KR20180040776A - Unit for generating jumping power and controlling method of this and jump robot using the same - Google Patents

Abstract

The present invention relates to a jumping force generating unit, which can generate a jumping force by using the cam movement of a rotary cam using a four-bar link structure and a drive motor and by using an elastic restoring force caused by the contraction of a jumping spring, a control method of the jumping force generating unit, and a jump robot using the same. The jumping force generating unit comprises: a first link member; a second link member which is connected to the first link member by a first link connection part and is supported on the ground; a third link member which is connected to the second link member by a second link connection part; a fourth link member which is connected to the third link member by a third link connection part and is connected to the first link member by a fourth link connection part; a jumping spring which connects the first link connection part and the third link connection part; a rotary cam which is rotatably coupled to the first link member; a drive motor which is provided on the first link member and rotates the rotary cam; and a drive link member which connects the second link connection part and the rotary cam. One end of the drive link member is linked to the second link connection part, and the other end of the drive link member is movable in the rotary cam to a free end.

Description

TECHNICAL FIELD [0001] The present invention relates to a jumping force generating unit, a control method of the jumping force generating unit, and a jump robot using the jumping force generating unit and the jumping force generating unit.

The present invention relates to a jumping force generating unit and a jump robot using the jumping force generating unit. More specifically, the jumping force generating unit generates a jumping force by using a four-bar linkage structure, a cam movement of a rotation cam using a drive motor, A control method of a jumping force generating unit and a jump robot using the jumping force generating unit.

In general, a mobile robot capable of moving by itself has emerged as the technology related to robots has been developed. Such mobile robots have been used in various fields. For example, cleaning robots, surveillance robots, and various other robots have appeared.

The ability of the robot to overcome the obstacles in the ground motion is another important strength of the legged mobile robot.

However, the leg-moving robot must move over various terrains such as obstacles, and the conventional leg-moving robot can not effectively move in such a harsh environment. In order to perform various tasks in such various environments, a mobile robot having a jump function is required. Among the moving methods of the legged mobile robot possessed by the mobile robot, the jumping movement has obvious advantages in terms of speed of travel and energy efficiency.

Conventionally, a mobile robot having a jump function has been introduced. However, the conventional mobile robot having a jump function has various problems such as a weak jump force, a difficulty in controlling the jump direction and a jump strength, and the like.

In particular, since the jump movement requires a very large driving force in a short time, a large number of pneumatic actuators have been selected for the jumping mechanism. Since the pneumatic actuator has a greater power to weight ratio than the electromagnetic motor, the pneumatic actuator can produce a linear motion closer to the motion of the muscle than the rotation of the electromagnetic motor.

However, the pneumatic actuator robot tends to have a larger robot body size due to the complexity of the power supply through the pneumatic system.

Korean Patent Laid-Open Publication No. 2011-0139839 (entitled "Shape Memory Alloy Drive-Type Small Jumping Mobile Robot," published on December 30, 2011)

SUMMARY OF THE INVENTION It is an object of the present invention to provide a jumping force generating mechanism capable of generating a jumping force by using a four-bar link structure, a cam movement of a rotation cam using a drive motor, Unit, a control method of the jumping force generating unit, and a jump robot using the same.

According to a preferred embodiment of the present invention, the jumping force generating unit according to the present invention comprises: a first link member; A second link member connected to the first link member by a first link connecting portion and supported on the ground; A third link member connected to the second link member by a second link connection portion; A fourth link member connected to the third link member by a third link connecting portion and connected to the first link member by a fourth link connecting portion; A jumping spring connecting the first link connection part and the third link connection part; A rotating cam rotatably coupled to the first link member; A drive motor provided on the first link member to rotate the rotation cam; And a drive link member connecting the second link connection portion and the rotation cam, wherein one end of the drive link member is linked to the second link connection portion, and the other end of the drive link member is connected to the free end portion And is movable within the rotation cam.

Here, the rotation cam may include: a support cam plate coupled to the rotation shaft of the drive motor and eccentrically rotated; And a guide rib protruding from the support cam plate portion to form a single closed curve corresponding to the movement space in which the other end of the drive link member is moved.

Here, the guide rib portion may include a drive seating portion in which the other end of the driving link member is supported; A first return section extending from one end of the drive seating section and guiding the other end of the drive link member to the drive seating section; A second return section extending from the other end of the drive seating section and guiding the other end of the drive link member to the drive seating section; And a restriction guide section connecting the first return section and the second return section to form the single closed curve.

Here, the driving link member may include a link frame; A frame connection part provided at one end of the link frame and linked to the second link connection part; And an adjusting protrusion provided at the other end of the link frame and moved within the rotation cam.

The jumping force generating unit according to the present invention further includes a stop sensing module for detecting a stop timing of the drive motor.

A control method of a jumping force generating unit according to the present invention comprises: a first link member; A second link member connected to the first link member by a first link connecting portion and supported on the ground; A third link member connected to the second link member by a second link connection portion; A fourth link member connected to the third link member by a third link connecting portion and connected to the first link member by a fourth link connecting portion; A jumping spring connecting the first link connection part and the third link connection part; A rotating cam rotatably coupled to the first link member; A drive motor provided on the first link member to rotate the rotation cam; And a drive link member connecting the second link connection portion and the rotation cam, the control method comprising: a jumping preparation step of rotating the rotation cam by the drive motor; A jumping sensing step of sensing when the jumping spring is maximally extended; A jumping step of stopping power supply to the driving motor after the jumping detection step and generating a jumping force by the jumping spring; And a returning step of returning the rotation cam to an initial position after the jumping step.

When the jumping springs detect the maximum extension of the jumping springs in the jumping sensing step, the jumping springs suspend the power supply to the driving motor, so that the jumping springs generate a jumping force by the elastic restoring force due to shrinkage, By the jumping force, the second link member is spaced from the ground, and the rotation cam is rotated autonomously.

Here, the returning step may include returning the second link connecting portion and the driving link member moved in the rotating cam according to the elastic action of the jumping spring and the rotating operation of the rotating cam so that the rotating cam returns to the initial position, And the rotating shaft of the driving motor are aligned and supported in a straight line.

A jump robot according to the present invention includes: a main body unit; A pair of leg units rotatably coupled to both sides of the main body unit and including a jumping force generating unit for generating a jumping force using a four-bar linkage structure; And a tail unit rotatably coupled to the rear of the main body unit between the pair of leg units, wherein the jumping force generating unit includes: a first link member; A second link member connected to the first link member by a first link connecting portion and supported on the ground; A third link member connected to the second link member by a second link connection portion; A fourth link member connected to the third link member by a third link connecting portion and connected to the first link member by a fourth link connecting portion supported by the main body unit; A jumping spring connecting the first link connection part and the third link connection part; A rotating cam rotatably coupled to the first link member; A drive motor provided on the first link member to rotate the rotation cam; And a drive link member connecting the second link connection portion and the rotation cam, wherein one end of the drive link member is linked to the second link connection portion, and the other end of the drive link member is connected to the free end portion And is movable within the rotation cam.

Here, the leg unit may include: a first connecting link member linked to the third link connecting portion; And a second connecting link member having one end connected to the first connecting link member by a motion link connecting portion and the other end rotatably coupled to the main body unit.

Here, the leg unit may further include a servo motor provided in the main body unit to rotate the second connection link member.

The jump robot according to the present invention further includes an orientation control unit for maintaining the orientation of the main unit.

According to the jumping force generating unit, the control method of the jumping force generating unit, and the jump robot using the jumping force generating unit and the jumping force generating unit according to the present invention, by using the four-bar linkage structure and the cam movement of the turn cam using the drive motor, The jumping force can be generated.

Further, the present invention can prevent the cam movement of the rotation cam from interfering with the contraction of the jumping spring, and generate a strong jumping force by the elastic restoring force by the contraction of the jumping spring.

Further, the present invention can restrict the operation of the four-bar linkage structure and facilitate the detection of the maximum distance between the first link connection part and the third link connection part.

Further, the present invention can limit the link rotation of the drive link member in accordance with the formation of a single closed curve through the guide rib portion, and stabilize the return of the rotation cam to its initial position.

Further, the present invention facilitates the movable engagement of the drive link member and the rotation cam, and enables the other end of the drive link member to move stably in the rotation cam.

Further, the present invention makes it possible to clarify the stopping timing of the drive motor and determine the jump timing of the jump robot.

In addition, the present invention divides the jump operation of the jump robot and allows the jump robot to generate a maximum jumping force while tilting forward.

Further, the present invention smoothes the operation of the four-bar linkage structure formed in the leg unit, and enables the jumping movement as well as the walking operation.

Further, the present invention can prevent the jump robot from falling over in the jump movement and the walking operation of the jump robot, and can stably maintain the posture of the jump robot.

1 is a rear view illustrating a jump robot according to an embodiment of the present invention.
2 is a side view showing a jump robot according to an embodiment of the present invention.
3 is a view showing a rotation cam of a jumping force generating unit in a jump robot according to an embodiment of the present invention.
4 is a view showing a driving link member of a jumping force generating unit in a jump robot according to an embodiment of the present invention.
5 is a diagram illustrating a method of controlling a jumping force generating unit according to an embodiment of the present invention.
6 is a diagram illustrating jumping preparation steps in a method of controlling a jumping force generation unit according to an embodiment of the present invention.
7 is a diagram illustrating a jumping detection step in a method of controlling a jumping force generating unit according to an embodiment of the present invention.
8 is a view showing a jumping step in a method of controlling a jumping force generating unit according to an embodiment of the present invention.

Hereinafter, a method of controlling a jumping force generating unit, a jumping force generating unit, and a jumping robot using the jumping force generating unit according to the present invention will be described with reference to the accompanying drawings. Here, the present invention is not limited or limited by the examples. Further, in describing the present invention, a detailed description of well-known functions or constructions may be omitted for clarity of the present invention.

FIG. 1 is a rear view illustrating a jump robot according to an embodiment of the present invention. FIG. 2 is a side view illustrating a jump robot according to an embodiment of the present invention. FIG. 4 is a view showing a driving link member of a jumping force generating unit in a jump robot according to an embodiment of the present invention. FIG. 4 is a view showing a rotation cam of a jumping force generating unit in a jump robot.

1 to 4, a jump robot according to an embodiment of the present invention includes a main body unit 10, a leg unit 20, and a tail unit 40.

The main body unit 10 forms the body of the jump robot. The main body unit 10 can form the head and the body of the jump robot.

The pair of leg units 20 are symmetrical with respect to the body unit 10. The leg unit 20 is rotatably coupled to both sides of the main body unit 10. The leg unit 20 includes a jumping force generating unit 50 that generates a jumping force using a four-bar linkage structure. The jumping force generating unit 50 may be a jumping force generating unit according to an embodiment of the present invention.

The jumping force generating unit according to an embodiment of the present invention includes a first link member 21, a second link member 22, a third link member 23, a fourth link member 24, A spring 51, a rotation cam 52, a drive motor 54, and a drive link member 53.

The first link member 21 is rotatably coupled to the main body unit 10. The first link member 21 is linked to the main body unit 10 by a fourth link connecting portion 34.

The second link member 22 is connected to the first link member 21 by a first link connecting portion 31. [ The second link member 22 is supported on the ground. The second link member 22 is provided with a center-of-gravity moving part 25 protruding toward the front of the main body unit 10. When the center-of-gravity moving part 25 comes into contact with the ground, the second link member 22 is separated from the ground. The center-of-gravity moving part 25 supports the main body unit 10 from the ground when the center of gravity of the main body unit 10 moves forward for a jump operation of the jump robot, Thereby forming the basis for forward jumping.

When the center of gravity of the main body unit 10 is moved forward, the bottom of the center-of-gravity moving part 25 is formed into a streamlined shape so that the jump robot according to an embodiment of the present invention is smoothly inclined forward, A non-slip pad (not shown) is provided at the end of the center-of-gravity displacement portion 25 to prevent the center-of-gravity movement portion 25 from slipping on the ground when the gap is separated from the ground due to the jumping force.

The third link member 23 is connected to the second link member 22 by a second link connecting portion 32. Here, the first link member 21 and the third link member 23 are each formed to be long in the height direction in the main body unit 10, so that the main body unit 10 is separated from the ground.

The fourth link member 24 connects the third link member 23 and the first link member 21. One end of the fourth link member 24 is connected to the third link member 23 by a third link connecting portion 33 and the other end of the fourth link member 24 is connected to a fourth link connecting portion 34 (Not shown).

The fourth link connection part (34) is provided in the main body unit (10). Then, the fourth link member 24 and the first link member 21 are rotatably coupled to the fourth link connecting portion 34, respectively.

The jumping spring 51 connects the first link connection part 31 and the third link connection part 33. [ The jumping spring 51 allows an elastic restoring force to be exerted upon contraction.

The rotation cam (52) is rotatably coupled to the first link member (21).

The driving motor 54 is provided on the first link member 21 to rotate the rotation cam 52. The drive motor 54 may be a DC motor that rotates the rotation cam 52 only in one direction. The drive motor 54 may be provided with a speed reducer 541 for controlling the rotation amount of the rotation cam 52.

The driving link member 53 connects the second link connecting portion 32 and the rotation cam 52.

The rotation cam 52 includes a support cam plate portion 521 coupled to the rotation shaft 52a of the drive motor 54 and eccentrically rotated and a movement space 521 in which the other end of the drive link member 53 is moved And a guide rib portion 522 protruding from the support cam plate portion 521 to form a single closed curve corresponding to the guide ribs 522a.

The guide rib 522 includes a drive seating section 524 for supporting the other end of the drive link member 53 and a drive link section 524 extending from one end of the drive seating section 524, A first returning section 528a for guiding the other end of the drive link member 53 to the drive seating section 524 and a second return section 528b extending from the other end of the drive seating section 524, A second return section 528b for guiding to the seating section 524 and a restriction guide section 526 for connecting the first return section 528a and the second return section 528b to form the single closed curve .

The first return section 528a has a larger turning radius from one end of the limited guide section 526 to one end of the drive seating section 524 with respect to the rotational axis 52a of the drive motor 54, The second return section 528b has a larger turning radius from the other end of the limited guide section 526 to the other end of the drive seating section 524 with respect to the rotational axis 52a of the drive motor 54 .

In particular, the second return section 528b has an "S" shape so that the adjustment projection 533, which will be described later, is formed in the drive seat section 523 while the rotation cam 52 is rotated by the drive motor 54, It can be prevented that it is detached from the opening 524.

For example, the limited guide section 526 may have a rotation radius 524 from the one end of the limited guide section 526 to the other end of the limited guide section 526 with respect to the rotational axis 52a of the drive motor 54, Can grow and become smaller.

As another example, the restriction guide section 526 may have substantially the same radius of rotation from one end of the restriction guide section 526 to the other end of the restriction guide section 526. At this time, the turning radius formed by the limited guide section 526 is larger than the turning radius formed by the driving seating section 524.

One end of the driving link member 53 is linked to the second link connecting portion 32 and the other end of the driving link member 53 is movable in the rotating cam 52 as a free end .

More specifically, the driving link member 53 includes a link frame 531, a frame connecting portion 532 provided at one end of the link frame 531 and linked to the second link connecting portion 32, And an adjusting protrusion 533 provided at the other end of the link frame 531 and moved in the rotation cam 52. The link frame 531 may have a bar shape.

At this time, a seating groove (not shown) is formed in the supporting cam plate portion 521 in the driving seating section 524 and an end of the adjusting projection 533 is inserted into the seating groove .

The adjustment projecting portion 533 can be freely moved in a single closed curve formed by the guide rib portion 522 and supported at the drive seating portion 524 at the initial position of the rotation cam 52 do.

The jumping force generating unit according to an embodiment of the present invention may include a stop sensing module 55 for detecting a stop timing of the drive motor 54. [ The stop sensing module 55 may include a first stop sensing portion 551 provided on the first link member 21 and a second stop sensing portion 553 provided on the rotation cam 52. [ have.

Then, when the first stop sensing unit 551 and the second stop sensing unit 553 coincide with each other, the stopping timing of the drive motor 54 can be detected. For example, the stop sensing module 55 may be configured as a hall sensor module.

The leg unit 20 may further include a first connecting link member 26 and a second connecting link member 27.

And the first connection link member 26 is linked to the third link connection portion 33. [

The second connecting link member 27 connects the main unit unit 10 and the first connecting link member 26. One end of the second connecting link member 27 is connected to the first connecting link member 26 by a motion link connecting portion 35 and the other end of the second connecting link member 27 is connected to the main unit 10).

The leg unit 20 may further include a servo motor 20b provided in the main body unit 10 to rotate the second connection link member 27. [ The rotation axis of the servo motor 20b is coupled to the second connection link member 27 to rotate the second connection link member 27 according to the operation of the servo motor 20b.

According to the operation of the servomotor 20b, the jump robot according to the embodiment of the present invention can barely walk on the ground with the tail unit 40 being supported on the ground.

This restricts the operation of the four-bar linkage structure in accordance with the connection of the first link member 21, the second link member 22, the third link member 23, and the fourth link member 24 , And the jumping force can be maximized.

Although not shown, the third link connecting portion 33 may be provided in the main body unit 10 like the fourth link connecting portion 34 to limit the operation of the four-bar link structure.

The tail unit (40) is rotatably coupled to the rear of the main unit (10) between a pair of the leg units (20). The tail unit 40 may include a tail member 41 supported on the ground and a tail connection portion 42 for rotatably connecting the tail member 41 to the body unit 10. [

The jump robot according to an embodiment of the present invention may further include an attitude control unit 60 for maintaining the attitude of the main body unit 10. [ The posture control unit 60 can sense the posture of the main body unit 10 and prevent the jump robot from falling down.

For example, the attitude control unit 60 may include an Attitude Reference System (ARS) sensor or an Attitude and Heading Reference System (AHRS) sensor. The ARS sensor or the AHRS sensor senses the attitude of the main body unit 10 and the attitude control unit 60 controls the servo motor 20b to prevent the jump robot from falling down.

Then, when the rotation cam 52 is rotated according to the operation of the driving motor 54, the jumping spring 51 is extended. When the driving motor 54 is stopped, the shrinkage of the jumping spring 51 The jumping force is generated by the elastic restoring force of the jump robot, and the jump robot can implement the jump operation.

At this time, when the driving motor 54 is stopped, the rotation cam 52 is rotated autonomously, and the rotation cam 52 can return to the initial position according to the elastic action of the jumping spring 51.

At this time, at the initial position of the rotation cam 52, the adjustment projection 533 is supported by the drive seating section 524, and the second link connection part 32 and the rotation cam 52 And the rotation shaft 52a of the driving motor 54 are aligned and supported in a straight line. Accordingly, at the initial position of the rotation cam 52, the distance between the second link connecting portion 32 and the fourth link connecting portion 34 is prevented from being distanced by the elastic restoring force due to the contraction of the jumping spring 51 And the initial shape of the leg unit 20 can be stably maintained.

In other words, the four-link structure is stably maintained at the initial position of the rotation cam 52 to stabilize the upright state of the jump robot. When the rotation cam 52 is rotated, the drive motor 54 ) To the rotation cam (52) and the drive link member (53).

Hereinafter, a method of controlling the jumping force generating unit according to an embodiment of the present invention will be described.

FIG. 5 is a view illustrating a method of controlling a jumping force generating unit according to an embodiment of the present invention. FIG. 6 is a view illustrating a jumping preparation step in a method of controlling a jumping force generating unit according to an embodiment of the present invention. FIG. 7 is a diagram illustrating a jumping detection step in a method of controlling a jumping force generation unit according to an embodiment of the present invention. FIG. 8 is a flowchart illustrating a jumping force control method according to an exemplary embodiment of the present invention, Fig.

1 to 4 and 5 to 8, a method of controlling a jumping force generating unit according to an embodiment of the present invention controls the jumping force of a jump robot using the jumping force generating unit 50 described above And may include a jumping preparation step S1, a jumping sensing step S2, a jumping step S3 and a returning step S4.

The jumping preparation step (S1) rotates the rotation cam (52) by the drive motor (54). 6, the first link connecting portion 31 and the third link connecting portion 33 are separated from each other, and between the second link connecting portion 32 and the fourth link connecting portion 34, And the center of gravity of the main body unit 10 is moved forward. At this time, the end of the tail unit (40) is kept supported on the ground.

The jumping sensing step S2 senses when the jumping spring 51 is maximally extended. 7, the center of gravity of the main body unit 10 is moved forward and the jump robot is tilted forward, the center-of-gravity moving part 25 is brought into contact with the ground, (22) is spaced from the ground. At this time, the end of the tail unit 40 is spaced from the ground.

The jumping step S3 is performed after the jumping detecting step S2, and then the power supply of the driving motor 54 is stopped to generate a jumping force by the jumping spring 51. [ Accordingly, the jumping spring 51 generates a jumping force due to the elastic restoring force due to the contraction, and the second link member 22 including the center-of-gravity moving part 25 is separated from the ground by the jumping force, The rotation cam 52 is rotated autonomously. 8, the distance between the first link connecting portion 31 and the third link connecting portion 33 is reduced to a minimum distance due to the contraction of the jumping spring 51, The distance between the connecting portion 32 and the fourth link connecting portion 34 is distanced by a maximum distance and the rotating cam 52 is self-rotated while being restrained by the driving link member 53. Also, the sensing of the stop sensing module 55 is released.

At this time, since the rotational movement of the rotation cam 52 does not interfere with the elastic restoring force due to the contraction of the jumping spring 51, the jumping force of the jump robot can be stabilized by realizing the strong jumping force.

In addition, as the jumping force is generated in the jumping step S3, the tail member 41 is raised while rotating about the tail connection portion 42 to add a propulsion force to the jump robot, and the jump distance of the jump robot is improved .

In the returning step S4, after the jumping step S3, the rotation cam 52 returns to the initial position. More specifically, in the returning step S4, the resilient action of the jumping spring 51 and the self-rotating operation of the rotation cam 52 are performed so that the rotation cam 52 is returned to the initial position, The adjustment projecting portion 533 which is the other end of the drive link member 53 moved in the rotation cam 52 and the rotary shaft 52a of the drive motor 54 are arranged and supported in a straight line.

In other words, after passing through the jumping step S3, the maximally retracted jumping spring 51 is stretched by the repulsive force, and the adjusting projection 533 is moved in the moving space 522a and then moved to the drive seating section 524 through the first return section 528a or the second return section 528b.

The rotation cam 52 is returned to the initial position and the second link connecting portion 32 and the driving link member 52 moved in the rotation cam 52 are moved by the elastic action of the jumping spring 51, The adjustment projection 533 at the other end of the drive shaft 53 and the rotary shaft 52a of the drive motor 54 are aligned and supported in a straight line.

At this time, as the rotation cam 52 is returned to the initial position, the tail member 41 is lowered while rotating about the tail connection portion 42 by the load, The pair of leg units 20 and the tail unit 40 are supported at three points on the ground so that the landing operation of the jump robot is stabilized.

Then, as shown in FIG. 2, the pair of leg units 20 and the tail unit 40 are in a state in which the ground surface is seated and supported while the rotation cam 52 is returned to the initial position.

More specifically, in an embodiment of the present invention, the jumping preparation step S1 may be performed such that the distance between the first link connection portion 31 and the third link connection portion 33 from the initial position of the rotation cam 52 is initial The rotation cam 52 can be rotated at the first speed so that the preparation distance is larger than the distance and smaller than the maximum distance. In addition, the jumping detection step S2 may detect the jumping by rotating the rotation cam 52 at a distance smaller than the first speed so that the distance between the first link connection part 31 and the third link connection part 33 becomes the maximum distance. You can rotate at 2 speeds. The maximum distance can be sensed by sensing the stopping timing of the driving motor 54 through the stop sensing module 55. When the stop sensing module 55 senses the maximum distance according to the jumping sensing step S2, the jumping step S3 may stop the power supply of the driving motor 54. [

The minimum distance is shorter than the initial distance, the initial distance is shorter than the preparation distance, and the preparation distance is shorter than the maximum distance in the distance between the first link connection portion 31 and the third link connection portion 33 . The minimum distance indicates a shortest distance between the first link connection portion 31 and the third link connection portion 33 in a four-bar link structure, and the maximum distance is a distance between the first link connection portion 31 And the third link connecting portion 33 is the longest.

According to the jumping force generating unit, the control method of the jumping force generating unit, and the jump robot using the jumping force generating unit, the cam movement of the rotation cam 52 using the four-link structure and the drive motor 54, The jumping force can be generated by using the elastic restoring force according to the shrinkage of the jig.

It is also possible to prevent the cam movement of the rotation cam 52 from interfering with the contraction of the jumping spring 51 and to generate a strong jumping force due to the elastic restoring force due to the contraction of the jumping spring 51.

Also, it is possible to restrict the operation of the four-bar linkage structure and facilitate the detection of the maximum distance between the first link connection portion 31 and the third link connection portion 33. [

In addition, link rotation of the drive link member 53 can be limited by the single closed curve formed through the guide rib portion 522, and the rotation of the rotation cam 52 can be stabilized at the initial position.

In addition, the movable link member 53 facilitates the movable coupling of the rotation cam 52 and allows the other end of the driving link member 53 to move stably in the rotation cam 52 .

In addition, it is possible to clarify the stopping timing of the drive motor 54 and determine the jump timing of the jump robot.

Further, the jumping operation of the jump robot is subdivided, and the jumping robot tilts forward to generate the maximum jumping force.

Further, the operation of the four-bar linkage structure of the leg unit 20 is made smooth, and the jumping movement as well as the gait operation are enabled.

Further, it is possible to prevent the jump robot from falling over in the jump movement and the walking operation of the jump robot, and to stably maintain the posture of the jump robot.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, Modify or modify the Software.

10: main body unit 20: leg unit 21: first link member
22: second link member 23: third link member 24: fourth link member
25: center of gravity moving part 26: first connecting link member 27: second connecting link member
31: first link connecting portion 32: second link connecting portion 33: third link connecting portion
34: fourth link connecting part 35: motion link connecting part 40: tail unit
41: tail member 42: tail connecting portion 50: jumping force generating unit
51: jumping spring 52: rotation cam 52a:
521: support cam plate portion 522: guide rib portion 522a: moving space
524: a drive seating section 526: a limit guide section 528a: a first return section
528b: second return section 53: drive link member 531: link frame
532: frame connecting portion 533: adjusting projection portion 54: driving motor
541: Speed reducer 55: Stop sensing module 551: First stop sensing part
552: second stop sensing unit 60: posture control unit S1: jumping preparation step
S2: Jump detection step S3: Jump step S4: Return step

Claims (12)

A first link member;
A second link member connected to the first link member by a first link connecting portion and supported on the ground;
A third link member connected to the second link member by a second link connection portion;
A fourth link member connected to the third link member by a third link connecting portion and connected to the first link member by a fourth link connecting portion;
A jumping spring connecting the first link connection part and the third link connection part;
A rotating cam rotatably coupled to the first link member;
A drive motor provided on the first link member to rotate the rotation cam; And
And a drive link member connecting the second link connection portion and the rotation cam,
Wherein one end of the driving link member is linked to the second link connecting portion, and the other end of the driving link member is movable in the rotating cam to a free end. The method according to claim 1,
The rotation cam
A support cam plate coupled to the rotation shaft of the drive motor and eccentrically rotated; And
And a guide rib portion protrudingly formed on the support cam plate portion to form a single closed curve corresponding to a movement space in which the other end of the drive link member is moved. 3. The method of claim 2,
The guide rib portion
A driving seating section in which the other end of the driving link member is supported;
A first return section extending from one end of the drive seating section and guiding the other end of the drive link member to the drive seating section;
A second return section extending from the other end of the drive seating section and guiding the other end of the drive link member to the drive seating section; And
And a restriction guide section connecting the first return section and the second return section to form the single closed curve. The method according to claim 1,
The drive link member
Link frame;
A frame connection part provided at one end of the link frame and linked to the second link connection part; And
And an adjusting protrusion provided at the other end of the link frame and moved within the rotation cam. 5. The method according to any one of claims 1 to 4,
And a stop sensing module for sensing a stop timing of the drive motor. A first link member;
A second link member connected to the first link member by a first link connecting portion and supported on the ground;
A third link member connected to the second link member by a second link connection portion;
A fourth link member connected to the third link member by a third link connecting portion and connected to the first link member by a fourth link connecting portion;
A jumping spring connecting the first link connection part and the third link connection part;
A rotating cam rotatably coupled to the first link member;
A drive motor provided on the first link member to rotate the rotation cam; And
And a drive link member connecting the second link connection portion and the rotation cam, the control method comprising:
A jumping preparation step of rotating the rotation cam by the drive motor;
A jumping sensing step of sensing when the jumping spring is maximally extended;
A jumping step of stopping power supply to the driving motor after the jumping detection step and generating a jumping force by the jumping spring; And
And a returning step of returning the rotation cam to an initial position after passing through the jumping step. The method according to claim 6,
Wherein when the jumping detecting step detects that the jumping spring is maximally extended, the jumping step stops power supply to the driving motor,
Wherein the jumping spring generates a jumping force by an elastic restoring force due to shrinkage, the second link member is spaced from the ground by a jumping force, and the rotation cam is rotated autonomously. 8. The method of claim 7,
In the returning step,
The second link connecting portion, the other end of the drive link member moved in the rotation cam, and the second link linking portion in accordance with the elastic action of the jumping spring and the automatic rotation operation of the rotation cam such that the rotation cam returns to the initial position, And the rotation axes of the motors are aligned and supported in a straight line. A main body unit;
A pair of leg units rotatably coupled to both sides of the main body unit and including a jumping force generating unit for generating a jumping force using a four-bar linkage structure; And
And a tail unit rotatably coupled to the rear of the main body unit between a pair of the leg units,
The jumping force generating unit includes:
A first link member;
A second link member connected to the first link member by a first link connecting portion and supported on the ground;
A third link member connected to the second link member by a second link connection portion;
A fourth link member connected to the third link member by a third link connecting portion and connected to the first link member by a fourth link connecting portion supported by the main body unit;
A jumping spring connecting the first link connection part and the third link connection part;
A rotating cam rotatably coupled to the first link member;
A drive motor provided on the first link member to rotate the rotation cam; And
And a drive link member connecting the second link connection portion and the rotation cam,
Wherein one end of the driving link member is linked to the second link connecting portion, and the other end of the driving link member is movable in the rotating cam to a free end. 10. The method of claim 9,
The leg unit includes:
A first connection link member linked to the third link connection portion; And
Further comprising a second connection link member having one end connected to the first connection link member by a motion link connection portion and the other end rotatably coupled to the main body unit. 11. The method of claim 10,
The leg unit includes:
And a servo motor provided in the main body unit for rotating the second connection link member. 12. The method according to any one of claims 9 to 11,
And an attitude control unit for maintaining the attitude of the main body unit.

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