KR20230029316A - Link assembly and crawling robot comprising the same - Google Patents

Abstract

The present invention relates to a link assembly and a traveling robot including the same. The link assembly according to one embodiment comprises: a motion unit having a fixation point fixed to the exterior; a driving unit driving the motion unit; and a connection unit disposed between the driving unit and the motion unit, and connecting the driving unit and the motion unit. When the driving unit rotates, the motion unit may move within a preset range by the connection unit and the fixation point. An objective of the present invention is to provide the link assembly with increased efficiency and the traveling robot including the same.

Description

Link assembly and a driving robot including the same {LINK ASSEMBLY AND CRAWLING ROBOT COMPRISING THE SAME}

The following description relates to a link assembly and a driving robot including the same.

The driving mechanism of the mobile robot can be largely classified into a wheeled type, a tracked type, and a legged type. Wheeled mobile robots have the advantage of excellent driving performance on flat terrain and simple mechanical structure and control mechanism. The downside is that it is extremely difficult. In addition, there is a disadvantage that the efficiency is reduced by frictional force, and there is a problem that a lot of weight is added due to a complicated driving mechanism and mechanical elements, and a complicated control system must be provided. In the case of a conventional multi-legged mobile robot, it has excellent adaptability to various terrains such as climbing stairs, but has problems in that its movement speed is relatively slow, its driving mechanism is very complex, and its control is difficult.

Korean Patent Registration No. 10-1248978 (registered on March 25, 2013) discloses a mobile robot equipped with a caterpillar and a driving wheel.

The above background art is possessed or acquired by the inventor in the process of deriving the present invention, and cannot necessarily be said to be known art disclosed to the general public prior to filing the present invention.

An object of one embodiment is to provide a link assembly that increases efficiency by converting a circular motion into a reciprocating motion, and a driving robot including the same.

A link assembly according to an embodiment includes a motion unit having a fixing point fixed to the outside; a driving unit for driving the motion unit; and a connection portion disposed between the driving unit and the motion unit to connect the driving unit and the motion unit, wherein when the driving unit rotates, the motion unit may move within a predetermined range by the connection unit and the fixed point. there is.

In the link assembly, the motion unit may perform an arc motion, an up/down motion, or a vertical motion according to the location of the fixing point.

The connection unit may include a driving link element connected to the driving unit; a motion link element connected to the motion unit; a first connecting link element connecting the motion unit and the driving unit at one side; and a second connecting link element connecting the motion unit and the driving unit from the other side.

The connection unit may further include a centripetal joint, and the drive link element, the motion link element, the first link link element, and the second link link element may be connected around the centripetal joint.

The motion link element may include a motion plate connecting the motion unit and the centripetal joint; a first motion bar extending from the centripetal joint to one side of the motion unit; and a second motion bar extending from the centripetal joint to the other side of the motion unit.

The drive link element may include a drive plate connecting the drive unit and the centripetal joint; a first driving bar extending from the centripetal joint to one side of the driving unit; and a second driving bar extending from the centripetal joint to the other side of the driving unit.

The first connection link element may include a first motion connection plate connected to the first motion bar and extending from the first motion bar toward the driving unit; a first driving connection plate connected to the first driving bar and extending from the first driving bar toward the motion unit; and a first connection bar connected to the centripetal joint, extending from the centripetal joint, and connected to both sides of the first motion connection plate and the first driving connection plate.

The second connection link element may include a second motion connection plate connected to the second motion bar and extending from the second motion bar toward the driving unit; a second driving connection plate connected to the second driving bar and extending from the second driving bar toward the motion unit; and a second connection bar connected to the centripetal joint, extending from the centripetal joint, and connected to both sides of the second motion connection plate and the second driving connection plate.

In the link assembly, when the first motion connection plate and the first drive connection plate come closer to each other, the second motion connection plate and the second drive connection plate move away from each other, and the second motion connection plate and the second drive connection plate move away from each other. When the second drive connection plate comes closer to each other, the first motion connection plate and the first drive connection plate may move away from each other.

The fixing points may be provided in pairs on both sides of the motion unit.

In the link assembly, when an angle between a line connecting a pair of fixed points and a line formed by meeting the motion unit and the connecting unit is referred to as a fixed angle, the movable range and movable axis of the motion unit are determined according to the size of the fixed angle. this may vary.

When the fixed angle is 0°, a movable range of the motion unit may be maximized.

In the driving robot having a plurality of link assemblies, the main body; a rotation drive device connected to the link assembly to transmit a rotation drive; and a plurality of leg devices connected to the motion units of the plurality of link assemblies and integrally driven.

The plurality of link assemblies may be connected to the rotation driving device at different angles.

The plurality of link assemblies may be connected to the rotation driving device to have different phases.

A link assembly and a driving robot including the link assembly according to an embodiment can reduce friction and increase efficiency by converting a circular motion into a reciprocating motion.

A link assembly and a driving robot including the link assembly according to an embodiment may diversify aspects of reciprocating motion by changing constraint conditions of the link assembly.

1 is a perspective view of a link assembly according to an embodiment.
2 is a front view of a connection unit according to an exemplary embodiment.
3 is a front view showing a driving process of a link assembly according to an embodiment.
4 is a view showing a driving process of a link assembly according to an embodiment from a diagonal side.
5 is a conceptual view illustrating a driving process of a link assembly according to an embodiment from the side.
6 is a perspective view of a driving robot according to an embodiment.
7 is a photograph showing a driving process of a driving robot according to an embodiment.

Hereinafter, embodiments will be described in detail through exemplary drawings. In adding reference numerals to components of each drawing, it should be noted that the same components have the same numerals as much as possible even if they are displayed on different drawings. In addition, in describing the embodiment, if it is determined that a detailed description of a related known configuration or function hinders understanding of the embodiment, the detailed description will be omitted.

In addition, in describing the components of the embodiment, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish the component from other components, and the nature, order, or order of the corresponding component is not limited by the term. When an element is described as being “connected,” “coupled to,” or “connected” to another element, that element may be directly connected or connected to the other element, but there may be another element between the elements. It should be understood that may be "connected", "coupled" or "connected".

Components included in one embodiment and components having common functions will be described using the same names in other embodiments. Unless stated to the contrary, descriptions described in one embodiment may be applied to other embodiments, and detailed descriptions will be omitted to the extent of overlap.

1 is a perspective view of a link assembly according to an embodiment, and FIG. 2 is a front view of a connection unit according to an embodiment.

Referring to FIGS. 1 and 2 , the link assembly 11 may convert rotational motion into reciprocating motion, and may diversify aspects of the reciprocating motion by changing constraint conditions. Compared to the cylinder crank type, such a mechanism for converting rotational motion into reciprocating motion can prevent reduction in efficiency due to frictional force of the slider. For example, the link assembly 11 may include a motion unit 111 , a driving unit 112 and a connection unit 113 .

The motion unit 111 may have fixing points a, b, and c that are externally fixed. A plurality of fixing points a, b, and c may be formed. For example, a pair of fixing points may be formed on both sides of the motion unit 111 (a and b, b and c in FIG. 1), or may be formed as one on one side of the motion unit 111 (see FIG. 1 a or b). The motion unit 111 may reciprocate based on the parts constrained by the fixed points a, b, and c. For example, the fixed points a, b, and c may be set differently according to the type and range of motion to be implemented by the motion unit 111 . Depending on the positions of the fixing points (a, b, c), the motion unit 111 may perform an arc motion, an up/down motion, or a vertical motion.

The driving unit 112 may drive the motion unit 111 . For example, when the drive unit 112 rotates, the motion unit 111 may move within a predetermined range by the connection unit 113 and the fixed points a, b, and c. The driving unit 112 may be connected to an external component that rotates and transmits the rotational motion to the motion unit 111 and the connection unit 113 .

The connection unit 113 may be disposed between the driving unit 112 and the motion unit 111 to connect the driving unit 112 and the motion unit 111 . For example, the connection unit 113 may include a drive link element 1131, a motion link element 1132, a first link link element 1133, a second link link element 1134, and a centripetal joint 1135. there is.

The driving link element 1131 may be connected to the driving unit 112 . For example, the driving link element 1131 may include a driving plate 11313 , a first driving bar 11311 and a second driving bar 11312 .

The driving plate 11313 may connect the driving unit 112 and the centripetal joint 1135 .

The first driving bar 11311 may be formed to extend from the centripetal joint 1135 to one side of the driving unit 112 .

The second driving bar 11312 may be formed to extend from the centripetal joint 1135 to the other side of the driving unit 112 .

The motion link element 1132 may be connected to the motion unit 111 . For example, the motion link element 1132 may include a motion plate 11323, a first motion bar 11321, and a second motion bar 11322.

The motion plate 11323 may connect the motion unit 111 and the centripetal joint 1135 .

The first motion bar 11321 may be formed to extend from the centripetal joint 1135 to one side of the motion unit 111 .

The second motion bar 11322 may be formed to extend from the centripetal joint 1135 to the other side of the motion unit 111 .

The first connection link element 1133 may connect the motion unit 111 and the driving unit 112 from one side. For example, the first connection link element 1133 may include a first motion connection plate 11331 , a first drive connection plate 11333 , and a first connection bar 11332 .

The first motion connection plate 11331 may be connected to the first motion bar 11311 and may extend from the first motion bar 11311 toward the driving unit 112 .

The first driving connection plate 11333 may be formed to be connected to the first driving bar 11321 and extend toward the motion unit 111 from the first driving bar 11321 .

The first connection bar 11332 is connected to the centripetal joint 1135 and extends from the centripetal joint 1135, and the first motion connection plate 11331 and the first drive connection plate 11333 may be connected to both sides.

The second connection link element 1134 may connect the motion unit 111 and the driving unit 112 from the other side. For example, the second connection link element 1134 may include a second motion connection plate 11341 , a second driving connection plate 11343 , and a second connection bar 11342 .

The second motion connection plate 11341 may be connected to the second motion bar 11312 and may extend from the second motion bar 11312 toward the driving unit 112 .

The second driving connection plate 11343 may be connected to the second driving bar 11322 and extend from the second driving bar 11322 toward the motion unit 111 .

The second connection bar 11342 is connected to the centripetal joint 1135 and extends from the centripetal joint 1135, and the second motion connection plate 11341 and the second driving connection plate 11343 may be connected to both sides.

In the centripetal joint 1135, a drive link element 1131, a motion link element 1132, a first link link element 1133, and a second link link element 1134 may be connected around the centripetal joint 1135.

3 is a view showing a driving process of a link assembly according to an embodiment from the front, FIG. 4 is a view showing a driving process of a link assembly according to an embodiment from a diagonal side view, and FIG. 5 is a view showing a driving process of a link assembly according to an embodiment. It is a conceptual diagram showing the driving process of the assembly from the side.

Referring to FIGS. 3 to 5 , while the drive unit 112 rotates, the motion unit 111 reciprocates while drawing an arc around an axis connecting the fixed points a and b. When the first motion connecting plate 11331 and the first driving connecting plate 11333 come closer, the second motion connecting plate 11341 and the second driving connecting plate 11343 move away, and the second motion connecting plate 11341 ) and the second drive connection plate 11343 are closer, the first motion connection plate 11331 and the first drive connection plate 11333 may move away from each other. As shown in FIG. 5 , the rotational motion of the drive unit 112 can be expressed as an up-and-down motion when viewed from the side, and the motion unit 111 can perform an arc motion like a lever based on a fixed point. At the driving lowest point of the driving unit 111, the motion unit 111 may be located at the highest motion point, and at the driving highest point of the driving unit 111, the motion unit 111 may be located at the lowest motion point.

When the angle between the line connecting the pair of fixed points (a, b) and the line (M1-M2) formed by the meeting of the motion unit 111 and the connecting unit 113 is called a fixed angle, motion according to the size of the fixed angle The movable range and movable axis of the unit 111 may vary. For example, when the fixed angle is 0°, the movable range of the motion unit 111 may be maximized. As shown in FIG. 1 , when a pair of fixed points b and c are disposed at non-symmetrical positions on the motion unit 111, the fixed angle may not be 0°, and in this case, the motion unit 111 ), the movable axis may be changed while the movable range is reduced.

6 is a perspective view of a driving robot according to an embodiment, and FIG. 7 is a photograph showing a driving process of the driving robot according to an embodiment.

Referring to FIGS. 6 and 7 , the traveling robot 1 may include a link assembly 11 , a main body 12 , a rotation driving device 14 , and a plurality of leg devices 13 .

The main body 12 may accommodate an internal device such as a rotary driving device 14 therein. In addition, the main body 12 may provide a fixing point by restraining a portion of the link assembly 11 .

The rotation driving device 14 may be connected to the link assembly 11 to transmit rotational driving. The rotation driving device 14 may drive the plurality of link assemblies 11 to have different phases by one rotational drive.

A plurality of link assemblies 11 may be provided, and may be connected to the rotation driving device 14 at different angles. In addition, the plurality of link assemblies 11 may be connected to the rotation driving device 14 to have different phases.

The plurality of leg devices 13 may be connected to the motion unit 111 of the link assembly 11 and driven integrally. When the plurality of link assemblies 11 are connected to the rotation driving device 14 to have different angles and different phases, when the rotation driving device 14 rotates once, the leg device 13a located at the front end and the rear end The leg device 13c located in the lower part can descend and rise, and the leg unit 13b located in the middle can rise and lower, and the leg devices 13 push the ground at different angles, so that the driving robot 1 can You can either go forward or go backwards.

As described above, although the embodiments have been described with limited drawings, those skilled in the art can make various modifications and variations from the above description. For example, the described techniques may be performed in an order different from the described method, and/or components of the described structure, device, etc. may be combined or combined in a different form from the described method, or other components or equivalents may be used. Appropriate results can be achieved even if substituted or substituted by

Claims (15)

A motion unit having a fixing point fixed to the outside;
a driving unit for driving the motion unit; and
A connection portion disposed between the driving unit and the motion unit to connect the driving unit and the motion unit;
When the drive unit rotates, the link assembly moves within a predetermined range by the connection unit and the fixing point.
According to claim 1,
The link assembly according to the location of the fixing point, characterized in that the motion unit can perform arc motion, ascending and descending motion or vertical motion.
According to claim 2,
The connection part,
a driving link element connected to the driving unit;
a motion link element connected to the motion unit;
a first connecting link element connecting the motion unit and the driving unit at one side; and
A link assembly comprising a second connecting link element connecting the motion unit and the driving unit at the other side.
According to claim 3,
The connection part,
further comprising a centripetal joint;
The driving link element, the motion link element, the first connecting link element and the second connecting link element are connected around the centripetal joint, characterized in that the link assembly.
According to claim 4,
The motion link element,
a motion plate connecting the motion unit and the centripetal joint;
a first motion bar extending from the centripetal joint to one side of the motion unit; and
A link assembly comprising a second motion bar extending from the centripetal joint to the other side of the motion unit.
According to claim 5,
The drive link element,
a driving plate connecting the driving unit and the centripetal joint;
a first driving bar extending from the centripetal joint to one side of the driving unit; and
A link assembly comprising a second driving bar extending from the centripetal joint to the other side of the driving unit.
According to claim 6,
The first connecting link element,
a first motion connection plate connected to the first motion bar and extending from the first motion bar toward the driving unit;
a first driving connection plate connected to the first driving bar and extending from the first driving bar toward the motion unit; and
A link assembly comprising a first connection bar connected to the centripetal joint and extending from the centripetal joint, and to which the first motion connection plate and the first drive connection plate are connected to both sides.
According to claim 7,
The second connecting link element,
a second motion connection plate connected to the second motion bar and extending from the second motion bar toward the driving part;
a second driving connection plate connected to the second driving bar and extending from the second driving bar toward the motion unit; and
A link assembly comprising a second connection bar connected to the centripetal joint and extending from the centripetal joint, and to which the second motion connection plate and the second drive connection plate are connected to both sides.
According to claim 8,
When the first motion linking plate and the first driving linking plate come closer to each other, the second motion linking plate and the second driving linking plate move away from each other;
The link assembly of claim 1, wherein when the second motion linking plate and the second driving linking plate come closer to each other, the first motion linking plate and the first driving linking plate move away from each other.
According to claim 2,
The fixed point is
Link assembly, characterized in that provided in a pair on both sides of the motion unit.
According to claim 10,
When the angle between the line connecting the pair of fixed points and the line formed by the meeting of the motion part and the connection part is called a fixed angle,
A link assembly, characterized in that the movable range and movable axis of the motion unit vary according to the size of the fixed angle.
According to claim 11,
When the fixed angle is 0 °, the link assembly, characterized in that the movable range of the motion unit is maximum.
In the traveling robot provided with a plurality of link assemblies according to claim 1,
main body;
a rotation drive device connected to the link assembly to transmit a rotation drive; and
A driving robot including a plurality of leg devices connected to the motion units of the plurality of link assemblies and integrally driven.
According to claim 13,
The plurality of link assemblies are connected to the rotation driving device at different angles.
According to claim 13,
The plurality of link assemblies are connected to the rotation driving device to have different phases.

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