KR20210035960A - Origami type self-assembly walking robot with improved running structure - Google Patents

Abstract

The present invention relates to an origami-type prefabricated walking robot. A device according to the present invention comprises: a main body including at least two components connected by a bending line; a driving leg part connected from the main body, disposed on any one side surface of side surfaces of the main body, and including at least two legs; and a crank part directly or indirectly connected to the main body and the driving leg part. A part of each leg included in the driving leg part is directly or indirectly connected to the main body, and the other part of each leg is directly and indirectly connected to the crank part. The at least two legs included in the driving leg part are divided into a first leg group and a second leg group, and the first and second leg groups are connected to different positions of the crank part, such that when the crank part is rotated, phases of the first leg group and the second leg group may be different.

Description

Origami type self-assembled walking robot with improved driving structure {ORIGAMI TYPE SELF-ASSEMBLY WALKING ROBOT WITH IMPROVED RUNNING STRUCTURE}

The present invention relates to an origami-type assembly-type walking robot, and more particularly, to an origami-type assembly-type walking robot capable of more continuous and stable walking by transmitting a uniform motion to a leg.

In general, a walking robot for a toy is for children's play and cultivation of scientific thinking, and is divided into a prefabricated robot assembled by a user and a pre-completed robot.

In particular, in the case of a prefabricated robot that the user directly assembles, for example, a body part and a leg part are provided in advance so that they can be assembled to form an animal, etc. As a result, there is a form such as an origami-type assembly type walking robot that directly assembles a finished product through a process such as a user bends it by hand.

Here, in the case of the origami-type assembly-type walking robot provided to assemble in the form of a thin plate, the assembled product accordingly has relatively weak rigidity compared to the pre-completed robot for completion, and the configuration that can be provided is limited, so this condition A special design is required to enable stable walking more continuously by transmitting uniform motion to the lower leg.

1 shows an example of a conventional origami assembly type walking robot.

The origami-type assembly-type walking robot as shown in FIG. 1 consists of one crank 1 that converts rotational power transmitted through the gear 2 from the drive unit into a reciprocating motion. In this way, when there is one crank (1), as shown in Fig. 2, in order to transmit power from the crank (1) to each leg (3) so that each leg (3) performs an appropriate walking motion. 4 of 2 links are absolutely necessary. At this time, the four-fold link is made to move while each leg 3 is interlocked while repeating the process of Fig. 2 (a) to Fig. 2 (d).

The detailed structure and movement method of the double-quarter link is shown in FIG. 3. The two-fold link of FIG. 3 is a structure in which an intermediate bar 4 is disposed between the upper bar 5 and the lower bar 6, and the process of FIG. 3 (a) to FIG. 3 (c) is repeated. Due to the intermediate bar 4, the intermediate bar 4, and the upper bar 5 and the lower bar 6 always move in parallel.

That is, even if one crank 1 is connected to any part of the double-quartered links, the three bars are parallel and the legs 3 move while being interlocked.

However, such a design has a problem of increasing the complexity of the mechanism design because the intermediate bar 4 is absolutely necessary, and the movement of the upper bar 5 and the lower bar 6 is dependent on the movement of the intermediate bar 4 Therefore, there is a limit to imparting natural walking motion to the plurality of legs 3.

On the other hand, in the case of omitting the intermediate bar 4 in order to reduce the design complexity, it is shown in FIG.

As shown in (a) to (c) of Figure 4, if the middle bar 4 is omitted, the upper bar 5 or the lower bar 6 is skewed, so that it is uniform for each leg 3 Motion cannot be transmitted. Therefore, if the intermediate bar 4 is omitted, at least two points of the double quadruple link must be moved by the driving unit.

In addition, when using double-fold links as described above, the intermediate bar must be included, so the overall thickness of the origami assembly type walking robot structure is inevitably increased, and the number of links and joints increases by at least 16, for example. There are such problems.

On the other hand, if the driving part or the gear part is located between the two adjacent legs without using the double-quarter link, not only at least two of the driving part or gear part are required, but also the entire device has a complex structure. In the case of the origami-type assembly type walking robot provided to assemble in the form of a plate, there is a problem that the stability and durability are significantly deteriorated during operation.

An object of the present invention is to provide an origami-type assembly-type walking robot capable of more continuously and stable walking by transmitting a uniform motion to the leg portions so that the phases between each leg portion are different from each other during walking.

The present invention for solving the above problems is an origami-type assembly type walking robot, comprising: a main body including at least two or more components connected by a bending line; A driving leg portion connected from the main body, disposed on one of side surfaces of the main body, and having at least two legs; It includes a crank part directly or indirectly connected to the main body and the driving leg part, wherein a part of each of the legs included in the driving leg part is directly or indirectly connected to the main body, and another part of the leg Is directly or indirectly connected to the crank unit, the two or more legs included in the driving leg unit are divided into a first leg group and a second leg group, and the first leg group and the second leg group are It is connected to different positions of the crank part, and when the crank part rotates, the phases between the first leg group and the second leg group may be different from each other.

According to an embodiment of the present invention, the driving leg portion may be separately disposed on one side facing the main body and the other side.

According to an embodiment of the present invention, the crank portion may be provided with first and second fitting portions for connecting with at least two or more gears.

According to an embodiment of the present invention, the connection between the drive leg part and the crank part, and between the drive leg part and the main body may be made through a bend line connection or a fitting connection.

According to an embodiment of the present invention, the main body further includes a leg fixing portion extending from the main body and having a predetermined length in a longitudinal direction spaced apart from the center of the main body, wherein the first leg group and the The second leg group may be connected to different positions of the leg fixing unit.

According to an embodiment of the present invention, the first leg group and the crank portion are connected to both sides of the crank portion, and the second leg group and the crank portion are connected directly or indirectly to the central portion of the crank portion. Can be done.

According to an embodiment of the present invention, further comprising a motion conversion unit having first and second side surfaces facing each other and located across the crank portion and the driving leg portion, the crank portion is a main crank portion connected to the first leg group And an auxiliary crank unit connected to the second leg group, wherein the first side of the motion conversion unit connected to the main crank unit is directly or indirectly connected to the first leg group, and the movement connected to the auxiliary crank unit The second side of the conversion unit may be directly or indirectly connected to the second leg group.

According to an embodiment of the present invention, the motion conversion unit may further include a third side and a fourth side connected to the first side and the second side and directly or indirectly connected to the leg fixing part. .

According to an embodiment of the present invention, the leg fixing part extends between the first leg group and the second leg group from the center of the main body, and the first leg group and the second leg are respectively at both ends of the leg fixing part. The groups may be connected together, and the leg fixing part may be connected to each other with a fixture for connecting the third side and the fourth side of the motion conversion part.

According to an embodiment of the present invention, the leg of the driving leg portion includes a first leg link extending from the main body and movable with a bend line therebetween, and a first leg link extending from the first leg link with a bend line therebetween. It may include a second leg link formed to be movable, and a leg end attached to one side of the second leg link.

According to an embodiment of the present invention, a power generating unit mounted in a space formed on the main body; And gear units respectively installed on both sides of the power generating unit and receiving driving force generated from the power generating means, and the gear unit may have first and second main gears respectively disposed on both sides of the power generating unit. .

According to an embodiment of the present invention, the gear unit further includes a first driven gear meshed with the first and second main gears, and a second driven gear meshed with the first driven gear, wherein the first And a protrusion for connecting to the crank portion may be formed on each of the second main gears.

According to an embodiment of the present invention, each of the first driven gears installed on both sides of the power generating unit may be connected to different power generating means.

According to the present invention, while a plurality of legs are directly or indirectly connected to a driving unit, they move through joint motion folded at a predetermined angle, and at the same time, a uniform motion is transmitted to the leg unit, thereby enabling a more continuous and stable walking.

In addition, the dual crank structure allows the phases between the leg portions to be different from each other when walking, thereby enabling flexible power control for natural walking in each leg portion.

Furthermore, since the axes of each leg part can move not only in a plane parallel to the ground but also in a certain range of up and down, and can move while naturally intersecting with each other, it enables flexible cross-motion between one leg part and the other leg part.

1 is a view showing a conventional origami assembly type walking robot.
FIG. 2 is a diagram illustrating an operation process using a double-fold link in FIG. 1.
3 is a diagram showing a detailed structure and movement method of a double quadruple link including an intermediate bar.
FIG. 4 is a diagram illustrating a design in which the intermediate bar is omitted in FIG. 3.
5 is a view showing a flat sheet before assembling the origami assembly type walking robot according to the first embodiment of the present invention.
6 is a diagram illustrating some components of FIG. 5 separately.
7 is a view showing a finished product after the flat sheet of FIG. 5 is assembled.
8 is a view showing a flat sheet before assembling the origami assembly type walking robot according to the second embodiment of the present invention.
9 is a diagram illustrating some components of FIG. 8 by separating them.
10 is a view showing a finished product after the flat sheet of FIG. 7 is assembled.

Hereinafter, with reference to the accompanying drawings will be described in detail for the implementation of the present invention. In the description of the present invention, when it is determined that the subject matter of the present invention may be unnecessarily obscure as matters apparent to those skilled in the art with respect to known functions related to the present invention, the detailed description thereof will be omitted.

In the present specification, the term connection is used as a meaning that includes any connection between the configuration and the configuration, such as each configuration extending from another configuration, bending connection through a bend line, etc. I can. In addition, in the present specification, terms such as connection, extension, and combination may be used interchangeably based on the essential meaning of the term.

In addition, in the present specification, the term indirect connection may be used to include all of a method of being connected to each other through a component or a method of being connected to each other through a plurality of components.

In addition, interlocking in the present specification may mean a structure in which a movement of one component can be transmitted to a movement of another component through a connection or the like that is coupled or inserted.

According to embodiments of the present invention, each of the parts (see FIGS. 6 and 9) included in a plate shape (see FIGS. 5 and 8) are assembled, and an origami-type assembly-type walking robot capable of walking (hereinafter ' Robot') can be made (see Figs. 7 and 10).

Components constituting the robot may be manufactured to be included in the flat sheet 100. The parts that will be each component of the robot are more than the flat part 101 constituting the body of each configuration, the incision line 102 that can separate each configuration from the other parts of the flat sheet 100, and the flat part 101. It may include a bend line 103 that has a thinner thickness and can be easily bent. On the other hand, the flat sheet 100 may be made of plastic of a flexible material, so that the completed robot can flexibly respond to various impacts, and assembly by the user is easy.

One component may flexibly bend some components and other components within the component based on the bend line 103. The material of the bend line 103 may be made of the same material as the flat portion 101 or may be made of a different material. Preferably, the bending line 103 may be made of a material having a mesh shape unlike the flat portion 101. Detailed description of the flat sheet 100 may refer to all the contents disclosed in the'composite reinforced film and manufacturing method' disclosed in Korean Patent Publication No. 10-1738837.

The material of the flat sheet 100 may include metal, reinforced plastic, glass fiber, wood, aluminum, steel, or any suitable materials and combinations thereof, as well as general plastic. In addition, the flat sheet 100 may include a material that makes the appearance transparent, opaque, or translucent. Further, the flat sheet 100 may be appropriately printed to have a cavity for accommodating arbitrary devices such as motors, electronic circuits, batteries, etc. inside of the finished robot.

Meanwhile, the robot according to the present invention may have various shapes. Including the examples shown in FIGS. 7 and 10, the robot may be configured to simulate the appearance and movement of insects, and animals such as dogs, cats, etc., as well as insects such as ladybugs, scorpions, beetles, grasshoppers, etc. It can be designed to mimic any object.

The robot according to the present invention may include a main body 10, a driving leg part 30, and a crank part 40 with reference to FIGS. 5 to 10.

The main body 10 may include at least two or more components connected by a bending line 103. The main body 10 may serve as a basic skeleton of a robot, and may be formed as in the shape of the central portion of FIGS. 6A and 9A. For example, in (a) of Figure 6, the main body 10 may have a central portion that can be assembled in the shape of a box body with an open top so that the power generating means, etc. can be inserted, and the first and second leg groups ( 31 and 32) may be designed to be connected to the bend line with the bend line 103 interposed therebetween. Each of the components such as the driving leg portion 30 and the crank portion 40 may be connected from the main body 10.

The driving leg unit 30 is connected from the main body 10 and disposed on one of the side surfaces of the main body 10 and may have at least two or more legs. Here, the two or more legs may mean including an arbitrary leg shape for contacting the ground, connecting the leg and the legs, or including a portion connected to perform the function of the leg. For example, the driving leg part 30 does not mean only a leg contacting the ground, such as both side legs, but may mean a configuration having a predetermined length in the longitudinal direction including a connecting portion connecting these legs. In addition, the driving leg part 30 may include a leg shape made to contact the ground, such as a part of FIG. 6(b) and a part connected up and down with the main body 10 of FIG. 9(a). .

The two or more legs included in the driving leg part 30 may be divided into first and second leg groups 31 and 32. Among the at least two or more legs, any at least one leg portion may be a first leg group 31, and any other at least one or more leg portions may be a second leg group 32. For example, in an embodiment, as shown in FIG. 7, when the driving leg unit 30 has three legs, the first and third legs are the first leg group 31 and the second leg between them is It may be a second leg group 32. For example, as shown in FIG. 10 in another embodiment, when the driving leg unit 30 has two legs, the first leg is the first leg group 31 ) And the second leg may be the second leg group 32. The number of legs that can be included in the driving leg unit 30 can be arbitrarily set, and the number of legs located among the plurality of legs is assigned to the first leg group 31 or the second leg group 32 You can also arbitrarily set whether or not to do it.

In this case, the driving leg portion 30 may be separately disposed on one side and the other side of the main body 10 facing each other. Through this, the robot can walk while maintaining the center by driving leg portions 30 disposed on both sides of the main body 10.

The first leg group 31 and the second leg group 32 are configured to have different phases when the crank unit 40 to be described later rotates, thereby enabling the robot to walk. For example, in one embodiment, the first and second leg groups 31 and 32 may be sequentially arranged in a direction perpendicular to the length direction of the main body 10. For example, in another embodiment, the main body It may be sequentially arranged in the longitudinal direction of the body 10. The arrangement of the first and second leg groups 31 and 32 is not limited thereto, and it is possible to arbitrarily select some of the above configurations or combine them with each other.

The crank part 40 may be directly or indirectly connected to the main body 10 and the driving leg part 30. The crank unit 40 may be configured to be connected to the main body 10 and the driving leg unit 30 so that when the crank unit 40 rotates, the driving leg unit 30 is interlocked to perform a walking movement.

For example, the crank part 40 may include a part of FIG. 6(b) excluding a leg and a part of FIG. 9(b). The crank part 40 may be connected to the main body 10 and the driving leg part 30 by any connection method such as a bend line connection or a fitting connection.

The crank unit 40 may be disposed between the main body 10 and the driving leg unit 30, for example, and is connected to any other configuration between the main body 10 and the driving leg unit 30 It can also be placed.

In this case, a part of each of the first and second leg groups 31 and 32 included in the driving leg unit 30 may be directly or indirectly connected to the main body 10. In addition, other parts of the first and second leg groups 31 and 32 may be directly or indirectly connected to the crank portion 40. For example, the connection between the drive leg part 30 and the crank part 40, and between the drive leg part 30 and the main body 10 may be made through a bend line connection or a fitting connection.

Accordingly, the crank portion 40 may convert the rotational power from the gear portion 20 into a linear motion of the driving leg portion 30. Linear motion here means that the crank part 40 drives the rotational power from the gear part 20 even if the axis of the drive leg part 30 moves in a circular or elliptical path by the crank part 40 as a whole. It may mean that the movement of the leg part 30 is converted into an instantaneous linear movement. In this case, the instantaneous linear motion may include both a linear motion in a direction parallel to the ground and a motion in an oblique line. The instantaneous linear motions may be gathered to form a rotational motion.

In addition, the first leg group 31 and the second leg group 32 may be connected to different positions of the crank portion 40. For example, the first and second leg groups 31 and 32 may be connected to both sides of the crank part 40, respectively, or connected to the lower end of the crank part 40.

That is, the first and second leg groups 31 and 32 may be connected so that the phases between the first and second leg groups 31 and 32 are different when the crank unit 40 rotates. This allows the first and second leg groups 31 and 32 to move in conjunction with the crank part 40 when the crank part 40 moves while rotating, for example, in the longitudinal direction of the main body 10. . Accordingly, the phases between the first leg group 31 and the second leg group 32 are different from each other, so that the robot can walk flexibly.

Meanwhile, the crank portion 40 may have first and second fitting portions 41 and 42 for connecting to at least two or more gears. The first and second fitting portions 41 and 42 are formed in, for example, a'c' shape, so that the first and second protrusions 210 and 220 of the gear unit 20, which will be described later, can be fitted and fixed into a groove portion. To be there. Through this, the power of the gear unit 20 is effectively transmitted to the crank unit 40. In addition, for example, the first and second fitting portions 41 and 42 may be formed in a manner that extends and protrudes upward from the crank portion 40. That is, the crank portion 40 may have a plate shape extending from the first and second fitting portions 41 and 42 to one of the driving leg portions 30.

The main body 10 may further include a leg fixing part 33. The leg fixing part 33 may extend from the main body 10 and have a predetermined length in a longitudinal direction to be spaced apart from the center of the main body 10. For example, as shown in (a) of FIG. 6 and (a) of FIG. 9, the leg fixing part 33 extends from the center of the main body 10 through a connection line having a predetermined width, and the driving leg part It may form a part of (10) or may be extended or connected to the driving leg part 10. The leg fixing part 33 may be formed to have a predetermined length in a direction perpendicular to the connection line or parallel to the length direction of the main body 10. At this time, for example, in the embodiment of FIG. 6A, the driving leg units 30 may be connected to both ends of the leg fixing unit 33 or, for example, in FIG. 9A. In another embodiment, the leg fixing portion 33 includes a plate connected to both sides by a bending line, and the plate is part of the first leg group 31 and the second leg group 32 of the driving leg portion 10 It may be configured to achieve or be connected to it.

Both the first and second leg groups 31 and 32 may be connected to the leg fixing part 33. Among them, FIGS. 7 and 10 illustrate a state in which the first leg group 31 is connected to the leg fixing part 33. In this case, a part of the first leg group 31 may be connected to the crank part 40 and the other part may be connected to the leg fixing part 33. That is, the first leg group 31 is a part different from the leg fixing portion 33 fixed to the main body 10 and the crank portion 40 performing a rotational motion relative to the main body 10 Can be connected in at the same time. Through this, the first leg group 31 may cross-motion the legs of both sides of the crank portion 40 by the rotational motion of the crank portion 40. In this way, the legs of both sides of the crank portion 40 cross-motion, thereby enabling the robot to walk effectively. Here, the legs on both sides may be, for example, the legs 301 at both ends of the driving leg portion in FIG. 7, or may be the first leg groups 31 on both sides of the crank portion 40 in FIG. 10. have.

In this case, a position in which the first leg group 31 is connected to the leg fixing unit 33 and a position in which the first leg group 31 is connected to the crank unit 40 may be configured differently.

The first and second exemplary embodiments that vary according to the shape of the object to be simulated by the robot in the present invention and include the above-described contents are as follows. In the present invention, it is to be understood that all and part of the first and second embodiments are included, as well as all embodiments including crossovers thereof. In addition, an embodiment in which other arbitrary configurations are added is also possible. Hereinafter, description will be made focusing on additional features excluding contents that overlap with the above-described contents. However, all or part of the above-described contents may be included as a basic configuration for the first and second embodiments.

[First embodiment]

The first embodiment of the present invention is schematically illustrated in FIGS. 5 to 7.

In the first embodiment, three legs of the driving leg unit 30 may be disposed, for example, on one side and the other side of the main body 10. In this case, among the three legs, two legs disposed on both sides of the crank portion 40 are assigned to a first leg group 31, and one leg disposed between the first leg group 31 is assigned to a second leg group ( 32). However, the number and arrangement of the first and second leg groups 31 and 32 and the number of legs included in the first and second leg groups 31 and 32 may be arbitrarily set.

At least two or more first leg groups 31 as shown in FIG. 6B may be connected to both sides of the crank portion 40 and the leg fixing portions 33 at the same time. In addition, the second leg group 32 as shown in (c) of FIG. 6 may be directly or indirectly connected to the main body 10 and through a coupling part at the center of the crank part 40.

For example, some of the first leg groups 31 may be coupled to the lower ends of both sides of the crank portion 40 and at the same time, other portions of the first leg group 31 may be fitted to the lower ends of both sides of the leg fixing portion 33. In addition, a part of the second leg group 32 may be coupled to the center of the main body 10 by a bending line, and at the same time, another part of the second leg group 32 may be fitted to the lower center of the crank portion 40. In this case, a position in which the second leg group 32 is connected to the crank part 40 and a position in which the second leg group 32 is connected to the main body 10 may be configured differently. However, the combination method between the respective components is not limited thereto, and may be formed by any combination.

Accordingly, the first leg group 31 is moved according to the rotational motion of the crank portion 40 while maintaining its center by the leg fixing portion 33 which is relatively fixed to the main body 10. However, here, since the first leg group 31 and the second leg group 32 are disposed at the lower ends of both sides of the crank part 40, according to the rotational motion of the crank part 40, the first leg group ( 31) and the second leg group can cross each other. Accordingly, the robot can walk flexibly according to the phase difference between the first leg group 31 and the second leg group 32.

In addition, the crank portion 40 may be indirectly connected to the main body 10 in a manner that is fitted with a portion that is coupled to a bending line from an extension portion extending from the main body 10 to the leg fixing portion 33, for example. have. Accordingly, the crank part 40 is able to move relatively flexibly with the main body 10.

Through this configuration, for example, when the legs of the two first leg groups 31 on both sides move in the front direction of the main body 10, the legs of the second leg group 32 are opposite to the main body. Movement in the rearward direction of (10) is possible.

[Second Example]

A second embodiment of the present invention is schematically shown in FIGS. 8 to 10.

In the second embodiment, two leg groups of the driving leg unit 30 may be disposed, for example, on one side and the other side of the main body 10. In this case, the two leg groups may include a first leg group 31 and a second leg group 32. As shown in (a) of FIG. 9, the first and second leg groups 32 may be directly or indirectly connected to the main body 10 to be configured as one component. The first leg group 31 and the second leg group 32 may be disposed in order in a direction away from the main body 10, and for example, may be disposed parallel to the length direction of the main body 10. have.

The crank part 40 may further include a motion conversion part 50 located between the driving leg parts 30. In addition, the crank part 40 may further include a main crank part 43 connected to the first leg group 31 and an auxiliary crank part 44 connected to the second leg group 32.

The motion conversion unit 50 includes, for example, a first side 51 connected to the main crank unit 43, a second side 52 connected to the auxiliary crank unit 44, and a first side 51 ) And the second side 52 may be formed of a third side 53 and a fourth side 54 that interconnect each other. The first, second, third, and fourth side surfaces 51, 52, 53, and 54 may be combined in a square or rectangular shape by, for example, bending line coupling or fitting coupling with each other.

In this case, the first side 51 of the motion conversion unit 50 connected to the main crank unit 43 may be directly or indirectly connected to the first leg group 31. In addition, the second side surface 52 of the motion conversion unit 50 connected to the auxiliary crank unit 44 may be directly or indirectly connected to the second leg group 32.

For example, the main crank part 43 may be coupled to the first side 51 of the motion conversion part 50 and a bending line, and the auxiliary crank part 44 is a second side ( 52) and fit can be combined. Since the first side 51 and the second side 52 may be disposed in parallel, the main crank part 43 and the auxiliary crank part 44 coupled thereto may also be disposed in parallel. Since the first side 51 and the second side 52 are connected to the third side 53 and the fourth side 54 in a rectangular shape, for example, the main crank part 43 and the auxiliary crank part 44 ) Is interlocked with each other through the motion conversion unit 50 to be able to move.

In addition, the third side 53 and the fourth side 54 of the motion conversion unit are interconnected with the first side 51 and the second side 52 and may be directly or indirectly connected to the leg fixing part 33. have.

For example, the leg fixing part 33 extends between the first leg group 31 and the second leg group 32 from the center of the main body 10, and the first leg group 31 and The second leg group 32 may be connected at the same time. Further, the leg fixing portion 33 may be formed by connecting a fastener 34 for connecting the third side 53 and the fourth side 54 of the motion conversion unit 50 to each other.

The fastener 34 may be fitted to the leg fixing portion 33 and be coupled to a portion of the leg fixing portion 33 protruding upward by a bending line. Accordingly, the fixture 34 may flexibly move through the portion protruding upward and the bending line. The fixture 34 may include, for example, a fitting portion protruding outward, and the fixture 34 may include a third side 53 and a fourth side 54 of the motion conversion unit 50 through the fitting portion. Can be combined. The fixture 34 may serve as an axis of motion of the motion conversion unit 50. Therefore, when the crank part 40 moves, the motion conversion part 50 moves in conjunction with it, but the main crank part 43 and the auxiliary crank part 44 are interlocked with each other using the fixture 34 as an axis. I can make it move.

In this way, as the main crank portion 43 and the auxiliary crank portion 44 move in conjunction with each other, the legs of the first leg group 31 and the legs of the second leg group 32 are also respectively the main crank portion 43 And it can be moved in conjunction with the auxiliary crank portion (44).

Meanwhile, the legs of the driving leg portion 30 extend from the main body 10 and extend from the first leg link 303 and the first leg link 303 formed to be movable with a bend line therebetween and bend. A second leg link 304 formed to be movable with a line interposed therebetween, and a leg end 305 attached to the upper side of the second leg link 304 and serving to contact the ground may be formed. Through this configuration, the movement through the crank portion 40 can be naturally transmitted to the leg end 305, and it enables flexible movement of the leg end 305 on the ground when the robot is walking.

The configuration in which the power generating unit 11 is mounted on the main body 10 of the robot according to the present invention is as follows. Here, all of the above embodiments of the present invention are included, and a description will be made focusing on a process in which the power through the power generating unit 11 is transmitted to the driving leg unit 30. However, all or part of the above-described contents may be included as a basic configuration for this.

[Mode including a power generating unit]

7 and 10, the main body 10 may be formed to be equipped with a power generating unit 11 including a power generating means. A power generating means such as a portable battery may be accommodated in the power generating unit 11, and the motor may serve to convert the current into power when a current from the portable battery is applied.

The gear unit 20 may be installed on both sides of the power generating unit 11 facing outside by receiving a driving force from the power generating means. The gear part 20 has first and second main gears 21 and 22 on one side of the power generating part 11, and each of the first and second main gears 21 and 22 is a crank part 40 It may be made to be engaged to transmit power to the driving leg portion 30.

At this time, at least one rotation shaft may pass through the power generating unit 11. For example, the rotating shaft is configured to receive power from the power generating means, and may be formed through a portion of the outer wall of the power generating unit 11. The rotation shaft may be formed as a single unit, but is not limited thereto, and at least two or more, such as a first rotation shaft and a second rotation shaft, may be formed on both sides of the power generating unit 11. This can be done, for example, with one connected shaft or with different shafts. However, for example, the first rotation shaft and the second rotation shaft may be configured to be connected to different motors, through which the driving force of the first motor is transmitted to the first rotation shaft, and the driving force of the second motor is transmitted to the second rotation shaft. Can be. In addition, the user may operate the first motor and the second motor with a remote control and drive the first and second motors through a controller wirelessly, for example. In this case, for example, the first leg group receives the driving force of the first motor directly or indirectly, and the second leg group receives the driving force of the second motor directly or indirectly. I can. Accordingly, it is possible for the user to drive the first motor and the second motor together or separately to implement the movement of the robot in various types of motion.

The first driven gear 120 may be coupled to the outside of the power generating unit 11 by, for example, a fitting coupling to the rotating shaft. However, the present invention is not limited thereto, and the first driven gear 120 may be integrally formed on the rotation shaft or may be connected in an arbitrary manner.

The gear unit 20 may further include a second driven gear 23 engaged with the first driven gear 120. In addition, the second driven gear 23 may be engaged with each of the first and second main gears 21 and 22 at the same time. For example, in order to transmit power from the first driven gear to the first and second main gears 21 and 22, the second driven gear 23 has a large outer diameter of the first driven gear 120 and The small diameter that is engaged and protruding from the inside may be configured to mesh with both the first and second main gears 21 and 22.

Through this, the power from the power generating means is transmitted to the first driven gear 120 through the rotation shaft, from the first driven gear 120 to the second driven gear 23, and from the second driven gear 23 to the first and It may be sequentially transmitted to the second main gears 21 and 22.

Meanwhile, the first and second protrusions each of the first and second main gears 21 and 22 protrude toward the crank part 40 and are formed to be fixed to the first and second fitting parts 42 and 42. (210, 220) may be formed. Through this, the power of the two first and second main gears 21 and 22 can be transmitted to one crank part 40.

In the above, the configuration of one side of the main body has been described, but the described embodiments are applicable to any other side of the main body. In addition, some of the above embodiments may be implemented, or only some of the above embodiments may be combined. In addition, for example, it is possible to appropriately add or exclude arbitrary components included in the main body or the driving leg portion.

The scope of protection in this field is not limited to the description and expression of the embodiments explicitly described above. In addition, it is added once again that the scope of protection of the present invention may not be limited due to obvious changes or substitutions in the technical field to which the present invention pertains.

10: main body 11: power generator
20: gear part 21: first main gear
22: second main gear 23: second driven gear
30: drive leg portion 31: first leg group
32: second leg group 33: leg fixation
34: fixture 40: crank portion
41: first fitting portion 42: second fitting portion
43: main crank portion 44: auxiliary crank portion
50: motion conversion unit
51, 52, 53, 54: 1st, 2nd, 3rd, 4th side of the motion conversion part
120: first driven gear 210: first protrusion
220: second protrusions 301, 302: legs at both ends of the drive leg portion
303: first leg link 304: second leg link
305: leg end

Claims (13)

A main body comprising at least two or more components connected by a bending line;
A driving leg portion connected from the main body, disposed on one of side surfaces of the main body, and having at least two legs;
Including a crank portion directly or indirectly connected to the main body and the drive leg portion,
A part of each of the legs included in the driving leg part is directly or indirectly connected to the main body, and another part of the leg is directly or indirectly connected to the crank part,
The two or more legs included in the driving leg portion are divided into a first leg group and a second leg group, and the first leg group and the second leg group are connected to different positions of the crank portion,
When the crank portion rotates, the phase between the first leg group and the second leg group are different from each other.
The method of claim 1,
The driving leg portion, characterized in that the one side and the other side facing each other of the main body is separately disposed, origami-type assembly type walking robot.
The method of claim 1,
The crank portion, characterized in that the first and second fitting portions for connecting with at least two or more gears are formed, origami-type assembly type walking robot.
The method of claim 1,
The connection between the driving leg part and the crank part, and the connection between the driving leg part and the main body is made of a bend line connection or a fitting connection.
The method of claim 1,
The main body further includes a leg fixing portion extending from the main body and having a predetermined length in a longitudinal direction spaced apart from the center of the main body,
The first leg group and the second leg group are connected to different positions of the leg fixing unit.
The method of claim 5,
The connection of the first leg group and the crank portion is made on both sides of the crank portion,
The second leg group and the crank portion are connected directly or indirectly to the central portion of the crank portion.
The method of claim 5,
A motion conversion unit having first and second sides facing each other and located across the crank unit and the driving leg unit, wherein the crank unit includes a main crank unit connected to the first leg group and an auxiliary crank unit connected to the second leg group. Include more wealth,
The first side of the motion conversion part connected to the main crank part is directly or indirectly connected to the first leg group, and the second side of the motion conversion part connected to the auxiliary crank part is directly or indirectly connected to the second leg group. It characterized in that the connected, origami-type prefabricated walking robot.
The method of claim 7,
The motion conversion unit, characterized in that it further comprises a third side and a fourth side interconnected with the first side and the second side and directly or indirectly connected to the leg fixing part, origami type assembly type walking robot .
The method of claim 7,
The leg fixing part extends between the first leg group and the second leg group from the center of the main body, and the first leg group and the second leg group are connected together at both ends of the leg fixing part,
The leg fixing part is characterized in that a fixture for connecting with the third side and the fourth side of the motion conversion part is formed connected, origami-type assembly type walking robot.
The method of claim 1,
The leg of the driving leg part includes a first leg link extending from the main body and formed to move with a bend line therebetween, a second leg link extending from the first leg link and formed to move with a bend line therebetween, And a leg end attached to one side of the second leg link.
The method of claim 1,
A power generating unit mounted in a space formed on the main body; And
Each further comprising a gear unit installed on both sides of the power generating unit and receiving the driving force generated from the power generating means,
The gear unit, characterized in that having first and second main gears respectively disposed on both sides of the power generating unit, origami-type assembly type walking robot.
The method of claim 11,
The gear unit further includes a first driven gear meshed with the first and second main gears, and a second driven gear meshed with the first driven gear,
Each of the first and second main gears, characterized in that the protrusion for connecting with the crank portion is formed, origami-type assembly type walking robot.
The method of claim 12,
Each of the first driven gears installed on both sides of the power generating unit is connected to different power generating means.

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