KR20100030408A - The serving robot system that simultaneously driving both his arms - Google Patents

Abstract

PURPOSE: A system for simultaneously driving both arms of a serving robot is provided so that the both arms of robot are moved to the same angle as the same direction. Object and the carried food maintain the same angle as the surface. It prevents from object and food falling. CONSTITUTION: A simultaneous driving is system both arms of the robot for serving comprises a joint unit, a driving part, connection part, grippers(206a, 206b). Wrist is located in the left of the robot for serving, and the right side. Wrist constitutes both arms. The driving part runs the wrist of robot. It is connected to wrist and the connection part at the same time runs wrist, and gripper the object. Wrist at the same time moves to the same direction as the same angle.

Description

The serving robot system that simultaneously driving both his arms}

The present invention relates to a robot, and more particularly, to an apparatus and a method for controlling both arms of a robot.

According to the present invention, when the robot carries an object, the serving robot keeps the object at a predetermined angle with the ground even when the arm holding the object moves, and controls the left and right arms of the robot to simultaneously drive the same angle and the same direction. The system relates to driving both arms simultaneously.

In recent years, robots have been actively researched to build a high intelligence, to design each component constituting the robot to be optimized for the field where the robot is used, and to optimize the configuration of the robot for the purpose.

In addition, the robot is a trend that is used a lot in daily life for various purposes.

Conventional robots have a function of picking up and putting down objects, but when the left and right arms of the robot are driven independently to transport objects using a tool such as a vehicle, the components of both arms of the robot move the same movement. We needed an algorithm that had to be controlled to run.

More specifically, in driving both arms of the robot, an algorithm was required to control the same movement and the same angle of the left and right arms.

On the other hand, if the movement of the two arms of the robot is different may result in dropping the object and food carried by the robot on the ground.

In addition, in the case of combining a transport means for placing an object on the left arm and the right arm of the robot, the use of the robot is limited and the type of the object that the robot can carry is also limited.

In more detail, it is possible to carry only objects suitable for the size and shape of the vehicle coupled to both arms of the robot.

In addition, the angle of the robot's arm changes according to the vertical movement of the robot arm.

In addition, the angle of the object that the robot is carrying and the ground also changes, and sometimes when the robot carries the object and food may result in dropping the object such as objects and food on the ground.

Therefore, when the robot carries objects and foods, even if the angle of the robot arm changes, the objects and foods that the robot carries are kept at the same angle as the ground, and both arms of the robot are designed as a simultaneous driving structure to simplify the algorithm. Therefore, a system capable of simultaneously driving the same angle and the same direction is required.

The present invention is to solve the problems of the prior art as described above, when the robot carries the object and food, by designing both arms of the robot as a simultaneous drive structure to enable simultaneous driving by a simple algorithm, the robot It is to provide a system for simultaneously driving both arms of the serving robot so that the object and food to be carried by the robot to maintain the same angle as the ground even if the angle of the robot arm changes while moving the arm up and down.

In more detail, the present invention by simply designing the structure of the two arms of the robot to facilitate the addition of other configurations, to provide a configuration that can reduce the manufacturing cost of manufacturing the robot, by simplifying the structure of the robot It is an object of the present invention to provide a system for simultaneously driving both arms of a serving robot for shortening the time for developing a robot and facilitating mass production of the robot.

The present invention for solving the above problems is located in the left and right sides of the serving robot in the serving robot provided with both arms, the joint portion constituting both arms, the drive unit for driving the joint portion of the serving robot, connecting the joint portion It is an object of the present invention to provide a system for simultaneously driving both arms of the serving robot, characterized in that it comprises a gripper for picking up the connection portion and the object to drive at the same time.

To this end, the arm of the serving robot of the present invention is provided with joints on the left and right sides of the part constituting the shoulders, and each joint part is composed of one-axis joint, two-axis joint, and three-axis joint.

On the other hand, the uniaxial joint constituting the joint of the present invention is configured in the upper part of the joint and driven by the uniaxial drive motor to move up and down, the two-axis drive pulley and two-axis pulley connecting belt for driving the two-axis joint It is configured to include a three-axis connecting belt for driving the three-axis joint.

On the other hand, the two-axis joint constituting the joint of the present invention is configured at the lower end of the one-axis joint and driven by the two-axis drive motor to move up and down, and comprises a three-axis connecting belt for driving the three-axis joint do.

On the other hand, the three-axis joint of the present invention is configured on the lower end of the two-axis joint, the drive in the direction opposite to the movement direction of the one-axis joint or the two-axis joint to maintain a constant angle with the ground and at a predetermined angle It is configured to include a function.

In addition, the present invention includes a drive motor to drive each joint, and comprises a drive motor control means for controlling the drive motor.

In addition, the present invention is provided with a connection to drive the joint at the same time to control the operation of the joint of the left and right sides.

On the other hand, the connecting portion is connected to the left and right uniaxial joints of the serving robot, the first connecting portion for controlling the movement of the left and right uniaxial joints equally and the left and right biaxial joints of the serving robot by connecting the left and right biaxial joints It is configured to include a second connection for controlling the movement of the same.

On the other hand, the first connecting portion includes a one-axis connecting shaft for connecting the left and right one-axis joint of the serving robot to drive at the same time and the one-axis synchronous drive gear configured in the one-axis connecting shaft of the serving robot Control the left and right uniaxial joints to move at the same angle at the same time.

On the other hand, the second connecting portion is composed of a two-axis connecting shaft for connecting to drive the left and right two-axis joint of the serving robot at the same time, a two-axis synchronous drive gear configured in the two-axis connecting shaft, and the two-axis connecting shaft And a two-axis coupling coupling for connecting the left two-axis joint and the right two-axis joint of the serving robot to drive simultaneously and controlling parallel error, angular error and axial flow error of the two-axis connecting shaft. It controls the left and right biaxial joints of the serving robot to move at the same angle.

In addition, the present invention is configured by the gripper to pick up and transport the object or food, and when the object and the food is picked up using the gripper is configured to have a function to recognize the malfunction when only one gripper to pick up the object. .

According to an exemplary embodiment of the present invention, the serving robot picks up a tray capable of transporting objects and food, and controls both arms of the serving robot at the same direction and at the same angle in carrying the object and food. It prevents objects and foods from falling off, and by designing the components of both arms of the robot as a simultaneous driving structure, there is an effect that can be simultaneously driven by a simple mechanism.

In addition, both arms of the serving robot of the present invention has the advantage that can be manufactured relatively easily by designing a drive motor inside the body of the serving robot and the pulley and the connection belt on both arms, thereby reducing the simple manufacturing process and manufacturing cost There is an advantage to this.

More specifically, the algorithm for driving the arm of the serving robot according to the present invention has the advantage of simplifying the control algorithm of the robot is simple and simple design, by simplifying the control algorithm of the robot, it is easy to add and design other functions There is one advantage.

In addition, the structure of the serving robot according to the present invention has a relatively simple structure because it can be designed with a pulley and a belt for driving the arm of the serving robot and a basket having a constant size to support the pulley and the belt, Development time for developing a serving robot can be shortened, and the robot arm of the serving robot is configured to facilitate designing other configurations according to the needs of the user.

In addition, the simple structure of the serving robot arm has the advantage of easy to mass production in manufacturing and producing the serving robot.

In addition, the present invention is configured to maintain a predetermined angle of the three-axis joint corresponding to the wrist portion of the serving robot has an effect that can be easily carried in moving and transporting objects and food.

Hereinafter, the present invention will be described in more detail with reference to preferred examples, but the present invention is not limited thereto.

1 is an exemplary view showing an example of a serving robot configured according to an embodiment of the present invention.

The present invention is an embodiment of a serving robot which is movable, provided with a display unit, and provided with moving means.

Referring to Figure 1, the serving robot 101 according to a preferred embodiment of the present invention, the joints (102a, 102b) provided on the left and right sides constitute both arms, and has a moving means 103 that can move, the object And a food transport means 104 for facilitating transport of food, and a display means 105 capable of displaying information.

On the other hand, the joint portion (102a, 102b) is configured on the left and right of the serving robot 101, it is configured to bend or straighten operation.

In addition, according to a preferred embodiment of the present invention, the left and right joint portions 102a and 102b of the serving robot are configured to exhibit the same movement and the same direction at the same time.

On the other hand, the movement means 103 is configured to enable biped walking, or any means of movement consisting of wheels, but as a means for transporting food and objects more stably shown as a movement means consisting of wheels.

On the other hand, the display means 104 may be configured as an LCD or OLED display device so that the serving robot can facilitate communication with the user and the guest to which the service should be provided.

In addition, although the display means is shown as a preferred embodiment of the present invention, it is not limited thereto, and may not be configured.

On the other hand, the serving robot 101 is provided with a connecting portion for connecting the left and right joints and the driving unit for driving the joints to enable simultaneous driving of both arms, the details will be described in more detail in FIG.

Figure 2 is a detailed view showing a system for simultaneously driving both arms of the serving robot according to an embodiment of the present invention, in more detail the connecting portion and the joint portion for connecting and jointly driving the left and right joints and the joint portion of the serving robot in detail. The driving unit for driving the is shown.

Referring to Figure 2, the system for simultaneously driving both arms of the serving robot according to a preferred embodiment of the present invention is configured on the upper part of the robot joint joint for serving serving as a single axis joint 201 and the single axis joint A joint part configured at a lower end of the joint part including a two-axis joint 202 connected to the one-axis joint and performing a vertical movement and a three-axis joint 203 configured to maintain a predetermined angle, and left and right joint parts of the serving robot; It is configured to include a connecting portion for moving the left and right joints at the same angle and the same direction at the same time, and has a driving unit for driving the joints of the serving robot, and more specifically to drive the one-axis joint of the serving robot It comprises a one-axis drive motor 204 and a two-axis drive motor 205 for driving the two-axis joint of the serving robot, which can pick up objects and food It is configured to include a ripper (206a, 206b).

On the other hand, the driving unit of the serving robot is composed of a one-axis drive motor 204 for driving the one-axis joint of the serving robot and the two-axis drive motor 205 for driving the two-axis joint of the serving robot, It comprises a drive motor control means (not shown) for controlling the one-axis drive motor 204 and the two-axis drive motor 205.

In addition, the drive motor control means has a function of controlling the one-axis drive motor and the two-axis drive motor, the one-axis drive motor for driving the one-axis joint and the two-axis drive motor for driving the two-axis joint It is configured to control the rotation to operate by a constant rotation or to stop after a certain rotation.

Meanwhile, as shown in FIG. 2, the joint part of the serving robot includes a uniaxial joint 201, a biaxial joint 202, and a triaxial joint 203.

On the other hand, the one-axis joint 201 is located on the shoulder portion of the serving robot, is configured on the upper portion of the joint portion is driven by a drive motor to move up and down.

In addition, the uniaxial joint 201 is configured to include a belt connecting the biaxial joint 202 and the triaxial joint 203.

In more detail, the uniaxial joint 201 is driven by the uniaxial drive motor 204 of the drive unit and is connected to the uniaxial drive motor and the uniaxial drive gear (not shown).

In addition, two shaft drive pulleys 207a and 207b for driving the two shaft joints 202 are formed inside the one shaft joint 201, and the two shaft drive pulleys are formed on an upper portion of the one shaft joint 201. It is configured at the lower end, respectively.

In addition, the biaxial drive pulleys 207a and 207b are connected to the biaxial pulley connecting belts 209a and 209b to the single shaft joint 201.

In addition, the three-axis connecting belt (208a, 208b) is configured in the one-axis joint to be further configured to the two-axis drive pulley is connected to the three-axis joint.

On the other hand, the biaxial joint 202 is configured at the lower end of the uniaxial joint 201.

The two-axis joint 202 is configured to be connected to the two-axis drive pulleys (207a, 207b) of the one-axis joint, and comprises a three-axis connecting belt 211 to connect the three-axis joint 203 to drive do.

On the other hand, the biaxial joint 202 is configured at the lower end of the one-axis joint, and configured to move up and down based on the two-axis drive pulley configured at the lower end of the one-axis joint.

On the other hand, the driving of the biaxial joint 202 is made through the following process.

The biaxial joint 202 is driven by the biaxial drive motor 205, and the biaxial drive motor 205 transmits power to the top of the monoaxial joint through the biaxial drive shafts 210a and 210b. The biaxial drive pulleys 207a and 207b are configured to be transferred, and the biaxial drive pulleys transmit the transmitted power to the biaxial drive pulleys configured at the lower end of the single axis joint through the biaxial pulley connecting belts 209a and 209b. .

The 2-axis drive pulley configured at the lower end of the 1-axis joint is connected to the 2-axis joint is configured so that the biaxial joint 202 moves up and down by the power transmitted to the 2-axis drive pulley.

In addition, the three-axis connecting belt configured in addition to the two-axis drive pulley drives the three-axis joint.

Meanwhile, a triaxial joint 203 is configured at the lower end of the biaxial joint 202.

In more detail, the triaxial joint 203 is formed inside the biaxial joint 202 and is configured at the lower end of the biaxial joint 202.

In addition, the three-axis joint 203 is connected to the one-axis joint and the two-axis joint through the three-axis connecting belt is driven and is configured to operate without having a separate drive motor.

On the other hand, the three-axis connecting belt constituting the three-axis joint is configured in addition to the one-axis joint 201 and the two-axis joint.

In addition, the operation of the three-axis connecting belt 211 is based on the movement in the opposite direction of the drive gear for driving the one-axis joint and the drive pulley for driving the two-axis joint.

In more detail, the movement of the triaxial joint 203 is configured to move at the same angle as the movement of the monoaxial joint 201 and the biaxial joint 202 but with opposite directionality.

On the other hand, the operation of the triaxial joint 203 serves to maintain a predetermined angle.

In addition, the predetermined angle of the triaxial joint is advantageously set to be parallel to the ground, but the predetermined angle may be set to suit the needs of the user.

For example, assume a situation in which the uniaxial joint 201 to the biaxial joint 202 move while the triaxial joint 203 is fixed.

When the uniaxial joint 201 is moved, the positions of the biaxial joint 202 and the triaxial joint 203 configured at the lower end of the uniaxial joint 201 are also changed, which is the triaxial joint 203 ) Will change the angle by a certain amount of movement at the angle parallel to the ground.

In addition, when the biaxial joint 202 is driven, the position of the triaxial joint 203 configured in the biaxial joint is also changed, and the triaxial joint 203 has an angle deviated by a predetermined amount from an angle parallel to the ground. will be.

On the other hand, when the three-axis joint 203 is fixed to bring a certain angle change, the serving robot is not easy to move and transport the object and food, so the three-axis joint 203 is set to a predetermined angle It is advantageous to configure to maintain.

On the other hand, inside the triaxial joint 203, grippers 206a and 206b capable of picking up objects and transport means are configured.

The grippers 206a and 206b are configured in the form of two protrusions spaced apart by a predetermined distance, so that when the object and the transportation means are picked up, the protrusions formed at the lower end of the spaced protrusions move closer to the protrusions formed on the upper side.

In addition, the gripper (206a, 206b) is configured to include a malfunction recognition means for detecting a malfunction.

The malfunction recognition means is configured inside the gripper so that the gripper 206a on the left side of the serving robot and the gripper 206b on the right side of the serving robot must simultaneously pick up a conveying means of a certain shape and size. Recognize malfunctions that cannot pick up vehicles so that objects and food can be picked up stably.

More specifically, the malfunctioning situation is for the serving when the gripper 206a on the left side of the serving robot and the gripper 206b on the right side of the serving robot need to simultaneously pick up an object and a carrier having a certain shape and size. The gripper of any one of the grippers on the left side or the right side of the robot does not come into contact with the object and the vehicle and thus cannot recognize the situation.

In addition, it is more stable to pick up the object and the conveying means at the same time by using the grippers on the left and right sides of the serving robot than to pick up the object and the conveying means with only one gripper of the serving robot.

Meanwhile, the left joint portion of the serving robot and the right joint portion of the serving robot are connected to each other through a connection portion associated with a corresponding axis.

More specifically, the uniaxial joint 201 of the serving robot is connected and driven simultaneously through the first connection part, and the biaxial joint 202 of the serving robot is connected through the second connection part so as to drive simultaneously. It is composed.

Meanwhile, the first connecting portion connects the left uniaxial joint of the serving robot and the right uniaxial joint of the serving robot and is connected to the driving unit to transfer power to the left and right uniaxial joints of the serving robot and to serve the serving. The left and right uniaxial joints of the robot are configured to simultaneously drive the same angle and the same direction.

More specifically, the first connecting portion is formed of a shaft of a constant length, and connects the left uniaxial joint of the serving robot and the right uniaxial joint of the serving robot to drive the same axis and the same direction in the same direction. It comprises a connecting shaft 212 and the gears formed on the left and right ends of the one-axis connecting shaft and the one-axis synchronous drive gears (213a, 213b) for transmitting power by rotating in the same direction as the one-axis connecting shaft.

In addition, the one-axis synchronous drive gears (213a, 213b) is configured to engage with a portion of the one-axis drive gear for driving the one-axis joint, the operation of the left one-axis joint of the serving robot and the right one of the serving robot Drive the shaft joints in the same angle and in the same direction.

Preferably, simultaneous driving of the left and right uniaxial joints of the serving robot by the first connection unit is performed as follows.

The uniaxial drive motor is driven to transfer power to the uniaxial drive gears 213a and 213b for driving the uniaxial joint, wherein the uniaxial synchronous drive gears are the left and right single axis drive gears of the serving robot, respectively. Engage and control to operate at the same angle and in the same direction.

In addition, the one-axis joint coupled to the one-axis drive gear represents the movement of the power transmitted from the one-axis drive motor 204.

On the other hand, the second connecting portion connects the left biaxial joint of the serving robot and the right biaxial joint of the serving robot and is connected to the driving unit to transfer power to the left and right biaxial joints of the serving robot and the serving The left and right biaxial joints of the robot are configured to simultaneously drive in the same angle and in the same direction.

In more detail, the second connecting portion connects the left biaxial joint of the serving robot and the right biaxial joint of the serving robot to connect the biaxial connecting shafts 210a and 210b to be driven at the same angle and in the same direction. It consists of a two-axis coupling coupling 214 for controlling the error is located inside the two-axis connecting shaft.

In addition, the error includes the parallel error, the angular error and the axial flow error of the two-axis connecting shaft (210a, 210b).

On the other hand, the two-axis connecting shaft (210a, 210b) is composed of two shafts of a constant length and on the same straight line and each end of the two-axis drive pulleys (207a, 207b) formed on the inside of the one-axis joint and Coupled to transfer power to the two-axis drive pulley.

In addition, the two-axis connecting shaft (210a, 210b) is configured to include a drive gear meshed with the two-axis drive motor 205 includes a function for transmitting the power of the two-axis drive motor 205.

On the other hand, the two-axis coupling coupling 214 is located inside the two-axis connecting shaft (210a, 210b), and serves to connect the two-axis connecting shaft and to control the error of the two-axis connecting shaft It functions to drive the left and right biaxial joint of the serving robot and the function at the same time.

More specifically, the two-axis coupling coupling 214 functions to maintain the same rotation so as to connect the two-axis connecting shafts (210a, 210b) at the same time to drive in the same angle and the same direction, the two It is configured to control the parallel error, angular error and axial flow error of the shaft coupling shaft.

Preferably, the simultaneous driving of the left and right biaxial joint of the serving robot by the second connection is made as follows.

The two-axis drive motor 205 is driven to transfer power to the drive gear configured in the two-axis connecting shaft (210a, 210b), the power is a two-axis drive pulley configured inside the one-axis joint of the serving robot ( 207a, 207b).

In addition, the biaxial drive pulley transmits power to the biaxial pulley connecting belts 209a and 209b to drive the biaxial joint.

In addition, the two-axis connecting shaft (210a, 210b) is connected to the two-axis coupling coupling 214, the driving of the left and right two-axis joint of the serving robot is made at the same time, controlled to have the same rotation is the same It is made in the same direction as the angle.

On the other hand, the three-axis joint 203 is not provided with a separate connection, but the three-axis joint is configured to drive in the opposite direction of the drive of the one-axis joint 201 and the two-axis joint 202 the one axis When the joint to the biaxial joint is driven to drive in the direction opposite to the driving direction of the uniaxial joint to the biaxial joint.

In addition, the driving direction and the driving angle of the left three-axis joint of the serving robot has the same angle as the driving direction and the driving angle of the right three-axis joint of the serving robot is driven in the same direction.

 Preferably, the left and right joints of the serving robot can move at the same angle at the same time, and at the same time can have the same direction.

1 is an exemplary view showing an example of a serving robot configured according to an embodiment of the present invention.

Figure 2 is a detailed view showing in detail the system for simultaneously driving both arms of the serving robot according to an embodiment of the present invention.

Claims (10)

In the serving robot, Joint parts which are positioned at the left and right sides of the serving robot to configure both arms; A driving unit for driving joints of the serving robot; A connection part connected to the joint part and simultaneously driving; It consists of a gripper that can pick up objects, The joint portion is a system for simultaneously driving both arms of the serving robot, characterized in that simultaneously moving in the same angle and the same direction. The method of claim 1 The joint portion is a uniaxial joint positioned on the left and right shoulders of the serving robot; A biaxial joint positioned at an end of the uniaxial joint; A triaxial joint positioned at an end of the biaxial joint to maintain a predetermined angle; System for simultaneously driving both arms of the serving robot, characterized in that it comprises a. The method of claim 2 The drive unit and the one-axis drive motor for driving the one-axis joint, A two-axis drive motor for driving the two-axis joint; A system for driving both arms of the serving robot, characterized in that it comprises a drive motor control means for controlling the drive motor. The method of claim 2 The one-axis joint is configured above the joint of the serving robot and is driven by the one-axis drive motor to move up and down; A biaxial drive pulley for driving the biaxial joint inside the axial joint; A two-axis pulley connecting belt connecting the two-axis driving pulley; System for driving both arms of the serving robot, characterized in that it comprises a three-axis connecting belt for connecting to drive the three-axis joint. The method of claim 2 The two-axis joint is configured at the lower end of the one-axis joint is driven by the two-axis drive motor to move up and down, A system for simultaneously driving both arms of the serving robot, characterized in that it comprises a three-axis connecting belt for driving the three-axis joint inside the two-axis joint. The method of claim 2 The triaxial joint is configured at a lower end of the biaxial joint; A system for simultaneously driving both arms of the serving robot, characterized in that it is driven in a direction opposite to the movement direction of the one-axis joint or the two-axis joint to maintain at a predetermined angle. The method of claim 2 The connection unit enables simultaneous driving of the joints of the serving robot; A first connection part connecting the left and right uniaxial joints of the serving robot to control the movement of the left and right uniaxial joints in the same manner; And a second connection unit configured to connect the left and right biaxial joints of the serving robot to control the movement of the left and right biaxial joints in the same manner. The method of claim 7, The first connecting portion is a one-axis connecting shaft for connecting to drive the left and right one-axis joint of the serving robot at the same time; A system for driving both arms of the serving robot, characterized in that it comprises a one-axis synchronous drive gear coupled to both ends of the one-axis connecting shaft. The method of claim 7, The second connecting portion and the two-axis connecting shaft for connecting to drive the left and right two-axis joint of the serving robot at the same time; Coupled to the biaxial connecting shaft, It comprises a two-axis coupling coupling for connecting the left two-axis joint and the right two-axis joint of the serving robot for simultaneous driving and controlling the parallel error, angular error and axial flow error of the two-axis connecting shaft A system for simultaneously driving both arms of the serving robot. The method of claim 2 The gripper is located inside the triaxial joint, System for simultaneously driving both arms of the serving robot, characterized in that the malfunction recognition means for recognizing a malfunction situation when the serving robot picks up objects and food.

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