 30). When the servo motor 10 is disposed on the fixing table 30, the first motor 50 coupled to the first servo motor 10 is connected to the first long groove 50a of the first connection member 50 having three long grooves 50a. It is coupled to the wing portion 40b of the intermediate member 40, and passes through the screw groove 40a of the connection medium member 40 using the nut 25, the screw groove 10b of the rotary coupling portion 10a. To In addition, in the two second servo motors 10, the third long grooves 50a of the first connecting member 50 coupled to the first servo motor 10 are coupled to the second servo motor 10. It is coupled to the wing portion 40b of the intermediate member 40 and passes through the screw groove 40b of the connection medium member 40 using the nut 25 to the screw groove 10b of the rotary coupling portion 10a. Combine. The nut 25 and the hole 55c of the second connecting member 55 having three pairs of long grooves 50a and a pair of holes 50c are provided in the holes 10c of the second servo motor 10. Join using bolts (45). In addition, in the two third servo motor 10, the third long groove 50a of the second connection member 55 coupled to the second servo motor 10 is coupled to the third servo motor 10. Pass through the screw groove (40b) of the intermediate member 40 is coupled to the screw groove (10b) of the rotary coupling portion (10a). Then, the second connection member 55 having three pairs of long grooves 50a and a pair of holes 50c is connected to the bolt 45 and the nut 25 in the motor long groove 10c of the third servo motor 10. By using a) so that each end of the first connecting member 50 to interact with each other to grasp the object (35).

When the coupling of the robot is completed by the above, each servo motor 10 is rotated according to a controlled command, the end of the second connecting member 55 connected to the third servo motor 10 is the object 35 And control each servo motor 10 in various ways to perform a variety of different operations.

In addition to the embodiments shown above, it is possible to create a robot that performs various operations through the design of free connection members of various shapes.

Through all the above processes, the connection device of the robot block using the servo motor free connection member is realized as the present invention intends.

6 to 8 are another exemplary view of the embodiment according to the present invention, FIG. 6 is an exploded perspective view of another embodiment according to the present invention, and FIG. 7 is a perspective view illustrating a coupling state of another embodiment according to the present invention. 8 is a longitudinal sectional view of another embodiment according to the present invention.

As shown in the figure, the other side of the connection medium member 40 of the servo motor 10 is coupled to the rotation guide member 60 in coaxial with the connection medium member 40 so as to be idle, the connection medium member 40 ) And the rotation guide member 60 is fixed to the connection member 70 is rotated while being guided by each member (40, 60).

The connection medium member 40 is coupled to the rotary shaft 11 via the adapter 41, the connection medium member 40 is fastened to the adapter 41 with a bolt (80), two blade pieces (40b) ) Is fitted to the connecting member (70).

The rotation guide member 60 includes a first member 61 coupled to the servo motor 10 housing so as to be idling, and a second member 62 fixed to the first member 61. Non-slip portions 61a and 62a are respectively formed on the outer circumferential surface of the 61 and the inner circumferential surface of the second member 62 so that rotation is smoothly transmitted. On the other hand, although not shown in the drawings, the connection medium member may use a bearing or the like.

Then, the connecting member 70 is composed of a horizontal portion 71 and vertical portions 72 and 73 that are vertically bent from both sides of the horizontal portion 71 to have a recessed shape, and the vertical portion 72 ( 73, fastening holes 72a and 73a respectively coupled to the connection mediating member 40 and the rotation guide member 60 are formed.

That is, the fastening holes 72a and 73a of the vertical portions 72 and 73 of the connecting member 70 communicate with the screw grooves 40a and 62b of the connecting medium member 40 and the rotation guide member 60. After that, the bolts 80 and 81 are fastened respectively.

9, the plurality of servo motors 10 and 11 are connected via the connecting members 70 and 90, and the horizontal portions 71 of the connecting members 70 and 90 are connected to each other. The bolt 82 and the nut 83 are fastened and connected while the surface 91 is in surface contact.

According to the exemplary embodiment configured as described above, when power is applied to the servo motor 10, the connection medium member 40 is rotated to rotate the connection member 70.

The connection member 70 is rotated by receiving power from the connection medium member 40, and at this time, the rotation guide member 60 on the other side of the connection medium member 40 is rotated to assist the rotation of the connection member 70. That is, the connection member 70 is rotated based on the support medium member 40 and the rotation guide member 60, the operation is made stable.

In addition, another embodiment of the connection mediating member 42 is applied to FIG. 9, and another example of the connection mediating member 42 is not provided with the wing piece 40b of the connection mediating member 40 described above in a disc shape. Is done.

As described above, the present invention can be coupled to the wing portion of the connection medium member after coupling the connection medium member to the existing servo motor to combine a plurality of servo motors freely to make a variety of robots Holes that can be coupled to the long grooves and the holes formed in the body of the servo motor are combined with the servo motors using freely connected members of the plate-shaped structure selectively formed as necessary to simplify the structure compared to the conventional connecting members. Solving the difficulties and structurally various combinations are possible, which makes it possible to create robots with various functions.

In addition, since the connecting member is rotated while being supported on both sides of the support base, the reliability of the product can be improved.

While the embodiments of the present invention have been described so far, the present invention is not limited thereto, and various embodiments which can be modified and changed within the true spirit and scope of the principles described and claimed are within the protection scope of the present invention. You will have to understand.

Claims (7)

In the small robot system that implements the movement by the control of the control unit by connecting a plurality of servo motor protruding the rotary coupling portion in one side using a connecting member, A connection mediating member having one side coupled to the rotation coupling portion of the servo motor; And a first connection member inserted into and coupled to the other side of the connection mediator member to be fixed with a nut. The method of claim 1, further comprising a hole in a predetermined position of the servo motor, Robo block connecting device using a servo motor free connection member further comprises a second connection member having a hole which can be coupled to the hole and the nut. The roboblock connecting device according to claim 1, wherein the rotation coupling portion of the servo motor has a non-slip portion formed on a circumferential outer circumferential surface thereof and a screw groove is formed in the center thereof. The method of claim 1, wherein the connection mediating member, A cylindrical first coupling portion having a non-slip portion formed therein so as not to idle by receiving the rotation coupling portion of the servo motor; Roboblock connecting device using a servo motor free connection member, characterized in that the second coupling portion is formed integrally on one side of the first coupling portion and bent by a predetermined length on both sides to form a wing portion, and a screw groove is formed in the center. . According to claim 1 or 4, wherein the first and the second connecting member has a predetermined length and a predetermined width corresponding to the width of the surface protruding the rotary coupling portion of the servo motor, the rotary coupling portion and A screw groove corresponding to the screw groove of the connection medium member; Roboblock connecting device using a servo motor free connection member, characterized in that the plurality of long grooves are formed at predetermined intervals in the longitudinal direction so that the wings of the connection medium member can be inserted on both sides of the screw groove. The rotating guide member is rotatably installed on the other side of the connection mediating member of the servo motor. The connecting member is coupled to the connecting medium member and the rotation guide member, respectively, the connecting member is connected to the robo block using the servo motor free connection member, characterized in that the rotating rotation of the connection member and the guide member guided by the rotation guide member . The method of claim 6, wherein the connecting member comprises a horizontal portion; A vertical portion bent and molded at both sides of the horizontal portion; And the vertical portion is connected to the servo motor through the connection medium member and the rotation guide member.