KR20190130298A - Robot of assembling structure - Google Patents

Abstract

A prefabricated robot comprises: a driving device including first and second driving gears having at least one through coupling hole in a first and a second surface opposite to each other and connected to the drive shaft; first and second side surface partial frames detachably fastened to at least one through coupling hole in the first and second driving gears and partially covering the first and second side surfaces of the driving device; and an upper surface frame which detachably connects the first and second side surface partial frames and separately covers the upper surface of the driving device. Therefore, the prefabricated robot is capable of individually attaching/detaching the frame parts in a partition frame structure to facilitate replacement of a damaged frame and maintenance of the driving device, and the driving module connected to the driving device is repeatedly connected to the partition frame structure and a joint movement can be performed due to a separation distance of the upper surface frame.

Description

ROBOT OF ASSEMBLING STRUCTURE}

The present invention relates to an assembled robot, and more particularly, to an assembled robot that is designed with a splittable partial frame structure and is easy to maintain.

With the development of robotics technology, the demand of multipurpose robots is increasing in industry and home. Production robots that use arm to increase productivity, boxing, soccer, etc., from robots to exercise, housekeeping robots to help with cleaning and cooking, humanoid and human life similar to human figures for entertainment for singing or dancing The areas and types of robots for rescue and disaster area search are diverse. Therefore, research and development are actively underway to reduce the manufacturing cost of these robots and to improve the ease of management and maintenance.

Korean Patent No. 10-0958114 relates to a robot walking control device and method, and more particularly, to improve walking stability by suppressing structural vibration and stabilizing posture by supplementing a walking control algorithm of a conventional biped walking robot. The present invention relates to a robot walking control device and a method which can be used. A robot walking control method according to an embodiment of the present invention is a method for controlling the walking of a biped walking robot, the method comprising the steps of: (a) attenuating structural vibration of the body according to the walking of the robot; (b) correcting a trajectory of the zero moment position and the center of mass position of the robot which are changed according to the damping of the structural vibration; And (c) correcting the attitude of the robot which changes according to the damping of the structural vibration and the trajectory of the center of mass position.

Korea Patent Registration 10-0958114 (2010.05.07 registration)

One embodiment of the present invention is to provide a prefabricated robot connected to the driver in a splittable partial frame structure.

One embodiment of the present invention is to provide an assembled robot capable of individually detaching the frame parts in a segmentable partial frame structure.

One embodiment of the present invention is to provide an assembly robot of a modular splittable partial frame structure that is easy to replace the frame by separate removal of the frame parts in the splittable partial frame structure, reducing the maintenance cost of the frame and the actuator. do.

One embodiment of the present invention is to provide a prefabricated robot in which the modular frame structure connected to the driver in a segmentable partial frame structure is repeatedly connected in a modular form, increasing the degree of freedom according to the joint movement.

Among the embodiments, the assembled robot includes a first and second drive gears having at least one through coupling hole in the first and second surfaces facing each other and connected to the drive shaft, the first and second drive gears. First and second side partial frames and the first and second side partial frames removably fastening with at least one through engagement hole in the field and partially covering the first and second side surfaces of the driver. And a top frame connecting and spaced apart from each other to cover the top of the driver.

The driver may arrange the at least one through coupling hole spaced apart in a circle to customize the coupling of the first and second side partial frames according to the joint movement of the assembled robot.

Each of the first and second side partial frames may be variably shaped according to the joint movement of the prefabricated robot and may be connected to the through coupling hole and the bolt. The upper frame may be connected to each of the first and second side partial frames and spaced apart from the driver at the first surface to provide joint movement of the assembled robot. The upper frame may be directly connected to the other driver on the second surface to increase the degree of freedom according to the joint movement of the assembled robot.

The first and second side partial frames and the top frame may be modularized into individual component units so that they can be replaced in case of breakage. The first and second side partial frames and the top frame may be designed according to the following equation.

[Equation 1]

D is the separation distance between the upper frame and the center of the drive gear, K is a safety factor that can be set to a constant, such as 1.2, r is the radius of the drive gear, b is the horizontal length of the driver, α corresponds to an angle (0 ≦ α ≦ π / 2) formed by an extension line perpendicular to the horizontal of the upper frame and the driver.

The disclosed technique can have the following effects. However, since a specific embodiment does not mean to include all of the following effects or only the following effects, it should not be understood that the scope of the disclosed technology is limited by this.

One embodiment of the present invention provides a prefabricated robot connected to a driver in a splittable partial frame structure.

One embodiment of the present invention provides an assembled robot capable of individually detaching the frame portions connected to the driver in a dividable partial frame structure.

One embodiment of the present invention provides an assembly robot having a modular splittable partial frame structure that can be easily replaced by a separate removable frame parts with a splittable partial frame structure, thereby reducing maintenance costs of the frame and the actuator. .

One embodiment of the present invention provides a prefabricated robot in which a modular split frame structure connected to a driver in a dividable partial frame structure is repeatedly connected to increase the degree of freedom according to joint movement.

1 is a perspective view showing an assembled robot according to an embodiment of the present invention.
FIG. 2 is a perspective view of the arm drive assembly in FIG. 1. FIG.
3A is a perspective view illustrating the drive module in FIG. 2.
3B is an exploded view illustrating the drive module in FIG. 2.
4 is a rear view of the arm drive assembly in FIG. 1.
5 is a view showing the assembled robot manufactured according to an embodiment.

Description of the present invention is only an embodiment for structural or functional description, the scope of the present invention should not be construed as limited by the embodiments described in the text. That is, since the embodiments may be variously modified and may have various forms, the scope of the present invention should be understood to include equivalents capable of realizing the technical idea. In addition, the objects or effects presented in the present invention does not mean that a specific embodiment should include all or only such effects, the scope of the present invention should not be understood as being limited thereby.

On the other hand, the meaning of the terms described in the present application should be understood as follows.

Terms such as "first" and "second" are intended to distinguish one component from another component, and the scope of rights should not be limited by these terms. For example, the first component may be named a second component, and similarly, the second component may also be named a first component.

Singular expressions should be understood to include plural expressions unless the context clearly indicates otherwise, and terms such as "comprise" or "have" refer to a feature, number, step, operation, component, part, or feature thereof. It is to be understood that the combination is intended to be present and does not exclude in advance the possibility of the presence or addition of one or more other features or numbers, steps, operations, components, parts or combinations thereof.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. Generally, the terms defined in the dictionary used are to be interpreted to coincide with the meanings in the context of the related art, and should not be interpreted as having ideal or excessively formal meanings unless clearly defined in the present application.

1 is a perspective view showing an assembled robot according to an embodiment of the present invention. FIG. 2 is a perspective view of the arm drive assembly in FIG. 1. FIG.

1 and 2, the assembled robot 100 includes assemblies 110, 120, 130, and 140 that couple the driving modules 210 to the connection frame 220. Each of the assemblies 110, 120, 130, 140 may perform joint movement to increase the degree of freedom of the assembled robot. Each of the assemblies 110, 120, 130, and 140 may be manufactured in a humanoid form.

In one embodiment, the prefabricated robot may include an arm drive assembly 110, a head drive assembly 120, a torso drive assembly 130, and a leg drive assembly 140. Each of the assemblies 110, 120, 130, 140 includes drive modules 210 and a coupling frame 220. The driving module 210a is connected to the other driving module 210b to form assemblies 110, 120, 130, and 140 capable of performing joint movement to increase the degree of freedom.

The driving module 210 may have a different shape to perform joint movement for increasing the degrees of freedom of the assemblies 110, 120, 130, and 140. The drive module 210 may include variable shaped frames for different shapes.

 For example, arm assembly 110 may include a frame that is variably shaped at about 45 ° to increase the degree of freedom of shoulder joints. Leg assembly 140 may include a variable forming frame of increased length to increase the degree of freedom of the leg joint. The torso assembly 130 may include a variable molded frame for coupling other assemblies 110, 120, 140.

3A and 3B are perspective and exploded views respectively illustrating the drive module shown in FIG. 2.

3A to 3B, the driving module 210 includes a driver 340, first and second side partial frames 310 and 320, and a top frame 330. The driver 340 includes first and second surface driving gears 344 and 346 directly connected to the driving shaft 342 on both side surfaces of the first and second surfaces so as to rotate in one direction or opposite directions in one direction.

 The first and second surface drive gears 344 and 346 include through coupling holes 348 to be coupled to the first and second side partial frames 310 and 320 through the bolt 350.

The plurality of through coupling holes 348, 312, and 322 are circularly spaced apart from the first and second surface driving gears 344 and 346 and the first and second side partial frames 310 and 320. The first and second side partial frames 310 and 320 are coupled to the drive gears 344 and 346 of the first and second surfaces through the bolt 350 and cover both sides of the driver 340.

In one embodiment, the through coupling holes 348 are spaced apart in a circular manner, so that the through coupling holes 312 and 322 and the bolt 350 of the first and second side partial frames 310 and 320 in all directions. Can be combined. Coupling in all directions varies the coupling direction of the first and second side partial frames 310, 320 and the driver 340.

Accordingly, the driver 340 is coupled with the first and second side partial frames 310 and 320 to increase the joint movement and the degree of freedom of the driving module 210 and the assemblies 110, 120, 130, and 140. The orientation can be customized to combine at various angles.

In one embodiment, the first and second side partial frames 310, 320 are provided with both first and second sides of the driver 340, through the bolt 350 and the through coupling holes 312, 322. It is coupled with the drive gears 344 and 346 present on two sides. The first and second side frames 310 and 320 are spaced apart and coupled to the driver 340 by the top frame 330. The upper frame 330 combines the first and second side frames 310 and 320 at a first surface spaced apart from the driver 340.

In one embodiment, the first and second side partial frames 310 and 320 are detachable by bolt coupling, respectively. The first and second side portion frames 310 and 320 are removable, so that the broken frame can be easily replaced during life-saving activities in athletic and disaster environments such as boxing and soccer, and the driver exposed when removed ( Maintenance of the 340 may be easy.

The upper frame 330 combines the first and second side partial frames 310 and 320 and covers the driver 340 spaced apart from each other. The first and second surface drive gears 344, 346 rotate in one direction or in opposite directions in one direction, while the frames 310, 320, 330 of the drive module 210 are coupled with bolts 350. Rotate in one direction or in the opposite direction of one direction. The upper frame 330 includes a distance from the driver 340 to allow the driving module 210 to rotate without interference between the driver 340 and the upper frame 330.

In one embodiment, the drive module 210a is continuously connected to the driver 340 of the other drive module 210b to perform a joint movement operation for increasing the degrees of freedom of the assemblies 110, 120, 130, 140. can do. The upper frame 330, the coupling frame 220, and the first and second side frames 310 and 320 may connect the driving module 210a and the driver 340 of the other driving module 210b. The driving module 210a may be connected to the other driving module 210b to perform a rotational movement without receiving interference between the driving modules 210 due to the distance between the upper frame 330 and the driver 340. .

In one embodiment, the top frame 330, the coupling frame 220, the first and second side frames 310, 320 are circularly spaced apart from the drive gears 344, 346 of the other driver 340. Through the through coupling hole 348 may be continuously coupled. The upper frame 330 is a second surface opposite to the first surface that joins the first and second side frames 310 and 320 to penetrate the upper gears and the driving gears 344 and 346 of the other driver 340. It can be coupled through the coupling hole (332). The coupling frame 220 may couple the driving module 210a and the driving module 210b. The first and second side frames 310 and 320 may connect the driving module 210a and the other driving module 210b in a variable shape. The assemblies 110, 120, 130, and 140 are connected to the continuous drive module 210a and the other drive module through the upper frame 330, the coupling frame 220, and the first and second side frames 310 and 320. 210b) combinations.

4 is a rear view of the arm drive assembly in FIG. 1.

In FIG. 4, the separation distance of the upper frame 330 may be represented by the following equation.

[Equation 1]

D is the separation distance between the upper frame 330 and the center of the drive gears (344,346), K is a safety factor that can be set as a constant, such as 1.2, r is the radius of the drive gears (344,346), b is the The horizontal length α corresponds to an angle (0 ≦ α ≦ π / 2) formed by an extension line perpendicular to the horizontal of the upper frame 330 and the driver 340.

5 is a view showing the assembled robot manufactured according to an embodiment.

In FIG. 5, the upper frame 330 is spaced apart from the driver 340 so that the assemblies 110, 120, 130, and 140 including the drive module 210 perform three degrees of freedom through joint movement. The type robot 100 is shown.

In one embodiment, the assembled robot 100 according to FIG. 5 may be manufactured as a partial frame using aluminum, and the overall height may be manufactured as 456 mm and the height of the leg assembly may be 250 mm. The assembled robot 100 may exhibit a maximum weight of 3 kg and a moving speed of 23 cm / min. The assembled robot 100 may include a total of 20 drivers 340, and a DYNAMIXEL MX-28 model may be used. The assembled robot 100 may use a Li-Po battery (11.1V, 1800mA) as a battery.

In an exemplary embodiment, the assembled robot 100 may estimate a posture of the robot using a three-axis acceleration sensor and a three-axis gyro sensor attached to the sub-controller CM-730 as a sensor unit to operate. The sensor unit may detect accelerations of the x, y, and z axes and angular velocities that rotate about the x, y and z axes. The assembled robot 100 may be used as data for identifying acceleration and angular velocity through the sensor unit and controlling posture and walking. The assembled robot 100 may include a vision sensor that additionally includes a camera to operate. The assembled robot 100 may detect the opponent's robot, soccer ball and glove by detecting the shape and color of an object used for exercise such as boxing and soccer according to the image data processing algorithm of the camera through the vision sensor.

In one embodiment, the assembled robot 100 may include a main controller and a sub controller configuration. The assembled robot 100 processes the algorithm required for the motion control through the main controller and transmits it to the sub controller. The assembled robot 100 transmits the command processed by the main controller to the drivers 340 through the sub controller. The main controller can use SBC-FitPC2i model and the sub controller can use CM-730 model.

In one embodiment, the assembled robot 100 may utilize serial communication having a signal level of a TTL (Transistor-Transistor Logic) to drive the driver 340. Each driver 340 includes a unique ID, and can be individually driven using a communication protocol for driving only the corresponding ID.

As a result, the prefabricated robot of the present invention has the first and second side partial frames 310 and 320 due to the dividable partial frame structure of the first and second side partial frames 310 and 320 and the top frame 330. 320 and the upper frame 330 are separately removable. Accordingly, when the partial frames 310, 320, 330 and the driver 340 are damaged, the replacement of the partial frames 310, 320, 330 and the maintenance of the driver 340 are easy. The assembled robot is repeatedly connected to the driving module 210a and the other driving module 210b, which are designed as a splitable partial frame structure, and freely perform the operation of three degrees of freedom through joint movement due to the separation distance of the upper frame 330. can do.

Although described above with reference to a preferred embodiment of the present application, those skilled in the art various modifications of the present invention without departing from the spirit and scope of the invention described in the claims below And can be changed.

100: prefabricated robot
110: arm drive assembly 120: head drive assembly
130: torso drive assembly 140: leg drive assembly
210a, 210b: drive module 220: coupling frame
310: first side portion frame 312: first side portion frame through coupling hole
320: second side portion frame 322: second side portion frame through coupling hole
330: top frame 332: top frame through-holes
340: driver 342: drive shaft
344: first surface drive gear 346: second surface drive gear
348: driving gear through hole 350: bolt

Claims (7)

A driver including first and second drive gears having at least one through coupling hole in the first and second surfaces facing each other and connected to the drive shaft;
First and second side partial frames removably engaged with at least one through engagement hole in the first and second drive gears and partially covering the first and second sides of the driver; And
And an upper surface frame detachably connecting the first and second side partial frames and covering an upper surface of the driver.
The method of claim 1, wherein the driver
The at least one through-hole is spaced apart in a circle to the assembled robot, characterized in that to customize the combination of the first and second side frame part in accordance with the joint movement of the assembled robot.
The method of claim 1, wherein each of the first and second side partial frames
Assembly robot, characterized in that the variable molded according to the joint movement of the assembled robot is connected through the through coupling hole and bolt fastening.
The method of claim 1, wherein the top frame
A prefabricated robot connected to each of the first and second side partial frames and spaced apart from the driver at a first side to provide joint movement of the prefabricated robot.
The method of claim 3, wherein the top frame
Assembly robot, characterized in that the direct connection with the other driver on the second surface to increase the degree of freedom according to the joint movement of the assembly robot.
The method of claim 1, wherein the first and second side portion frames and the top frame
Assembly robot, characterized in that the module is modularized so that it can be replaced when broken.
The method of claim 1, wherein the first and second side portion frames and the top frame
Assembly robot, characterized in that designed according to the following equation.
[Equation 1]

D is a separation distance between the upper frame and the center of the drive gear, K is a safety factor that can be set to a constant, such as 1.2, r is the radius of the drive gear, b is the horizontal length of the driver, α corresponds to an angle (0 ≦ α ≦ π / 2) formed by an extension line perpendicular to the horizontal of the upper frame and the driver.

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