KR20130038985A

KR20130038985A - 2-feet walking robot

Info

Publication number: KR20130038985A
Application number: KR1020110103371A
Authority: KR
Inventors: 백태실; 김영훈
Original assignee: 주식회사태성씨앤디; 포항대학 산학협력단
Priority date: 2011-10-11
Filing date: 2011-10-11
Publication date: 2013-04-19

Abstract

PURPOSE: A two feet walking robot is provided to freely support and to simplify the structure and lighten weight. CONSTITUTION: A two feet walking robot(10) comprises a connection member(1), each part(3a,3b,6a1,6b1,4a,4b,6a2,6b2,5a,5b), and a duct fan(7). The connection member comprises vertical members(11,12), by which a hip joint is fixed, and a horizontal member(13) connecting the vertical members. Each part is individually mounted on two hip joints(2a,2b), and a louver(8) is fixed to a side. The duct fan comprises a plurality of fans(71) and a duct(72) and is hung to the lower part of the horizontal member using a ball joint(95). The hip joint comprises a servo motor(2a1). The duct fan directly blow the air blast to the louver.

Description

2-foot walking robot {2-FEET WALKING ROBOT}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a supportable biped walking robot, and more particularly, to a biped walking robot that realizes light weight and simplified structure.

The technology regarding biped walking robots is rapidly progressing, and various industries are seeking the possibility of the application to various needs, respectively. Such a biped walking robot is sometimes called a humanoid robot, and by improving the walking performance and realizing the movement of a joint close to a human, it reduces pressure and heightens the work content and the working range. Is defined as a broad one. In our country that is facing an aging society, application is considered for the recovery of elderly and physically disabled people, and facility guidance is provided at fairs and amusement facilities, and robots are attached to production lines that manufacture automobiles and home appliances. As it plays a role.

If you turn to the construction industry, it is desirable to apply a biped walking robot to disaster recovery activities and disaster recovery investigations during recent earthquakes and typhoons. In addition, in a particularly high-risk operation such as construction of various public facilities or office buildings, dismantling and dismantling work, if a biped walking robot can work on behalf of a human, it leads to a reduction in accident disaster. Social credibility is also improved.

Regarding the development of the biped walking robot, not only the performance of each part, that is, the walking but also the running and the leap are realized.

So far, no development of floating or floating biped robots has been made. However, by developing a biped walking robot equipped with not only driving performance but also flotation performance, it is possible to move the biped walking robot in a short time to a high working position or a deep position of an excavation gang. It can be done.

Accordingly, the present inventors have led to the invention of a floating biped walking robot, which, in principle, uses three duct fans to adjust the center of gravity of the robot center and the propulsion force of the duct fan. For this reason, stable floating operation was realized.

According to the biped walking robot disclosed in Japanese Unexamined Patent Publication No. 2006-297554, the stable floating of the robot can be realized. On the other hand, since the plural duct fans are mounted, the weight of the entire robot increases and the duct fan is driven. It is necessary to apply a relatively large one at high power as a motor or an internal combustion engine for a dragon. In this biped walking robot, a load reduction means is provided in the knee joint or ankle joint to solve the problem of chain weight increase, but it is necessary to develop a biped walking robot that can support a lighter weight.

The biped walking robot of the present invention has been made in view of the problem, and an object of the present invention is to provide a biped walking robot that can freely support and further reduce the weight and simplify the structure.

According to an aspect of the present invention for achieving the above object, in each of the two hip joints is mounted on each of the left and right, and the hip joint is connected to the connecting member, the hip joint, the hip joint, The first drive device which rotates the left and right corners in the front-rear direction so that the robot moves forward and backward, and in both directions of the left and right sections, a substantially flat louver is in a posture in which the longitudinal direction is directed in the longitudinal direction of the corners, It is attached to the side surface which opposes one side part in the one side part, and a fan is freely rotated from the one side part side to the other side part using the 2nd drive apparatus, and it is free from the fan. Air blowing is mounted at the position of the connecting member which is directly directed to the louver, and the lifting direction is adjusted according to at least the louver inclination according to the operation of the hip joint. The bipedal walking robot according to claim is provided.

Here, it is preferable that the said fan is a direction orthogonal to the said rotation direction using a 3rd drive device, and a rotation is freedom also in the advancing direction of the said robot.

According to another aspect of the present invention for achieving the above object, in the biped walking robot equipped with left and right corners on each of the two hip joints, the hip joint, the left and right corner parts to advance the robot; The first drive device which rotates in the front-back direction, and the 2nd drive device which rotates the left-right corner part to the left-right direction, and the both sides of the said left-right corner part have the substantially flat 1st louver in the longitudinal direction Is mounted on the side facing the longitudinal direction of each part, and on one side of the other side, and is orthogonal to the first louver on the end side facing the other side of the first louver. A second substantially flat louver wider in the direction is mounted, and the two hip joints are fixedly installed in the fan, and the fan is directly between the left and right corner portions and blows into the louver. Is provided in position capable of direct, in accordance with an operation of the hip joint is a louver of the first and second tilting, the biped robot is provided which is characterized in that the support redirection.

Here, it is preferable that the said fan is a duct fan.

According to the biped walking robot of the present invention, it is possible to appropriately control the supporting direction of the robot according to the extremely simple structure in which appropriate louvers are attached to the left and right corner portions, and the weight, miniaturization, and low cost can be realized.

1 is a front view of an embodiment of a biped walking robot of the present invention.
FIG. 2 is a II-II perspective view of FIG. 1.
FIG. 3 shows a floating movement situation in the left and right directions of the biped walking robot of FIG. 1.
FIG. 4 is a diagram illustrating a floating movement situation in the front-rear direction of the biped walking robot of FIG. 1.
5 is a view illustrating propulsion deflection by the louver.
FIG. 6 is a diagram illustrating a support rotation state of the biped walking robot of FIG. 1. FIG.
7 is a front view of another embodiment of the biped walking robot of the present invention.
FIG. 8 is a VIII-VIII view of FIG. 7. FIG.
FIG. 9 is a diagram illustrating a floating movement situation in the left-right direction of the biped walking robot of FIG. 7.
It is a figure which shows the floating movement situation to the front-back direction of the biped walking robot of FIG.
FIG. 11 is a diagram illustrating a support rotation state of the biped walking robot of FIG. 7.
It is a front view of further another embodiment of the bipedal walking robot of this invention.
FIG. 13 is a XIII-XIII perspective view of FIG. 12.
14 is a perspective view of another embodiment of the louver.
FIG. 15 is a view showing a floating movement situation in the left-right direction of the biped walking robot of FIG. 12.
It is a figure which shows the floating motion situation to the front-back direction of the biped walking robot of FIG.
FIG. 17 is a diagram illustrating a supporting rotation state of the biped walking robot of FIG. 12.

EMBODIMENT OF THE INVENTION Hereinafter, embodiment of this invention is described with reference to drawings.

Fig. 1 is a front view of an embodiment of a biped walking robot of the present invention, and Fig. 2 is a II-II perspective view of Fig. 1. Fig. 3 shows a floating movement situation in the left and right directions of the biped walking robot of Fig. 1. FIG. 4 is a diagram illustrating a floating movement state in the front-rear direction of the biped walking robot of FIG. 1, FIG. 5 is a diagram illustrating propulsion deflection by the louver, and FIG. 6 is a biped walking robot of FIG. 1. Fig. 7 is a front view of another embodiment of the biped walking robot of the present invention, and Fig. 8 is a VIII-VIII perspective view of Fig. 7. FIG. 10 is a diagram illustrating a support movement state in the left and right directions, and FIG. 10 is a diagram illustrating a support movement state in the front-back direction of the biped walking robot of FIG. 7, and FIG. 11 is a support rotational state of the biped walking robot of FIG. 7. Fig. 12 shows another embodiment of the biped walking robot of the present invention. Fig. 13 is a perspective view of XIII-XIII of Fig. 12. Fig. 14 is a perspective view of another embodiment of the louver. Fig. 15 is a view showing a floating movement situation in the left-right direction of the biped walking robot of Fig. 12. 16 is a diagram showing a floating state of the biped walking robot in FIG. 12 in the front-rear direction, and FIG. 17 is a diagram showing a floating position of the biped walking robot in FIG. 12. Each member constituting the biped walking robot is formed from a steel material, an aluminum alloy, FRP, or the like, and is formed by welding, bonding or bolting the steel plate to a suitable shape, or using a shape steel material.

1 and 2 illustrate front and side views (try-up) of one embodiment of the biped walking robot of the present invention. This biped walking robot 10 is made of metal, has a shape of a door when viewed from the front, and is connected to a joint member 1 composed of left and right longitudinal members 11 and 12 and a horizontal member 13 connecting them, and a hip joint fixed to both longitudinal members 11 and 12. Angle parts (2a, 3b, knee joints 6a1, 6b1, lower leg members 4a, 4b, ankle joints 6a2, 6b2, foot members 5a, 5b) that can be rotated in the front-rear direction using 2a, 2b, and connecting member 1 The duct fan 7 which hangs freely below the horizontal member 13 of this is comprised.

The duct fan 7 is composed of a plurality of fans 71, which rotate the rotation shaft 73 wheels, and a duct 72 which accommodates the fans 71,: and the lower surface of the duct 72 and the horizontal member 13 of the connecting member 1 uses the ball joint 95. On this horizontal member 13, two servo motors 91 and 92 are mounted with their rotational axes in a right-angled portion (left corner in Fig. 1) and in a forward-facing position, and the servo motor 91 is on the right side of the duct 72 (Fig. The left side of 1) and the servo motor 92 are connected to the front surface of the duct 72 using the cam rink mechanisms 94 and 93, respectively.

When the right corner (left corner in FIG. 1) is adopted and described with respect to each corner, the hip joint 2a includes a servo motor 2a1 which rotates the femoral members 3a to the foot member 5a in the front-rear direction. On the side facing the femoral member 3b, a substantially flat louver 8 having a streamline shape shown in Fig. 2 is fixed to the side of a longitudinal sphere when viewed from the front side. Louver 8 is shown.

In the illustrated embodiment, the knee joint 6a1 is provided with a joint servo motor 6a11, and the ankle joint is provided with a joint servo motor 6a21, but may not be provided with a joint servo motor. In addition, in addition to the servo motor 2a1, a separate servo motor may be disposed in the hip joint 2a to rotate the parts to the left and right.

In addition, when the robot 10 is walking, the rotation control of each servo motor 2a1, 2b1, 6a11, 6b11, 6a21, 6b21 is performed by a well-known control mechanism (not shown). Although illustration of the movement means is omitted, an appropriate power means such as a servo motor, a hydraulic motor, or an internal combustion engine can be selected. Moreover, of course, even if any power means is applied, it must of course have an output capable of supporting the biped walking robot on which the power means is mounted in accordance with the propulsion force by the rotation of the fan.

As shown, the duct fan 7 suspended from the horizontal member 13 by using the ball joint 95 is provided directly above each of the left and right corners, more specifically, directly above the louvers 8 and 8 on the left and right sides. It is configured to be direct to louver 8,8.

The floating movement state of this biped walking robot 10 is demonstrated based on FIGS.

3 shows a situation in which the biped walking robot 10 floats in left and right directions. This movement is performed by frequently detecting the direction of movement and stability of the robot by a gyroscope sensor, which is not shown, and in the X1 direction showing the duct fan 7 by rotating the servo motor 91 only by a predetermined rotational angle. By rotating a predetermined angle, the wind Y1 from the duct pan 7 is directed to the right and left side of the femoral member and the louver 8 to generate the propulsion force in the left and right directions, and the fly in the left and right directions can be performed (for example, Z1 in FIG. 3). direction).

On the other hand, FIG. 4 has shown the situation that the biped walking robot 10 carries out floating support in the front-back direction. This flotation movement rotates the servo motor 92 only by a predetermined rotational angle to rotate the predetermined angle in the X2 direction showing the duct fan 7, and winds Y2 supplied from the duct fan 7 on one side of the right and left louvers 8,8. Is executed by directing to.

Here, the propulsion bias by the louver in this flotation moving form is demonstrated based on FIG.

If the louver 8 rotates only the eighth letter of the predetermined rotation angle Greek letter with respect to the rotation axis 73 of the fan according to the rotation of the left and right corners, the flotation driving force Fv acts on the fan as a reaction of the wind Y2 from the fan. Propulsion Fh occurs. Here, if the eighth element of the rotation angle Greek letter is increased, the force to press the louver 8 downward according to the wind Y2 also increases, and this is the balance between the driving force Fv and the weight of the robot 10. The descent and rise are controlled. In addition, the magnitude of the transverse thrust force Fh also changes with the variation of the eighth angle of the rotation angle Greek letter, and is connected with the change of the movement speed in the transverse direction. In addition, due to the relationship between Fv, Fh, and the robot weight, not only the robot is raised and lowered, but also the movement in the inclined up and down direction and its moving speed are similarly changed.

Therefore, while specifying the position in a remote management building from time to time according to the unshown GPS device mounted on the biped walking robot 10, while detecting the movement direction and postural stability in real time according to the gyroscope sensor, It is to control the adjustment of the driving force (Fv, Fh) to move.

6 illustrates a situation in which, for example, the biped walking robot 10 is rotated in a suspended position. This rotation is performed by rotating the louvers 8 and 8 in the front-rear direction (the W1 direction shown) by synchronously rotating the servo motors 2a1 and 2b1 of the left and right hip joints in the reverse direction, thereby rotating the robot center along the wind Y3 from the fan. This can be achieved by generating a propagation power.

7 and 8 show a front view and a side view (temporary view) of another embodiment of the biped walking robot, and Figs. 9 to 11 illustrate the state of levitation of the left, right, front and rear movements, and the rotation thereof. In this embodiment, the rotation in the two directions of the duct fan 7 is not necessary. The duct 72 may be connected by using the horizontal member 13 of the connecting member 1 or one rotating shaft member 96, and the connection by the ball joint. There is no need.

This biped walking robot 10A is an embodiment in which a servo motor mounted on the connecting member 1 is implemented using only one servo motor 91.

In the present embodiment, the rotational direction of the duct fan 7 is only one direction because only one servo motor is used. In that case, however, the floating movement in the left and right directions shown in FIG. 9 and the rotational movement shown in FIG. There is no obstacle and the same movement as the biped walking robot 10 can be realized.

On the other hand, when the biped walking robot 10A is supported to move in the front-rear direction, as shown in FIG. 10, the duct fan 7 does not rotate, but at a predetermined rotational angle forward or backward in a posture provided with both left and right legs. By controlling rotation (W2 direction), the lateral propulsion force from the wind Y2 'from the fan is operated, and the robot 10A can be floated in the forward direction (Z2' direction) in the illustrated rotation state.

12 and 13 show a front view and a side view (trying view) of another embodiment of the biped walking robot.

In this biped walking robot 10B, the left and right hip joints 2a ', 2b' are fixed to the side surface of the duct 72 of the duct fan 7, and two servo motors 2a1, 2a2 (2b1, 2b2) are provided for each of the hip joints 2a ', 2b'. ), Specifically, servo motors 2a1 and 2b1 which rotate the left and right corner portions in the front-rear direction, and servo motors 2a2 and 2b2 which rotate the left and right corner portions in the left-right direction above.

In addition, the left and right thigh members 3a and 3b are fixed to a flat member 81 (first louver) in the vertical direction corresponding to the louver 8 which is the same as the biped walking robot 10, 10A, as shown in FIG. The louver 8A comprised of the flat material 82 (2nd louver) orthogonal to the flat material 81 is attached. The louvers 8A and 8A on the left and right sides are provided at intervals that do not interfere with the movement during the center movement during robot walking.

By attaching the louver 8A made of orthogonal flat member 81 and flat member 82 to each corner, and rotating the left and right corners in the front-rear direction and the left-right direction, the driving force deflection in the orthogonal two directions (the driving force deflection in one direction is shown in FIG. 5). By rotating the duct fan in the orthogonal two directions, it is possible to generate the propulsion deflection in one direction to the louver 8 and adjust the flotation direction substantially the same as adjusting the flotation direction.

In this embodiment, the duct fan 7 is not rotated, but the left and right corner portions are freely rotated forward, backward, left and right, and the louvers extending in the orthogonal two directions are attached to the corner portions. It is to realize the levitation movement of the right and left direction, the front and rear direction, and the rotation. Here, by providing the flat members 81 and 82 constituting the louver 8A at equidistant positions from the duct fan 7, the lateral thrust force generated along the flat members 81 and 82 of both sides can be adjusted to the same extent.

Specifically, in FIG. 15, the horizontal thrust force from the wind Y1 ′ from the fan is operated by rotating the left and right corners in the left and right directions (W3 direction), and the robot 10B is rotated in the left direction ( In the figure, the levitation can be moved in the right direction in the Z1 direction). In addition, in FIG. 16, similarly to FIG. 10, the robot 10B can be lifted and moved to the front direction (Z2 'direction). In addition, in FIG. 17, by rotating each left-right part in the front-back direction alternately (W1 direction), rotation in the support state is attained.

The inventors have verified whether the support movement of the small biped walking robot shown below is acceptable.

The biped walking robot, which is used, uses a commercially available duct fan capable of exerting a driving force of 20 N with an input of about 1 N and 1000 W in diameter of about 100 mm, and a brushless motor capable of inputting 1000 W and weighing about 2 N. A battery made of lithium polymer having a weight of about 2.5 N is used as a fan power means, and a servo motor for various joint rotations and a servo motor for duct fan rotation. Using about 10 servo motors, 0.3N proportional controller controller, 0.3N controller and lithium polymer battery for servo motor, 1N control microcomputer, 5N total weight It is a biped robot using an actuator connecting member with a total weight of about 14N and a total length of several tens of centimeters.

The ratio with respect to the total weight of the propulsion force of the said biped walking robot is 1.42, and satisfy | fills the ratio required for support: 1.3.

As a result of the movement control of this biped walking robot, the movement and rotation shown in FIG. 3, 4, 6 can be reliably performed in the support posture, for example.

By mounting a CCD camera on the above-mentioned small bipedal walking robot, for example, the state of the earthquake damage area, the state of the gang wall of the deep underground gang wall, the state of the crack of the upper wall of the high-rise building, etc. It is possible to shoot in a short time. In addition, by providing the shoulder joint and the arm joint to the connecting member and increasing the driving force, it is also possible to execute various aerial operations.

As mentioned above, although embodiment of this invention was described above using drawing, the specific structure is not limited to this embodiment, Even if a design change etc. exist in the range which does not deviate from the summary of this invention, they are included in this invention. will be.

1: connecting member 11, 12: longitudinal member
13: horizontal member 2a, 2a ', 2b, 2b': hip joint
2a1,2b1: Servo motor 3a, 3b: Femoral member
4a, 4b: lower member 5a, 5b: foot member
7: duct fan 71: fan
72: duct 8,8A: louver
81: flat lay (first louver 82: flat lay (second louver)
91,92: Servo Motor 93,94: Cam Link Mechanism
95: ball joint

Claims

In a biped walking robot in which left and right corners are attached to each of the two hip joints, and the hip joints are connected to the connecting member.
The hip joint includes a first drive device that rotates the left and right portions in the front-rear direction to advance and retract the robot,
In both directions of the left and right parts, an almost flat louver is mounted in a posture in which the longitudinal direction thereof is directed in the longitudinal direction of each part, and on the side of the one part that faces the other part.
The fan is freely rotated from one side of each side to the other side of the rotating shaft using a second drive device, and the blowing air from the fan is mounted at the position of the connecting member which is directly directed to the louver, and at least the The bipedal walking robot, characterized in that the lifting direction is adjusted according to the inclination of the louver according to the operation of the hip joint.

The method of claim 1,
And said fan is a direction orthogonal to said rotational direction using a third drive device and is freely rotated in the advancing direction of said robot.

In a biped walking robot in which left and right legs are attached to each of the two hip joints,
The hip joint includes a first driving device for rotating the left and right corners in the front and rear directions to advance and retract the robot, and a second driving device for rotating the left and right corners in the left and right directions,
In both of the left and right corner portions, the first louver which is almost flat is mounted in a posture in which the longitudinal direction thereof is directed in the longitudinal direction of the corner portion, and on the side facing the other corner portion in the one corner portion,
On the end side opposite one of the first louvers, an almost flat second louver widening in the direction orthogonal to the first louver is mounted,
At the same time that the two hip joints are fixedly installed on the fan, the fan is installed at a position directly above the left and right portions of the fan and can be directly blown by the louver,
The biped walking robot according to the operation of the hip joint, the first and second louvers are inclined, and the support direction is adjusted.

The method of claim 3, wherein
A biped walking robot, wherein the fan is a duct fan.