KR20180133162A - STRUCTURE FOR ASSEMBLING OF MODULAR ROBOTICS SYSTEM BASED ON IoT - Google Patents

Abstract

The present invention relates to an assembling structure for a modular robotics system based on IoT, which comprises: a plurality protruding units arrange to protrude at a constant system on at least one surface of a polyhedral block; a plurality of cylindrical units having a groove to be coupled in correspondence with the protruding units of the polyhedral block; and a connection block in which an edge containing the cylindrical units therein is formed on both edges. A coupling pin is more provided to the connection block, and a pin insertion hole into which the coupling pin is inserted is more formed on a surface on which a protruding portion of the polyhedral block. The coupling pin is formed with a separable coupling pin, and a handle unit is more formed in the connection block with a coupling structure. Therefore, a coupling force is improved, and can be easily separated.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a modular robotics system,

The present invention relates to a coupling structure of a modular robotics system based on IoT, and more particularly, to a coupling structure of a modular robotics system based on IoT, which can improve coupling force and pin attachment by adding pin coupling.

There are many kinds of toys for children and students, but toy types that can be assembled in many forms composed of plural blocks have been preferred among children and students. Famous for these multiple assemblable block shaped toys are products sold by LEGO.

IoT (Internet of Things) technology refers to a technology for sharing information by connecting devices and objects in various fields such as healthcare, remote meter reading, smart home, and smart phone, as well as electronic appliances and electronic devices. With the widespread use of IoT technology and the education of children and students' computer programming coding, research is actively being conducted to combine these technologies with children's and children's toys.

According to these studies, a product capable of communicating and controlling wirelessly among a plurality of blocks has been developed in recent years, and a product capable of inputting a program directly coded by children and students has been developed. However, such a product has drawbacks such as inconvenience and inconvenience that the input procedure of the program is difficult, and the switching from the program mode to the automatic mode can not be performed in the block itself, .

In view of the above problems, Korean Patent Registration No. 10-1696151, "Modular Robotics System based on IoT" was filed and patented by the present inventor. According to this prior patent, a function block for changing a mode from a program mode to an automatic mode is installed in a master block for transmitting information so that a slave block operates, and an IoT-based A modular robotics system is disclosed.

A plurality of protrusions are formed on at least one surface of the polyhedron block, a plurality of grooves formed with grooves, and a rim protruding from both sides And the protruding portion of the polyhedron block is fitted on both sides of the connecting block. That is, a protrusion formed on one surface of the polyhedron block is a coupling structure in which the protrusion is fitted between a rim of the connection block and a plurality of groove guides. Of course, it is also possible to join the projections directly into the groove.

The block connection structure is structured such that a plurality of protrusions are arranged in a polyhedron block to be connected to a connection block, which can be connected to generally known block products (e.g., legos), that is, So as to provide a compatible connection structure.

However, when forming the groove guide of the protruding portion and the connecting block so as to be compatible with other product blocks, the protruding height or size is limited to a widely known standard. Accordingly, when a large number of polyhedron blocks are connected to each other to form a block assembly, the coupling force of the connecting portion may be detached and easily separated and separated.

Further, in the modular robotics system based on the IoT, since the electric circuit board and the blocks in which the respective functional modules are installed are included in both the master block and the slave block, the weight is larger than that of ordinary lego blocks, There is a problem that the connection part of the block is easily separated and the block assembly is collapsed.

Korean Patent Registration No. 10-1696151 (Feb.

It is an object of the present invention to provide an improved IoT-based modular robotics system in which a coupling structure capable of providing a stable connection state without being separated or separated by the weight of connected blocks by further including pin coupling in connection of polyhedral blocks .

Another object of the present invention is to provide an IoT-based modular robotics system having a coupling structure in which a connecting block is formed with a handle so as to easily separate connected blocks by further including pin coupling in connection of polyhedral blocks .

SUMMARY OF THE INVENTION [0006]

In a block coupling structure of an IoT-based modular robotics system,

A plurality of protrusions arranged at equal intervals on at least one surface of a master block, a slave block, and a polyhedral block including an intermediate block;

A connecting block having a plurality of cylindrical portions having grooves that can be engaged with the protrusions of the polyhedron block and having a plurality of cylindrical portions formed on both sides thereof; ≪ / RTI >

At least one coupling pin protruding higher than the cylindrical portion is formed in the connection block,

And a pin insertion hole into which the engagement pin of the connection block is inserted is further formed on the surface of the polyhedron block on which the protrusion is formed.

According to another embodiment of the present invention, there is provided a coupling block, wherein a coupling pin is not fixedly formed on the coupling block, a pin through-hole is formed in the coupling block so that the coupling pin is inserted therethrough, And a detachable coupling pin inserted into the pin insertion hole of the slave block.

Also, the engaging pin may be formed in a circular boss shape, and a shape such as a polygonal shape or a cross shape may be formed in various embodiments.

In addition, although one coupling pin is formed at the center of the coupling block, a plurality of coupling pins are formed in the coupling block, and the master block and the protrusion of the slave block are formed But also a structure in which a plurality of pin insertion holes are formed in the surface.

The pin insertion hole of the master block, the slave block, and the intermediate block may be formed as a simple through hole, or a pin holder for guiding the insertion of the coupling pin into the inside of the pin insertion hole, And can be formed by attaching.

As a means for facilitating the detachment of the connecting block, the connecting block is further provided with a grip portion extending from at least one side surface thereof.

Further, the handle portion may be formed in various shapes, or may have a configuration with a step at the tip, an intermediate opening with the middle portion opened, a plurality of the at least two sides, or various embodiments.

As described above, according to the present invention, in the block coupling structure of the modular robotics system based on IoT, by adding the pin coupling using the coupling pin to the coupling by the projecting portion and the groove guide and the frame, the coupling state is separated, There is an effect to be improved.

Further, instead of making the connection force stronger, the width of the connection block is small during the disassembly, so that it is difficult to easily pull out. Thus, by integrally forming the handle portion integrally with the connection block, the handle portion can be easily pulled off and pulled out.

 Therefore, the present invention improves the bonding force and facilitates the separation.

1 is a block diagram of an IoT-based modular robotics system to which the present invention is applied.
2 is a diagram illustrating an example of a conventional configuration of individual blocks of an IoT-based modular robotics system to which the present invention is applied;
Figure 3 is an illustration of a block assembly of an IoT-based modular robotics system to which the present invention is applied;
4 is a schematic diagram showing a block coupling structure of an IoT-based modular robotics system according to the present invention.
5 is an illustration of a polyhedron block of an IoT-based modular robotics system according to the present invention.
6 is a diagram illustrating another embodiment of a block coupling structure of an IoT-based modular robotics system according to the present invention.
FIG. 7 is a diagram illustrating an example of a detachable coupling pin structure of a block coupling structure of an IoT-based modular robotics system according to the present invention; FIG.

Hereinafter, a block connection structure of an IoT-based modular robotics system according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1, an IoT-based modular robotics system 100 includes a master block 110, a slave block 120, a connection block 130, an intermediate block m, A terminal unit (PC) 140 for control and a mobile terminal 150.

The master block 110 and the slave block 120 are connected to each other via a connection block 130 to constitute a block assembly. The master block 110 and the slave block 120 transmit / In the program mode, the program edited using the terminal unit 140 and the mobile terminal 150 is executed. In the automatic mode, the preset program is executed. The program mode and the automatic mode are selected by the function button 110a . In the program mode, the operation can be changed and operated by using the application of the mobile terminal and the user UI, so that the program can be utilized for education.

As shown in FIG. 2, the master block 110 may be formed as a polyhedron having a plurality of surfaces, and a plurality of first protrusions 110b may be formed on at least one of the plurality of surfaces. have. The first protrusion 110b may be inserted into the groove g formed on one surface of the connection block 130. [

A second protrusion 120b formed on one surface of the slave block 120 may be inserted into the groove g formed on the other surface of the connection block 130. By this coupling, (120) may be physically connected. The intermediate block m may be formed of a polyhedron corresponding to the master block 110 or the slave block 120 and may have protrusions formed on the respective surfaces thereof to be connected using the connection block 130.

The first protrusions 110b and the second protrusions 120a formed in the master block 110 and the slave block 120 and the protrusions formed in the intermediate block m are formed in the grooves formed in the connection block 130 g, but it is fitted in the space between the groove guide and the edge rim. It is formed so as to have the same dimensions as protrusions and grooves formed in a conventional lugo block, so that connection with a general lEGO block can be compatible, so that various blocks can be assembled.

3 is an illustration of a block assembly of an IoT-based modular robotics system to which the present invention is applied. As shown in the figure, the master block 110 and the slave block 120 are connected to the intermediate block m through the connection block 130 to form a desired block assembly. This is because the connected blocks are assembled by coupling several to several tens of blocks with the connecting block, so that the connecting portion is easily separated while the weight to be handled is increased. Particularly, since a block assembly with motion using an actuator block is made, and a program is set and adjusted in a mobile terminal or is driven by a preset program, when a motion by an actuator operation occurs, Often occurs.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is an object of the present invention to provide a modular robotics system in which each block of the modular robotic system based on IoT is interchangeably connected with general LEGO blocks to maintain a LEGO connection structure, Thereby improving the connection structure that can solve the collapse of the assembly due to separation and separation.

FIG. 4 is a block diagram illustrating a block combining structure of an IoT-based modular robotics system according to the present invention, and FIG. 5 is an illustration of a polyhedron block of an IoT-based modular robotics system according to the present invention.

The present invention relates to a block coupling structure of a modular robotic system based on IoT,

A plurality of protrusions 301 are equally spaced on one or a plurality of faces of the master block 110 of the IoT-based modular robotic system and the polyhedral block 300 including the slave block 120 and the intermediate block m Respectively. The connection block 200 is configured to be coupled to the protrusion 301.

The connecting block 200 includes a plurality of cylindrical portions 202 and a plurality of cylindrical portions 202 having grooves 201 that can be engaged with the protruding portions 301 of the polyhedron block 300, A frame 203 is formed on both sides.

The protrusion 301 is formed in the polyhedron block 300 and the groove 202 having the groove 201 formed in the connecting block 200 and the rim 203 are formed so that the protrusion 301 is formed in the groove 201 Or between the groove guide 202 and the rim 203. In this case,

In the above-described coupling structure, at least one coupling pin 210 protruding higher than the cylindrical portion 202 and the rim 203 is formed in the connecting block 200, and the polyhedral block 300 A pin insertion hole 310 into which the coupling pin 201 of the connection block 200 is inserted is further formed on a surface of the coupling block 200 on which the protrusion 301 is formed.

As shown in FIG. 5, the polyhedron block 300 includes an actuator block and a sensor block as a master block and a slave block. For example, (b) a DC motor block, (c) a buzzer block, (d) a variable resistor block, (e) an intermediate block, (f) an LED block, and may further include a touch sensor block, a lighting block, However, as an example of the polyhedron block 300 for convenience, the connecting structure will be described by showing the middle block m as a polyhedron block 300. FIG.

A plurality of protrusions 301 are formed on at least one surface of the various polyhedral blocks 300 and pin insertion holes 310 corresponding to the coupling pins 210 of the connection block 200 are formed on the protrusions. Is formed.

As an example of the present invention, four groove guides 202 are formed in the connection block 200 corresponding to a structure in which nine projections 301 are arranged at equal intervals on at least one surface of the polyhedron block 300 And a pin insertion hole 310 is formed in the polyhedron block 300 in place of the protrusion in the center.

In the present invention, when one surface of the connection block 20 protruding from the coupling pin 210 is coupled to the surface of the polyhedron block 300 on which the protrusion is formed, the coupling pin 210 in the center is inserted into the pin insertion hole 310 And eight protrusions 301 are inserted and joined to the respective spaces between the four groove guides 202 and the rim 203.

Therefore, the protrusion 301 is inserted into the space between the groove guide 202 and the rim 203, and the coupling pin 201 in the center is inserted into the pin insertion hole 310. Therefore, Connection part is not separated by horizontal load.

A connecting block having a coupling pin 210 protruding from only one side of the connecting block 200 and a connecting block having both coupling pins protruding from both sides of the connecting block 200, .

Meanwhile, the coupling pin 210 may have any shape such as a circular shape, a polygonal shape, or a cross shape, and may have a polygonal shape or a cross shape to prevent twisting.

The coupling force is improved by inserting the coupling pin 210 into the pin insertion hole 310 and inserting the protrusion 301 between the groove guide 202 and the rim 203 of the coupling block 200 , The connection block 200 must be pulled out in order to separate the connection block 200 from the polyhedron block 300. However, since the connecting block 200 is a narrow block, it is hard to pull it by hand, so that it may be difficult to easily separate it.

In order to solve such a problem, a handle 220 is further formed on the connecting block 200 according to the present invention. The handle 220 is integrally formed on the side surface of the connection block 200. If the knob 220 is enlarged, it is easy to hold the knob 220 by hand. However, when the polygonal blocks 300 are coupled, interference with other blocks or visually distracting can be seen.

Therefore, it is possible to provide a structure having a side with a small enough size to be pulled by a hand, such as a structure in which a hook is caught by a finger like the handle of Fig. 7 or a handle having an opening with an intermediate portion like the handle of Figs. (220). Because it has an opening, it can apply pulling force without slipping when pulling with your finger.

FIG. 6 is a schematic view showing another embodiment of a block coupling structure of a modular robotics system based on IoT according to the present invention, and FIG. 7 shows a structure of a detachable coupling pin of a block coupling structure of an IoT-based modular robotics system according to the present invention. Fig.

4 and 5, the pin insertion hole 310 formed in the polyhedron block 300 in the coupling structure according to the present invention may have a structure in which only holes are formed, The pin holder 320 can be further formed inside the pin insertion hole 310. [

7, the connecting block 200 is formed with a pin through hole 211 and a detachable coupling pin 201 'inserted through the pin through hole 211 can do. In this case, the connecting block 200 having the pin through hole 211 is coupled to the polyhedral block 300 and the detachable connecting pin 210 'is connected to the pin through hole 211 at the other side of the connecting block 200 And the other polyhedron block may be coupled to the other side of the connection block 200. At this time, the separable coupling pin 210 'may be coupled to the connecting block 200 through the pin insertion hole 310 of the polyhedron block 200, The engagement protrusions are formed at positions eccentric by the thickness of the fin through holes so that the protruding lengths on both sides become equal when the separable engagement pin 201 'is fitted to the pin through hole 211 on either side, It is preferable to keep it down so that it does not fall off or slip in the direction of the stopping jaw.

In the case of the detachable coupling pin 210 ', after coupling the connection block 200 to the polyhedron block 300, another block of product (eg, a legacy block) can be coupled to the other side of the connection block 200. That is, other product blocks may have no pin insertion holes, so that they can be used for coupling with other product blocks if they are constructed as detachable coupling pins.

6, when the pin holder 320 is further formed inside the pin insertion hole 310 of the polyhedron block 300, the coupling pin 210 is inserted through the pin insertion hole 310 And is inserted and coupled to the pin holder 320. Therefore, the force of the engagement pin 310 in contact with the pin holder 320 can be dispersed with respect to the force applied horizontally, so that the pin insertion hole 310 can be prevented from being damaged. 7, the separable coupling pin 210 'may be connected to the pin holder 310 through the pin insertion hole 310. In this case, The length to be inserted is limited and it can be inserted at an appropriate depth. Therefore, there is no need to form a stopping jaw in the middle, and it is also possible to prevent the separable coupling pin from being biased to one side.

As described above, in the block coupling structure of the modular robotics system based on IoT, the master block and the slave block, that is, the actuator block, the sensor block, and the like, unlike the general prefabricated block (e.g., Lego block) A battery, a communication module, and the like, and a connection port, etc. are installed.

That is, the weight of the block of the present invention is heavier than other hollow product blocks. Particularly, when the actuator block is used, even if the assembled block assembly rotates or moves due to the driving of the actuator, the coupling state is separated or the assembly is not broken by adding the pin coupling using the coupling pin.

In addition, in the present invention, since the coupling force is not strengthened by adding the pin coupling using the coupling pin, it is difficult to easily pull the coupling block because the width of the coupling block is small at the time of disassembly. Therefore, by integrally forming the handle portion in the coupling block, So that it can be easily separated. Therefore, the bonding force is improved and separation can be made easily.

The scope of the present invention is not limited to the above-described embodiments, but may be embodied in various forms of embodiments within the scope of the appended claims. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.

200: connection block 201: home
202: Home guide 203: Rim
210: coupling pin 201 ': detachable coupling pin
211: pin through hole 220: handle portion
300: polyhedron block 301: protrusion
310: pin insertion hole 320: pin holder

Claims (6)

In a block coupling structure of an IoT-based modular robotics system,
A plurality of protrusions arranged at equal intervals on at least one surface of a master block, a polyhedron block including a slave block and an intermediate block;
A connecting block having a plurality of cylindrical portions having grooves that can be engaged with the protrusions of the polyhedron block and having a plurality of cylindrical portions formed on both sides thereof; ≪ / RTI >
At least one coupling pin protruding higher than the cylindrical portion is formed in the connection block,
And a pin insertion hole for inserting an engaging pin of the connecting block is formed on a surface of the polyhedron block on which the protrusion is formed, in the IoT-based modular robotics system.
In a block coupling structure of an IoT-based modular robotics system,
A plurality of protrusions arranged at equal intervals on at least one surface of a master block, a polyhedron block including a slave block and an intermediate block;
A connecting block having a plurality of cylindrical portions having grooves that can be engaged with the protrusions of the polyhedron block and having a plurality of cylindrical portions formed on both sides thereof; ≪ / RTI >
Wherein the connection block is formed with a pin through hole into which the coupling pin is inserted,
A pin insertion hole corresponding to the pin through-hole of the connection block is formed on the surface of the polyhedron block on which the protrusion is formed,
And a detachable coupling pin inserted into the pin through hole of the connection block and having both ends inserted into the pin insertion hole of the polyhedral block coupled to both sides of the connection block. .
3. The method according to claim 1 or 2,
Wherein the connection block further includes a grip portion extending from a side of the connection block. ≪ RTI ID = 0.0 > 11. < / RTI >
In the third aspect,
And a locking jaw is formed in an intermediate portion or an opening portion is formed in the intermediate portion of the IoT-based modular robotics system.
The connector according to claim 1 or 2,
Wherein the coupling pin has a circular cross section, a polygonal cross section or a cross section.
The polyhedral block according to any one of claims 1 to 3,
And a pin holder for guiding the insertion of the coupling pin into the inside of the pin insertion hole and for limiting the insertion depth is further formed on the inside of the pin insertion hole.

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