KR20060064707A - Mobile robot by module - Google Patents

Mobile robot by module Download PDF

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Publication number
KR20060064707A
KR20060064707A KR1020040103306A KR20040103306A KR20060064707A KR 20060064707 A KR20060064707 A KR 20060064707A KR 1020040103306 A KR1020040103306 A KR 1020040103306A KR 20040103306 A KR20040103306 A KR 20040103306A KR 20060064707 A KR20060064707 A KR 20060064707A
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KR
South Korea
Prior art keywords
module
mobile robot
component
bracket
wheel
Prior art date
Application number
KR1020040103306A
Other languages
Korean (ko)
Inventor
안희태
Original Assignee
안희태
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 안희태 filed Critical 안희태
Priority to KR1020040103306A priority Critical patent/KR20060064707A/en
Publication of KR20060064707A publication Critical patent/KR20060064707A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor

Abstract

로봇은 각 구성품이 상호 긴밀한 관계를 유지해야 하므로 통합 설계된다. 특히 위치 인식을 위한 센서 등은 매우 복잡하다.The robot is designed to be integrated because each component must be closely related to each other. In particular, sensors for location recognition are very complicated.

각 기능별로 모듈을 구성하고 각 모듈의 조합으로 임의의 이동 로봇이 구성된다. 특히 위치 인식용 수신기를 장착하여 제어를 용이하게 한다.Modules are configured for each function, and arbitrary mobile robots are composed of each module combination. In particular, it is equipped with a receiver for location recognition to facilitate control.

이동로봇에 있어서: 바퀴 구동 모듈과; 제어장치 모듈과; 상기 모듈을 연결하는 보강재와; 시판중인 카트와; 상기 카트의 기존 바퀴의 높이를 보충하는 브라켓과; 밧데리로 구성 되고, 각 모듈은 분리되어 조립이 가능하다.A mobile robot comprising: a wheel drive module; A controller module; A reinforcing material for connecting the module; Commercial carts; A bracket for supplementing the height of the existing wheel of the cart; It consists of batteries and each module can be assembled separately.

바퀴 구동 모듈은, 바퀴와; 타이밍 풀리와; 2개의 베어링과; 엔코드와; 상기 구성품을 관통하는 축과; 타이밍벨트와; 모터와; 상기 구성품을 지지하는 브라켓으로 구성 된다.The wheel drive module includes a wheel; A timing pulley; Two bearings; An encoder; A shaft penetrating the component; A timing belt; A motor; It consists of a bracket for supporting the component.

제어장치는, 정역제어 릴레이 보드와; 전력 제어 보드와; 조작용 스위치 보드와; 엔코더 카운터와; 위치 인식 수신 장치와; 통신 장치와; 마이크로프로세서로 구성 된다.The control device includes a forward and reverse control relay board; A power control board; An operation switch board; An encoder counter; A location-aware receiving device; A communication device; It consists of a microprocessor.

필요에 따라 원하는 용도의 이동로봇을 구성할 수 있다.If necessary, you can configure a mobile robot for the intended use.

이동로봇, 모듈Mobile Robot, Module

Description

모듈형 이동로봇 {Mobile Robot by Module}Modular Mobile Robots {Mobile Robot by Module}

도 1은 본 발명의 일실시예의 사진1 is a photograph of one embodiment of the present invention

도 2는 본 발명의 각 모듈이 배치된 사진2 is a photograph of each module of the present invention is arranged

도 3은 위치 인식 수신 장치의 장착 사진3 is a mounting picture of the position recognition receiver

로봇은 각 구성품이 상호 긴밀한 관계를 유지해야 하므로 통합 설계된다. 특히 위치 인식을 위한 센서 등은 매우 복잡하다.The robot is designed to be integrated because each component must be closely related to each other. In particular, sensors for location recognition are very complicated.

각 기능별로 모듈을 구성하고 각 모듈의 조합으로 임의의 이동 로봇이 구성된다. 특히 위치 인식용 수신기를 장착하여 제어를 용이하게 한다.Modules are configured for each function, and arbitrary mobile robots are composed of each module combination. In particular, it is equipped with a receiver for location recognition to facilitate control.

이동로봇에 있어서: 바퀴 구동 모듈과; 제어장치 모듈과; 상기 모듈을 연결하는 보강재와; 시판중인 카트와; 상기 카트의 기존 바퀴의 높이를 보충하는 브라켓과; 밧데리로 구성 되고, 각 모듈은 분리되어 조립이 가능하다.A mobile robot comprising: a wheel drive module; A controller module; A reinforcing material for connecting the module; Commercial carts; A bracket for supplementing the height of the existing wheel of the cart; It consists of batteries and each module can be assembled separately.

바퀴 구동 모듈은, 바퀴와; 타이밍 풀리와; 2개의 베어링과; 엔코드와; 상기 구성품을 관통하는 축과; 타이밍벨트와; 모터와; 상기 구성품을 지지하는 브라켓으로 구성 된다.The wheel drive module includes a wheel; A timing pulley; Two bearings; An encoder; A shaft penetrating the component; A timing belt; A motor; It consists of a bracket for supporting the component.

제어장치는, 정역제어 릴레이 보드와; 전력 제어 보드와; 조작용 스위치 보드와; 엔코더 카운터와; 위치 인식 수신 장치와; 통신 장치와; 마이크로프로세서로 구성 된다.The control device includes a forward and reverse control relay board; A power control board; An operation switch board; An encoder counter; A location-aware receiving device; A communication device; It consists of a microprocessor.

필요에 따라 원하는 용도의 이동로봇을 구성할 수 있다.If necessary, you can configure a mobile robot for the intended use.

Claims (3)

이동로봇에 있어서:In a mobile robot: 바퀴 구동 모듈과;A wheel drive module; 상기 모듈을 연결하는 보강재와;A reinforcing material for connecting the module; 시판중인 카트와;Commercial carts; 상기 카트의 기존 바퀴의 높이를 보충하는 브라켓과;A bracket for supplementing the height of the existing wheel of the cart; 제어장치와Controller and 밧데리로 구성 되는 것을 특징으로 하는 모듈형 이동로봇.Modular mobile robot, characterized in that consisting of a battery. 제 1항에 있어서:The method of claim 1 wherein: 바퀴 구동 모듈은,Wheel drive module, 바퀴와;With wheels; 타이밍 풀리와;A timing pulley; 2개의 베어링과;Two bearings; 엔코드와;An encoder; 상기 구성품을 관통하는 축과;A shaft penetrating the component; 타이밍벨트와;A timing belt; 모터와;A motor; 상기 구성품을 지지하는 브라켓으로 구성 되는 것을 특징으로 하는 모듈형 이동로봇.Modular mobile robot, characterized in that consisting of a bracket for supporting the component. 제 1항에 있어서:The method of claim 1 wherein: 제어장치는,The controller, 정역제어 릴레이 보드와;Forward and reverse control relay board; 전력 제어 보드와;A power control board; 조작용 스위치 보드와;An operation switch board; 엔코더 카운터와;An encoder counter; 위치 인식 수신 장치와;A location-aware receiving device; 통신 장치와;A communication device; 마이크로프로세서로 구성 되는 것을 특징으로 하는 모듈형 이동로봇.Modular mobile robot, characterized in that consisting of a microprocessor.
KR1020040103306A 2004-12-09 2004-12-09 Mobile robot by module KR20060064707A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020040103306A KR20060064707A (en) 2004-12-09 2004-12-09 Mobile robot by module

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Application Number Priority Date Filing Date Title
KR1020040103306A KR20060064707A (en) 2004-12-09 2004-12-09 Mobile robot by module

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100796993B1 (en) * 2006-12-19 2008-01-22 한국생산기술연구원 Functionally modularized robot
KR20080107936A (en) * 2007-06-08 2008-12-11 주식회사 그랜드포트 Educational robot applying structural module system
KR100894423B1 (en) * 2007-11-23 2009-04-22 전자부품연구원 Mobile platform
KR101012454B1 (en) * 2008-06-11 2011-02-08 주식회사 한울로보틱스 Educational Frame robots

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100796993B1 (en) * 2006-12-19 2008-01-22 한국생산기술연구원 Functionally modularized robot
KR20080107936A (en) * 2007-06-08 2008-12-11 주식회사 그랜드포트 Educational robot applying structural module system
KR100894423B1 (en) * 2007-11-23 2009-04-22 전자부품연구원 Mobile platform
KR101012454B1 (en) * 2008-06-11 2011-02-08 주식회사 한울로보틱스 Educational Frame robots

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