KR20160100509A - articulated robot using link structure - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a articulated robot using a link structure, and more particularly to a articulated robot using a link structure capable of walking and rotating through a plurality of joints constituted by a link structure.
In addition, an arch construction step of constructing a plurality of arches using an I-shaped arch rib composed of ultra-high-strength concrete and a plurality of cross beams in the lateral direction so as to maintain a constant interval between the plurality of arches formed through the arch construction step And a slab installing step of installing a slab having a haunch on an upper portion of the column, wherein the slab mounting step includes installing a column on the upper surface of the position where the cross bar is mounted through the cross bar mounting step .

Description

[0001] The present invention relates to an articulated robot using link structure,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a articulated robot using a link structure, and more particularly to a articulated robot using a link structure capable of walking and rotating through a plurality of joints constituted by a link structure.

Various robots are being developed according to purposes from hobby life or educational use in addition to commonly used industrial robots, and in particular, development in the field of software control means or hardware structures is underway.

Especially, among the hardware structure development, robots that walk using the link structure are being actively developed, because they show positive effects on the kinematic education through the movement using the link structure.

For example, Korean Patent No. 10-1046710 entitled "8-Legged Walking Robot" has been developed and widely used for hobby or educational purposes.

However, since the link structure is simple, there is a weak point in the kinematic education.

In addition, there is a problem in that it is impossible to perform a gait because the gait can not be rotated, and the gait is ineffective.

More specifically, a general walking robot repeatedly performs an operation of pushing the ground for walking and a step of pushing the ground and then returning to the initial position by returning to the air, so that the robot walks and the leg is lifted The longer the time required for the operation to return to the initial position is, the longer the time required for the return operation is.

In other words, the time when the legs are pushed to the ground is shorter than the time when the legs stay in the air, because the most effective energy is used, and the time when the legs are staying in the air can not be regarded as a direct exercise for walking.

Korean Patent No. 10-1046710 "8-legged walking robot"

It is an object of the present invention to provide a multi-joint robot using a link structure for controlling an operation of each link structure so as to be able to be straightened or rotated.

Another object of the present invention is to solve the above-mentioned problems, and it is an object of the present invention to reduce the time required for the operation of returning to the initial position when the leg is lifted, A jointed robot using a link structure is provided.

In order to accomplish the above object, the articulated robot using the link structure according to the present invention includes a joint composed of a plurality of link structures rotatably coupled to pivot shafts disposed on front and rear surfaces of a frame, A first driving motor for driving the structure, a second driving motor for driving a link structure disposed on the right side of the plurality of joints, and a second driving motor for driving the rotational force of the first driving motor to a link structure located on the left front side of the frame, And a plurality of second power transmission parts for transmitting the rotational force of the second driving motor to the link structure disposed on the right front side of the frame and the link structure disposed on the right rear side of the frame, .

The control unit may further include a controller for controlling rotation of the first drive motor and the second drive motor, wherein the controller rotates the first drive motor and the second drive motor at the same speed to perform a straight walk, One of the first drive motor and the second drive motor is rotated faster than the other one so as to perform a rotational walk.

In addition, the link structure may include a variable portion which is rotatably fixed at one end thereof by a pivot of the frame, and whose other end rotates by a predetermined angle by a first link connected to the first power transmission portion or the second power transmission portion, A first leg portion which is rotatably fixed at one end thereof by a pivot of the frame and whose other end rotates by a predetermined angle by a second link connected to the first power transmission portion or the second power transmission portion, A second leg portion rotatably fixed to the other end portion of the first leg portion so as to be rotatable at an angle larger than a rotation angle of the first leg portion, the second leg portion extending from the end portion of the first leg portion, And a third link coupled to one side of the variable portion to push or pull one side of the second leg portion.

The length of the first link is the same as the length of the second link, and the first and second power transmitting portions or the second power transmitting portion have the same angle of rotation about the pivot shaft.

The length of the third link, the other end of which is rotatably fixed to the second leg portion, is longer than the length of the first leg that is pivotable about the pivot axis by the second link, Is equal to the length of the part.

As described above, according to the articulated robot using the link structure according to the present invention, it is possible to constitute a separate power for each link structure located on both sides and to be straightened or rotated. By applying different phases to each link structure, It is effective.

In addition, according to the articulated robot using the link structure according to the present invention, it is possible to reduce the time required for the operation to return to the initial position because the legs are lifted more than the time required for the legs to push out the ground, have.

1 is a plan view showing a multi-joint robot using a link structure according to the present invention.
BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a multi-joint robot using a link structure.
3 is a view showing a link structure of a multi-joint robot using the link structure according to the present invention.
4 is a view showing the operation of the variable portion and the first leg portion of the articulated robot using the link structure according to the present invention.
5 is a view showing a locus of a second leg portion of the articulated robot using the link structure according to the present invention.
6 is a view showing a trajectory according to a change in length of a second leg of a multi-joint robot using a link structure according to the present invention.

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

FIG. 1 is a plan view showing a multi-joint robot using the link structure according to the present invention, FIG. 2 is a front view showing a link structure of a multi-joint robot using the link structure according to the present invention, FIG. 4 is a view showing the operation of the variable portion and the first leg of the articulated robot using the link structure according to the present invention, and FIG. 5 is a view showing the operation of the articulated robot using the link structure according to the present invention FIG. 6 is a view showing a trajectory according to a change in length of a second leg of the articulated robot using the link structure according to the present invention; FIG. 6 is a view showing a locus of a second leg of the articulated robot using the link structure according to the present invention; .

FIG. 1 shows a multi-joint robot using a link structure according to the present invention. FIG. 2 shows a link structure of a multi-joint robot using the link structure according to the present invention. A plurality of joints 2A to 2D including a plurality of link structures 3A to 3D rotatably coupled to a pivot shaft 11 (shown by a solid line and a one-dot chain line) located on the rear side A first drive motor 4 for driving the link structures 3A and 3C positioned on the left side of the plurality of joints 2A to 2D and a second drive motor 4 for driving the link structures 3B and 3C positioned on the right side of the plurality of joints 2A- 3D and the rotational driving force of the first driving motor 4 is transmitted to the link structure 3A located on the left front side of the frame 1 and the link structure 3C located on the left rear side A plurality of first power transmission parts (6) for transmitting the rotational force of the second drive motor (5) And a plurality of second power transmission parts 7 for transmitting the link structure 3B positioned on the right front side of the frame 1 and the link structure 3D positioned on the right rear side.

More specifically, as shown in Fig. 1 or Fig. 2, a plurality of joints 2A to 2D for walking in contact with the ground surface are provided on the front surface (-X axis direction) and the rear surface (X axis direction) Is rotatably coupled by a plurality of pivot shafts (11, indicated by solid lines and dash-dotted lines).

The plurality of joints 2A to 2D divided according to the direction arranged from the central portion of the frame 1 are each composed of a plurality of link structures 3A to 3D and the plurality of link structures 3A to 3D Are symmetrically symmetrical in the lateral direction (Y-axis direction) with respect to the center portion and are configured such that a plurality of link structures 3A to 3D are repeatedly arranged. Thus, the link structures (2A to 2D) constituting each of the joints 3A to 3D) can be increased and expanded.

In addition to the link structures 3A to 3D, a first drive motor (not shown) for driving the link structures 3A and 3C belonging to the joints 2A and 2C located on the left side of the plurality of joints 2A to 2D And a second drive motor 5 for driving the link structures 3B to 3D belonging to the joints 2B and 2D located on the right side of the plurality of joints 2A to 2D, A plurality of first power transmission parts 6 for transmitting the rotational force of the first drive motor 4 to the link structures 3A and 3C located on the left side of the frame 1 and a plurality of second power transmission parts 6 for transmitting the rotational force of the second drive motor 5 to the frame 1 A plurality of second power transmission parts 7 for transmitting the power to the link structures 3B and 3D located on the right side of the frame 1 are symmetrically symmetrical with respect to the center of the frame 1. [

When the number of the link structures having the symmetrical shape is increased, the rotation axis 41 of the first drive motor 4 and the second drive motor 5 is extended, The first power transmitting portion 6 and the second power transmitting portion 7 may be further included as many as the number of link structures.

The control unit may further include a control unit (not shown) for controlling the rotations of the first driving motor 4 and the second driving motor 5 so that the first driving motor 4 and the second driving motor 5, (5), respectively.

When the control unit (not shown) rotates the first drive motor 4 and the second drive motor 5 at the same speed, the link structures on both sides perform a straight walk according to the same movement, When one of the first drive motor 4 and the second drive motor 5 is rotated faster than the other one, the link structures on both sides perform a rotational walk according to the movement at different speeds, Walking is explained in more detail below.

2 shows the joint 2A located at the left front side. In the joints 2B and 2D at the other positions, the first drive motor 4 is replaced with the second drive motor 5, and the first power transmission The left rear joint 2C is omitted as it is mutually symmetric as shown in Fig. 2, since the second power transmission portion 7 has the same configuration as the second power transmission portion 7 having the same mutually symmetrical configuration.

A plurality of link structures belonging to the joint 2A located at the left front side are rotatably fixed at one end thereof by the pivotal axis 11 of the frame 1 and the other end is rotatably supported by the first power transmission portion 6 And a first link 21 connected to the first link 21 and a second link 21 connected to the first link 21. The first link 21 rotatably supports the first link 21, A first leg portion 25 whose one end is fixed at a predetermined angle by a second link 22 connected to the first power transmission portion 6 and a second leg portion 25 at the other end of the first leg portion 25 A second leg portion 26 which is rotatably fixed so as to be in contact with the ground and a second leg portion 26 which extends from the end portion of the first leg portion 25 and pivots, (26) is coupled to one side of the variable portion (24) so that the second leg portion Or it is constituted by a third link (23) for pulling.

For example, when there are two link structures of the joint 2A located at the left front, the first links 21 and 21a, the second links 22 and 22, 22a, third links 23, 23a, variable portions 24, 24a, first leg portions 25, 25a, second leg portions 26, 26a, and the like.

In order to operate the link structure, a plurality of first link members (21, 21a) for pushing or pulling each first link (21, 21a) using the rotational force transmitted from the first drive motor (4) through the first power transmission member The cranks 62 and 62a are preferably configured to have different phases.

Accordingly, the plurality of link structures having the same configuration and the first links 21 and 21a, the second links 22 and 22a, the third links 23 and 23a, the variable portions 24 and 24a, The first legs 25, 25a, the second legs 26, 26a, etc., are seen in different positions when viewed from the side as shown in FIG.

This is for supporting the other link structure in contact with the ground so that the articulated robot using the link structure according to the present invention does not fall when one link structure is separated from the ground.

3 shows the length of each link structure of the articulated robot using the link structure according to the present invention. The first link 21 and the second link 22, which are pushed or pulled by the crank 62, The lengths 21L and 22L are all configured to have the same length.

The length 23L of the third link 23, to which the other end of the third link 23 is rotatably fixed to the second leg portion 26, is fixed to the second link 24 while the one end of the third link 23 is rotatably fixed to the variable portion 24, Is configured to be the same as the length 25L of the first leg portion 25 that rotates about the pivotal axis 11 by the first leg portion 22.

The length 23L of the third link 23 and the length 25L of the first leg portion 25 are set such that the first link 21 of the variable portion 24 is engaged with the rotation axis 11, And the distance 24L between them.

That is, the length 23L of the third link 23, the length 25L of the first leg 25, the position where the first link 21 of the variable portion 24 is engaged, And the distance 24L between them are all distant from each other.

As a result, the lengths of the variable portion 24 pivoted by the first link 21 and the first leg portion 25 pivoted by the second link 22 are symmetrical, respectively, The operation to be described also has a symmetrical form.

The change of the position where the one end of the third link 23 is fixed to the variable portion 24 and the position where the other end of the third link 23 is fixed to the second leg portion 2 is fixed The distance 23H between the third link 23 and the first leg portion 25 may be changed and the third link 23 and the first leg portion 25 may have the same length, The link structure performs the same operation even if the distance 23H between the link 23 and the first leg portion 25 changes.

FIG. 4 illustrates the operation of the variable portion and the first leg portion of the articulated robot using the link structure according to the present invention. As described above, the first link 21 and the second link 22, which have the same length, The operation of the variable portion 24 and the first leg portion 25 is shown.

The first link 21 and the second link 22 coupled to the one crank 62 are connected to the variable portion 24 or the first leg portion 25 connected to the crank 62 at different times according to the phase change caused by the rotation of the crank, But the respective rotation angles 241 and 242 are the same.

More specifically, when the first link 21 coupled to the rotating crank 62 is in a straight line, the variable portion 24 is pushed or pulled farthest 241A.

This is because the first link 21 is pushed about the rotation axis of the crank 62 by the length of the crank 62 or the first link 21 is pulled by the length of the crank 62. The maximum rotation angle 241 of the variable portion 24 is, Is determined according to the length of the crank (62).

The first leg 25 is pushed or pulled farthest 242A when the second link 22 coupled to the rotating crank 62 is in a straight line.

This is because the second link 22 is pushed about the rotation axis of the crank 62 by the length of the crank 62 or the second link 22 is pulled by the length of the crank 62. The maximum rotation angle of the first leg portion 25 242 are determined according to the length of the crank 62.

As a result, when looking at the phase of the crank 62 according to the maximum rotation position, 241A and 242A, 241B and 242B are symmetrical with respect to the horizontal line.

However, as shown in the phase, when the variable portion 24 is pushed farthest from the rotating crank 62 or is pulled away from the rotating crank 62 to the first leg portion 25 and the pulling mechanism 242B are different from each other at a different point in time so that only the rotation angle of the variable portion 24 and the first leg portion 25 is the same, It seems.

5 is a view showing the locus of the second leg of the articulated robot using the link structure according to the present invention, and the trajectory of the end of the second leg 26 of the link structure contacting the ground is shown in 261 It is characterized by drawing the same shape.

For this purpose, the second leg portion 26 is rotated at a larger angle by the variable portion 24 and the first leg portion 25, which move according to the phase of the crank 62.

More specifically, the second leg portion 26 extending from the end portion of the first leg portion 25 is rotated so as to be rotated by a predetermined angle 30 more than the rotation angle of the first leg portion 25 The variable portion 24 pushes or pulls the third link 23 coupled to one side of the second leg portion 26.

That is, when the crank 62 pulls the first leg portion 25, the variable portion 24 pushes the third link 23 so that the second leg portion 26 is inclined at a predetermined angle 30 Further turn.

When the crank 62 pushes the first leg portion 25, the variable portion 24 pulls the third link 23 so that the second leg portion 26 is inclined at a predetermined angle And is further turned forward.

The variable portion 24 has a longer length of time for the second leg portion 26 to pivot on the ground and a longer time for the second leg portion 26 to return to the initial position, The second leg portion 26 is pushed or pulled.

The trajectories 31 and 32 of the second leg portion 26 are as shown in the figure and the trajectories 31 and 32 indicate the phases of the crank 62 at intervals of 30 degrees.

The locus 31 when the second leg portion 26 is in contact with the ground and pushes the ground surface is a total of 7 sections and is a rotation section of 210 degrees and the second leg portion 26 is separated from the ground to return to the initial position Is a rotation interval of 150 degrees in total.

That is, while the second leg portion 26 pushes the ground surface while the crankshaft 62 rotates by 210 degrees and the second leg portion 26 moves away from the ground while the crankshaft 62 rotates by 150 degrees, Return to the position.

This is because the crank 62 takes more time (angle) to walk and pace the ground than the time (angle) at which the crank 62 rotates, thereby exhibiting more efficient movement in the walking, Which is based on the ratio of the link structure of the articulated robot using the linkage mechanism, will be described in more detail below.

6 shows the locus of the second leg part of the articulated robot using the link structure according to the present invention in accordance with a change in length. Even when the length of the second leg part 26 changes, The shape of the locus 262 is always the same.

However, even if the size of the trajectory 262 is changed, the width of the trajectory 262 is reduced by only about 40% even if the trajectory 262 is reduced by 50% as in 261H.

This is due to the ratio of the link structure of the articulated robot using the link structure according to the present invention. It is assumed that the distance between the rotation axis 11 of the crank 62 shown in Figs. 1 to 6 and the axis of rotation of the crank 62 is L1, L1: L2: L3: L4 where L4 is the length of the second link 62, L2 is the length of the first link 21, L3 is the length of the first link 25, 27.0: 8.4: 38.4: 24.9.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art without departing from the scope of the present invention. The scope of the invention should therefore be construed in light of the claims set forth to cover many of such variations.

1: frame
2: joints
3: Link structure
4: first drive motor
5: Second drive motor
6: first power transmitting portion
7: Second power transmission portion
11:
21: First link
22: second link
23: Third link
24:
25: first leg
26: second leg
41:
62: Crank

Claims (5)

A joint comprising a plurality of link structures rotatably coupled to pivot shafts located on front and rear surfaces of the frame;
A first drive motor for driving a link structure located on the left side of the plurality of joints;
A second drive motor for driving a link structure located on the right side of the plurality of joints;
A plurality of first power transmission parts for transmitting the rotational force of the first driving motor to the link structure located on the left front side of the frame and the link structure located on the left rear side;
And a plurality of second power transmission parts for transmitting the rotational force of the second driving motor to a link structure located on the right front side of the frame and a link structure located on the right rear side of the frame,
Articulated Robot Using Link Structure.
The method according to claim 1,
Further comprising a control unit for controlling rotation of the first drive motor and the second drive motor,
The control unit may perform a straight walk by rotating the first drive motor and the second drive motor at the same speed,
Wherein the control unit controls the first driving motor and the second driving motor to rotate faster than the other one,
Articulated Robot Using Link Structure.
The method according to claim 1,
The link structure
A variable portion which is rotatably fixed at one end thereof by a pivot of the frame and whose other end rotates by a predetermined angle by a first link connected to the first power transmission portion or the second power transmission portion;
A first leg portion having one end rotatably fixed by a pivot of the frame and the other end pivoting by a predetermined angle by a second link connected to the first power transmission portion or the second power transmission portion;
A second leg portion rotatably fixed to the other end of the first leg portion and contacting the ground;
A second leg portion extending from the end portion of the first leg portion and coupled to one side of the variable portion so as to be rotated at an angle greater than a rotation angle of the first leg portion, ≪ RTI ID = 0.0 >
Articulated Robot Using Link Structure.
The method of claim 3,
Wherein the first link and the second link have the same length and the same angle of rotation about the pivot axis by the first power transmitting portion or the second power transmitting portion is the same
Articulated Robot Using Link Structure.
The method of claim 3,
The length of the third link, to which the other end is rotatably fixed to the second leg portion, is longer than the length of the first leg portion that rotates about the pivot axis by the second link Lt; RTI ID = 0.0 >
Articulated Robot Using Link Structure.

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