KR20240002970A - Driving module and robot including the modular actuator - Google Patents

Abstract

The present invention relates to a driving module and a robot including the same. According to an embodiment of the present invention, a driving module, which is detachable from a robot including a controller, comprises a plurality of actuators. Any one of the plurality of actuators includes: an actuator assembly connected to the remaining actuators so that the remaining actuators rotate as one when rotating; a leg assembly which is operable by being connected to the actuator assembly; and a driver disposed outside the controller, connects each actuator included in the actuator assembly with the controller, and is mounted on one actuator.

Description

Driving module and robot including the modular actuator}

The present invention relates to a driving module and a robot including the same.

The present invention is based on the "Integrated quadrupedal robot platform development project for multi-purpose services" (Ministry name: Gyeonggi-do, Research Management Specialist) carried out with the support of the Gyeonggi WINGS (Private Investment Linkage) technical support project of the Gyeonggi-do Economic and Science Promotion Agency implemented in Gyeonggi-do. Organization: Gyeonggi Province Economic and Science Promotion Agency, Project name: Private investment-linked technology startup support project, Project name: Integrated four-legged walking robot platform development project for multipurpose services, Contribution rate: 100%, Host organization: Aidin Robotics Co., Ltd., Research period: 20.12 This is the result of .14~22.06.30).

The global increase in logistics volume and the need to resolve manpower shortages and increase productivity have led to explosive growth in the robot market. Robots are used not only in traditional manufacturing fields, but also in various industrial fields such as logistics and delivery services, food manufacturing and serving, medical services, and security services.

Unlike large industrial robots used in manufacturing sites, collaborative robots that work together with humans to assist with precise work are mainly used in uncontrolled surrounding environments. Therefore, such robots are generally made of multiple joints and are equipped with a reducer to have a relatively small range of motion so as not to pose a risk to the surroundings when performing movements.

However, a conventional robot has a structure in which the actuator assemblies constituting the joints have links directly connecting each actuator. For example, in the case of a four-legged walking robot, each joint is provided and a link connecting them is disposed between them. Because of this, the gap between the joints is relatively large, and there is a problem that waterproofing and dustproofing treatment must be performed individually for each actuator.

In addition, in conventional robots, each actuator that makes up the actuator assembly rotates individually, and the entire actuator assembly is connected to the controller through the last actuator, so even when only one actuator is maintained, the entire actuator assembly must be dismantled. There is a problem that needs to be addressed.

Japanese Patent Publication No. 3808453

The present invention is an invention to solve the above-described problem. The actuators included in the actuator assembly rotate together, and each actuator is individually connected to the controller, thereby minimizing the exposed area of the actuator assembly and making it easy to maintain and repair. This invention relates to a driving module and a robot including the same.

However, these problems are illustrative, and the problems to be solved by the present invention are not limited thereto.

The driving module according to an embodiment of the present invention is a driving module that is detachable from a robot including a controller, and includes a plurality of actuators, and when any one of the plurality of actuators rotates, the remaining actuators rotate as one. An actuator assembly connected to the remaining actuators, a leg assembly operable connected to the actuator assembly, and an actuator disposed outside the controller, connecting each of the actuators included in the actuator assembly to the controller, and mounted on one actuator. Includes driver.

In the drive module according to an embodiment of the present invention, the actuator assembly includes a first actuator rotatable about a first axis, connected to the first actuator to rotate integrally with the first actuator, and It includes a second actuator rotatable about an intersecting second axis and a third actuator rotatable about the second axis, and as the first actuator rotates, the second actuator and the third actuator rotate integrally. , It may further include a coupler connecting the first actuator to the second actuator and the third actuator.

In the driving module according to an embodiment of the present invention, as the first actuator rotates, the second actuator and the third actuator rotate integrally, and the first actuator is connected to the second actuator and the third actuator. It may further include a coupler connecting to.

In the drive module according to an embodiment of the present invention, the second actuator and the third actuator are arranged continuously along the second axis without a separate link structure and are directly connected to each other, and the first axis is connected to the second actuator. It may be disposed between and the third actuator.

A robot according to an embodiment of the present invention includes a body frame, a controller disposed inside the body frame, and a plurality of driving modules that are detachably mounted on the body frame and are respectively connected to the controller and operable, The driving module includes an actuator assembly including a plurality of actuators, a leg assembly connected to the actuator assembly and operable, and a driver disposed outside the controller and connecting each of the actuators included in the actuator assembly with the controller. .

Other aspects, features and advantages other than those described above will become apparent from the detailed description, claims and drawings for carrying out the invention below.

The robot according to an embodiment of the present invention can provide a driving module and a robot that can easily replace, maintain, and repair the driving module.

Figure 1 shows a robot according to an embodiment of the present invention.
Figure 2 shows a state in which part of the body frame is removed to expose the inside of the robot according to an embodiment of the present invention.
Figure 3 shows a body frame according to an embodiment of the present invention.
Figure 4 shows a driving module according to an embodiment of the present invention.
Figure 5 shows a top view of a driving module according to an embodiment of the present invention.
Figure 6 schematically shows a controller and a driving module according to an embodiment of the present invention.
Figure 7 shows an exploded perspective view of an actuator assembly and a leg assembly according to an embodiment of the present invention.
Figure 8 shows a coupler according to an embodiment of the present invention.
9 to 14 show the operation of a driving module according to an embodiment of the present invention.

Since the present invention can be modified in various ways and can have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the description of the invention. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all transformations, equivalents, and substitutes included in the spirit and technical scope of the present invention. In describing the present invention, the same identification numbers are used for the same components even if they are shown in different embodiments.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. When describing with reference to the drawings, identical or corresponding components will be assigned the same reference numerals and redundant description thereof will be omitted. .

In the following embodiments, terms such as first and second are used not in a limiting sense but for the purpose of distinguishing one component from another component.

In the following examples, singular terms include plural terms unless the context clearly dictates otherwise.

In the following embodiments, terms such as include or have mean that the features or components described in the specification exist, and do not exclude in advance the possibility of adding one or more other features or components.

In the drawings, the sizes of components may be exaggerated or reduced for convenience of explanation. For example, the size and thickness of each component shown in the drawings are shown arbitrarily for convenience of explanation, so the present invention is not necessarily limited to what is shown.

In the following embodiments, the x-axis, y-axis, and z-axis are not limited to the three axes in the Cartesian coordinate system, but can be interpreted in a broad sense including these. For example, the x-axis, y-axis, and z-axis may be orthogonal to each other, but may also refer to different directions that are not orthogonal to each other.

If an embodiment can be implemented differently, a specific process sequence may be performed differently from the described sequence. For example, two processes described in succession may be performed substantially at the same time, or may be performed in an order opposite to the order in which they are described.

The terms used in this application are only used to describe specific embodiments and are not intended to limit the invention. In this application, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Figure 1 shows a robot 1 according to an embodiment of the present invention, and Figure 2 shows a state in which a part of the body frame 100 is removed to expose the inside of the robot 1 according to an embodiment of the present invention. , FIG. 3 shows a body frame 100 according to an embodiment of the present invention, FIG. 4 shows a driving module 300 according to an embodiment of the present invention, and FIG. 5 shows a body frame 100 according to an embodiment of the present invention. Shows a top view of the driving module 300, Figure 6 schematically shows the controller 200 and the driving module 300 according to an embodiment of the present invention, and Figure 7 shows an actuator assembly ( 310) and an exploded perspective view of the leg assembly 320, and Figure 8 shows a coupler 314 according to an embodiment of the present invention.

The robot 1 according to an embodiment of the present invention may be a walking robot. For example, the robot 1 may be a two-legged walking robot or a four-legged walking robot. In one embodiment, the robot 1 may be a four-legged walking robot with four driving modules 300.

The robot 1 may include a body frame 100, a controller 200, and a plurality of driving modules 300.

The body frame 100 constitutes the overall skeleton of the robot 1 and supports other components of the robot 1, such as the controller 200 and the driving module 300. For example, the body frame 100 may extend long in the longitudinal direction, that is, in the Y-axis direction of FIG. 1, and may have an overall rectangular parallelepiped shape. A controller 200 is disposed inside the body frame 100. In addition, the plurality of drive modules 300 may perform a walking motion with the leg assembly 320 connected thereto protruding to the outside while the actuator assembly 310, which will be described later, is disposed inside the body frame 100.

In one embodiment, the body frame 100 may include a support rod 110, a partition plate 120, and a cover 130.

As shown in FIG. 3, the support rod 110 may have a rod, pipe, or tube shape extending long in the longitudinal direction, that is, in the Y-axis direction. A plurality of support rods 110 are provided. For example, four support rods 110 may be arranged parallel to each other and positioned to correspond to each corner of a square. The number of support rods 110 is not limited to four, and may be three or less or five or more. All of the plurality of support rods 110 may have the same length and shape.

The plurality of support rods 110 may form the internal space 101 of the body frame 100. For example, as shown in FIGS. 2 and 3 , a portion of the controller 200 and the driving module 300 may be disposed in the internal space 101 defined inside the plurality of support rods 110 .

The support rods 110 are spaced apart from each other at a predetermined interval, and the robot 1 can be easily assembled and disassembled through this interval. For example, as shown in FIG. 3, the plurality of support rods 110 are arranged so that the upper surface, lower surface, and both sides are open, so that the user can use the controller 200 or the driving module 300 between the gaps between the support rods 110. ) can be placed.

One or more partition plates 120 may be arranged perpendicular to the longitudinal direction of the body frame 100. For example, as shown in FIG. 3, the partition plates 120 may be arranged to be spaced apart from each other along the longitudinal direction of the body frame 100, for example, along the Y-axis direction. The partition plate 120 may be combined with the support rod 110 to divide the internal space 101 of the body frame 100 and support the support rod 110.

In one embodiment, a plurality of partition plates 120 may be provided. For example, as shown in FIG. 3, the partition plate 120 includes a first partition plate 120a, a second partition plate 120b, a third partition plate 120c, and A total of four fourth compartment plates (120d) may be provided. The first compartment plate 120a may be disposed at the front end of the support rod 110, and the fourth compartment plate 120d may be disposed at the rear end of the support rod 110. In addition, the second compartment plate 120b and the third compartment plate 120c may be disposed inside the body frame 100 in the longitudinal direction, spaced apart from the first compartment plate 120a and the fourth compartment plate 120d, respectively. . However, the number of partition plates 120 is not limited to 4, and may be 3 or less or 5 or more.

As shown in FIG. 3, the first compartment plate 120a and the fourth compartment plate 120d partition the internal space 101 in the longitudinal direction. In addition, the first compartment plate 120a and the second compartment plate 120b partition the first internal space 101a, and the first internal space 101a includes a front drive module (among the plurality of drive modules 300 to be described later) 301) can be placed. More specifically, external exposure of the actuator assembly 310 included in the front drive module 301 can be minimized by being inserted into the first internal space 101a.

The second compartment plate 120b and the third compartment plate 120c partition the second internal space 101b. A controller 200, which will be described later, may be placed in the second internal space 101b. The second internal space 101b may be arranged to include the longitudinal center of the body frame 100. For example, the controller 200 may be coupled to the second compartment plate 120b and the third compartment plate 120c through a connector or the like and inserted into the second internal space 101b.

The third compartment plate 120c and the fourth compartment plate 120d partition the third internal space 101c. A rear driving module 302 among a plurality of driving modules 300, which will be described later, may be disposed in the third internal space 101c. More specifically, external exposure can be minimized by inserting the actuator assembly 310 included in the rear drive module 302 into the third internal space 101c.

In this way, the robot 1 according to an embodiment of the present invention arranges the controller 200 and the driving module 300 in the internal space 101 of the body frame 100, thereby exposing the robot 1 to the outside. parts can be minimized. This can reduce the risk of damage from external shocks and inflow of foreign substances.

In one embodiment, the partition plate 120 may include a mounting portion 121 for mounting the driving module 300. More specifically, as shown in FIG. 3, mounting portions 121 for mounting the drive module 300 may be formed in the shape of grooves at both ends of the partition plate 120 in the width direction. The actuator assembly 310 may be supported on the partition plate 120 through a bolt or the like while being mounted on the mounting portion 121. Through this, the drive module 300 can be easily attached and detached from the body frame 100.

As shown in FIG. 3, the mounting portions 121 may be formed at both ends of each partition plate 120 in the width direction. Additionally, the mounting portion 121 may be provided with a protruding rib to allow the actuator assembly 310 of the driving module 300 to be mounted, thereby dividing an area where the actuator assembly 310 is mounted. For example, a pair of adjacent partition plates 120 may each be provided with mounting portions 121 on surfaces facing each other. More specifically, the first compartment plate 120a and the second compartment plate 120b may each be provided with two mounting portions 121 on surfaces facing each other. Additionally, the third compartment plate 120c and the fourth compartment plate 120d may each be provided with two mounting portions 121 on surfaces facing each other. Accordingly, the front driving module 301 and the rear driving module 302 can be detachably disposed in the first internal space 101a and the second internal space 101c, respectively.

In one embodiment, the partition plate 120 may further include a window 122. As shown in FIG. 3, the window 122 is an opening formed inside the partition plate 120, through which the controller 200 can be easily placed in the internal space 101 of the body frame 100. Wiring work between the controller 200 and the driving module 300 can be easily performed.

The cover 130 is arranged to surround the support rod 110. For example, as shown in FIGS. 1 to 3 , the cover 130 may be disposed on the upper, lower, front, and rear surfaces of the body frame 100 so that the support rod 110 is not exposed to the outside. Additionally, the cover 130 may be placed on the side of the body frame 100 except for the area where the driving module 300 is placed.

In one embodiment, the cover 130 may further include an open/close door 131. As shown in FIG. 1, the opening/closing door 131 may be rotatably disposed on one side of the cover 130 through a hinge. For example, the opening/closing door 131 may be arranged to correspond to the second internal space 101b. Through this, the user can lift the opening/closing door 131 upward and operate the controller 200 disposed in the second internal space 101b. In another embodiment, the opening/closing door 131 may be placed on the front, rear, or top of the cover 130.

In one embodiment, the body frame 100 may further include a supporter 140. As shown in FIG. 3, the supporter 140 is arranged to support between adjacent partition plates 120, thereby increasing the overall rigidity of the body frame 100. In Figure 3, two supporters 140 are arranged between the first compartment plate 120a and the second compartment plate 120b, and between the second compartment plate 120b and the third compartment plate 120c. However, the number and location are not particularly limited. Additionally, the supporter 140 is arranged to connect adjacent support rods 110, thereby further increasing the rigidity of the body frame 100.

The controller 200 is disposed inside the body frame 100 and controls the driving module 300. For example, as shown in FIGS. 1 to 3, the driving module 300 may be disposed in the second internal space 101b between the front driving module 301 and the rear driving module 302. The controller 200 can control the robot 1 by receiving instructions from an external device or a user, or through a pre-entered program. The controller 200 may be equipped with a processor, memory, communication module, display, etc. for control.

The driving module 300 is connected to the body frame 100 and performs a walking motion by contacting the ground. As shown in FIGS. 1 to 3 , a plurality of driving modules 300 may be provided and may be symmetrically arranged on one side and the other with respect to the longitudinal central axis of the body frame 100 . A total of four driving modules 300 are shown in the drawing, but the number is not particularly limited. Hereinafter, for convenience of explanation, the description will focus on the case where the robot 1 is a four-legged walking robot and is equipped with four drive modules 300.

The driving module 300 may include a front driving module 301 and a rear driving module 302. As shown in FIG. 2, among the four drive modules 300, the two drive modules 300 arranged in the front of the robot 1 constitute the front drive module 301, and are arranged in the rear of the robot 1. The two driving modules 300 constitute the rear driving module 302. The front driving module 301 and the rear driving module 302 may both have the same shape and dimensions.

In one embodiment, the driving module 300 may include an actuator assembly 310, a leg assembly 320, and a driver 330.

The actuator assembly 310 is connected to the controller 200 and controls the leg assembly 320. As shown in FIG. 2 , at least a portion of the actuator assembly 310 is inserted into the body frame 100 and may be connected to the controller 200 through the driver 330.

In one embodiment, the actuator assembly 310 may include a plurality of actuators 311. For example, as shown in FIG. 4 , one actuator assembly 310 may include three actuators 311 . Each actuator 311 may move the robot 1 by rotating each component of the leg assembly 320 while rotating around the same or different axes. The drawing shows a case where there are three actuators 311, but the case is not limited to this. The number of actuators 311 included in the actuator assembly 310 may be 2 or less or 4 or more. Hereinafter, for convenience of explanation, the description will focus on the case where there are three actuators 311.

In one embodiment, when one of the plurality of actuators 311 rotates, the remaining actuators 311 may rotate together with it. For example, when one of the three actuators 311 included in the actuator assembly 310 rotates, the remaining two actuators 311 may also rotate as one unit. More specifically, as shown in FIG. 4, when the actuator 311 disposed at the rear among the three actuators 311 included in the actuator assembly 310 rotates around the first axis (Ax1), the corresponding actuator 311 ) The remaining two actuators 311 connected to ) can also rotate around the first axis (Ax1).

In one embodiment, the actuator 311 and the remaining two actuators 311 may be connected through a coupler 314. For example, as shown in FIGS. 4 and 5, the coupler 314 may be formed as a pair to surround the two actuators 311. Each coupler 314 is arranged to surround at least a portion of the outer peripheral surface of the two actuators 311, and one coupler 314 is connected to the actuator 311 rotating about the first axis Ax1, The remaining couplers 314 may be mounted on the mounting portion 121 of the partition plate 120. Accordingly, when the actuator 311 rotates around the first axis (Ax1), the remaining two actuators 311 connected through the coupler 314 may also rotate in the same manner. Additionally, the coupler 314 contacts the outer peripheral surfaces of the two actuators 311 and supports the actuators 311 so that they can rotate, so it does not restrict the rotational motion of the actuators 311. In other words, one actuator 311 and the remaining actuators 311 may be fixed to each other through the coupler 314. Accordingly, when one actuator 311 rotates, the remaining actuators 311 can also rotate as one. However, when the remaining two actuators 311 rotate around the second axis (Ax2), the corresponding actuators 311 are not affected by this.

In another embodiment, the actuator 311 and the remaining two actuators 311 may be connected using another connecting member, for example, a bolt or other mechanical fixing means. Alternatively, the corresponding actuator 311 and the remaining two actuators 311 may be placed in a single housing and rotate integrally without a separate connecting member. Alternatively, the actuator 311 and the remaining two actuators 311 may be connected through welding.

In one embodiment, the remaining two actuators 311 may be directly connected coaxially without a separate link member. For example, as shown in FIG. 4, two actuators 311 connected to the one actuator 311 may be directly connected with the second axis Ax2 as the central axis. Additionally, these two actuators 311 can rotate independently of each other and do not affect the single actuator 311.

As shown in FIG. 4, the one actuator 311 may be the actuator 311 closest to the controller 200. Additionally, a driver 330, which will be described later, may be mounted on the outer peripheral surface of the actuator 311.

In one embodiment, the remaining two actuators 311 may rotate about an axis different from the first axis Ax1. For example, the actuator assembly 310 includes an actuator 311 rotating around a first axis (Ax1) and two actuators connected to it and rotating around a second axis (Ax2) that intersects the first axis (Ax1). It may include an actuator 311. That is, the remaining two actuators 311 can be arranged coaxially.

In one embodiment, the first axis Ax1 may pass through the remaining two actuators 311. For example, as shown in FIG. 5, an imaginary line extending the first axis (Ax1) may be arranged to cross the second axis (Ax2) of the remaining two actuators 311. More specifically, the first axis Ax1 may be disposed at the longitudinal center of the remaining two actuators 311, that is, on the connection portion of the remaining two actuators 311. As the one actuator 311 is disposed on the center of gravity of the actuator assembly 310, the actuator assembly 310 can operate reliably and smoothly.

In one embodiment, an actuator housing 312 covering a plurality of actuators 311 may be provided. As shown in FIG. 1 , the actuator housing 312 may be a single member that covers all three actuators 311 . Additionally, the actuator housing 312 may cover the driver 330, which will be described later.

Through this configuration, the actuator assembly 310 according to an embodiment of the present invention can be configured so that one actuator 311 is interlocked with the remaining two actuators 311. Additionally, the actuator assembly 310 can minimize the connection structure between the actuators 311 and reduce the overall size. Accordingly, the actuator housing 312 can integrally cover the plurality of actuators 311 without the need to individually waterproof or dustproof each actuator 311 and its connection structure.

In one embodiment, the actuator assembly 310 is an actuator 311 and may include a first actuator 311a, a second actuator 311b, and a third actuator 311c.

The first actuator 311a rotates around the first axis Ax1 and is the actuator 311 located closest to the controller 200. In one embodiment, the first actuator 311a may be a scapula joint. As shown in FIGS. 2 and 4, one end of the first actuator 311a is mounted on the mounting portion 121 of the second compartment plate 120b, and can be rotatably supported on the second compartment plate 120b. .

In one embodiment, the first actuator 311a may rotate the entire actuator assembly 310. That is, when the first actuator 311a rotates around the first axis Ax1, the second actuator 311b and the third actuator 311c connected thereto rotate as one unit, and accordingly, the second actuator 311b and The leg assembly 320 connected to the third actuator 311c rotates together. However, when the second actuator 311b and the third actuator 311c rotate around the second axis Ax2, the first actuator 311a is not affected by this.

For example, the first actuator 311a may be connected to the second actuator 311b and the third actuator 311c through a connection member. More specifically, the other end of the first actuator 311a may be connected to the coupler 314. Accordingly, the first actuator 311a rotates around the first axis (Ax1), and the second actuator 311b and the third actuator 311c, which are connected to the first actuator 311a through the coupler 314, are also integrated. It can rotate around the first axis (Ax1).

In another embodiment, the first actuator 311a may rotate integrally with the second actuator 311b and the third actuator 311c about the first axis Ax1 using bolts or other mechanical clamping means. Alternatively, the first actuator 311a may be connected to the second actuator 311b and the third actuator 311c by welding, or may be integrally housed in a separate housing.

The second actuator 311b rotates around the second axis Ax2 and is connected to the first actuator 311a through a coupler 314. The second axis Ax2 is an axis that intersects the first axis Ax1 and, for example, may be perpendicular to the first axis Ax1. For example, as shown in FIGS. 2 and 4, the second actuator 311b is an actuator 311 disposed on the outer side of the two actuators 311 connected to the first actuator 311a through a coupler 314. , may be a hip joint. The second actuator 311b is arranged coaxially with the third actuator 311c and can be directly connected without a separate link structure. Additionally, the second actuator 311b and the third actuator 311c can rotate independently of each other.

In one embodiment, the second actuator 311b may be connected to the first leg unit 321. For example, as shown in FIG. 7, one end of the second actuator 311b may be connected to the first connector 321a of the first leg unit 321, which will be described later. Accordingly, when the second actuator 311b rotates, the first leg unit 321, including the first connector 321a, may rotate around the second axis Ax2.

The third actuator 311c rotates around the second axis Ax2 and is connected to the first actuator 311a through a coupler 314. For example, as shown in FIGS. 2 and 4, the second actuator 311b is an actuator 311 disposed on the inner side of the two actuators 311 connected to the first actuator 311a through a coupler 314. , may be a knee joint. The third actuator 311c is arranged coaxially with the second actuator 311b and can be directly connected without a separate link structure. Additionally, the third actuator 311c and the second actuator 311b can rotate independently of each other. For example, the third actuator 311c has a rotation shaft penetrating the inside of the second actuator 311b, and an end of the rotation shaft may be connected to the rotation connector 322a.

In one embodiment, the third actuator 311c may be connected to the second leg unit 322. For example, as shown in FIG. 7, one end of the third actuator 311c, that is, the end of the rotation axis, may be connected to the rotation connector 322a of the second leg unit 322, which will be described later. Accordingly, when the third actuator 311c rotates, the rotary connector 322a rotates about the second axis Ax2, and the second link 322b and third link 322c, which will be described later, may rotate.

The leg assembly 320 is connected to the actuator assembly 310 to perform a walking motion. For example, the leg assembly 320 may be composed of a plurality of links. In one embodiment, the leg assembly 320 may include a first leg unit 321 and a second leg unit 322.

The first leg unit 321 forms the upper leg of the leg assembly 320 and is connected to the second actuator 311b so that it can rotate about the second axis Ax2.

In one embodiment, the first leg unit 321 may include a first connector 321a, a first link 321b, and a second connector 321c.

The first link (321b) extends long in one direction, and a first connector (321a) and a second connector (321c) are disposed at both ends in the longitudinal direction, respectively. The first connector 321a is directly connected to the second actuator 311b, and rotates around the second axis Ax2 when the second actuator 311b rotates. Accordingly, the first link 321b also rotates around the second axis Ax2 and the leg assembly 320 rotates.

The second connector 321c may be connected to the third link 322c of the second leg unit 322, which will be described later. When the second actuator 311b rotates, the first leg unit 321 rotates, and the third link 322c of the second leg unit 322 bound to the first leg unit 321 moves along the third axis (Ax3). ) can be unfolded or collapsed around the center.

In one embodiment, the first link 321b is empty inside, and a part of the second leg unit 322 can be inserted into it. For example, as shown in FIGS. 4 and 7, the first link 321b is a hollow member, into which the second link 322b of the second leg unit 322 can be inserted. For example, the first link 321b may be an empty tube, pipe, or square pipe. Additionally, the first link 321b may be manufactured or injected as one piece, or may be formed by connecting, combining, or welding a plurality of segments.

In one embodiment, the first connector 321a and the second connector 321c may be detachably inserted into both ends of the first link 321b in the longitudinal direction. Additionally, the first connector 321a and the second connector 321c may include a pair of wings (not shown) arranged to be spaced apart in the width direction. A portion of the second leg unit 322 may be inserted into the space defined by the pair of wings. More specifically, as shown in FIGS. 4 and 7, a rotary connector 322a to be described later is inserted into the first connector 321a, and a second link 322b and a third link 322c are inserted into the second connector 321c. ) may be inserted.

In one embodiment, the first leg unit 321 may be formed integrally. For example, the first connector 321a, the first link 321b, and the second connector 321c may be formed as one member through injection molding.

In another embodiment, the first leg unit 321 may be formed by assembling or welding individually manufactured first connectors 321a, first links 321b, and second connectors 321c.

The second leg unit 322 forms the lower leg of the leg assembly 320 and is connected to the third actuator 311c so that it can rotate about the second axis Ax2.

In one embodiment, the second leg unit 322 may include a rotary connector 322a, a second link 322b, and a third link 322c.

The second link 322b extends long in one direction, and a rotary connector 322a and a third link 322c are disposed at both ends in the longitudinal direction, respectively. One end of the rotary connector 322a is directly connected to the third actuator 311c, and when the third actuator 311c rotates, the rotary connector 322a rotates around the second axis Ax2. Additionally, the other end of the rotary connector 322a is connected to the second link 322b. Accordingly, when the third actuator 311c rotates, the rotation connector 322a rotates, the second link 322b moves, and the third link 322c connected to the second link 322b rotates.

The third link 322c is rotatably connected to the second link 322b and can be in direct contact with the ground. For example, as shown in FIGS. 4 and 7, one end of the third link 322c may be rotatably connected to the other end of the second link 322b about the fifth axis Ax5.

In one embodiment, the leg assembly 320 may further include a leg housing 323. As shown in FIG. 1, the leg housing 323 may be arranged to cover at least a portion of the leg assembly 320, for example, the first leg unit 321. The leg housing 323 is arranged to include a first connector 321a, a first link 321b, and a second connector 321c, and forms a gap with the actuator housing 312 covering the actuator assembly 310. . The leg housing 323 may rotate integrally as the first leg unit 321 rotates.

In one embodiment, the second leg unit 322 may be formed integrally. For example, the rotary connector 322a, the second link 322b, and the third link 322c may be formed as one member through injection molding.

In another embodiment, the first leg unit 322 may be formed by assembling or welding individually manufactured rotary connectors 322a, second links 322b, and third links 322c.

The driver 330 is disposed between the controller 200 and the actuator assembly 310 and transmits electrical signals from the controller 200 to the actuator assembly 310 to control the speed and direction of the actuator 311. For example, the driver 330 is a motor driver and can control the actuator 311, which is a motor. Additionally, the driver 330 may connect between the first actuator 311a, the second actuator 311b, and the third actuator 311c and the controller 200.

In one embodiment, the driver 330 may be mounted on the actuator assembly 310. For example, as shown in FIGS. 4 and 5, the driver 330 may be mounted on the first actuator 311a. In other words, all of the components of the driver 330 can be mounted outside the controller 200 rather than inside the controller 200. Through this, as shown in FIG. 6, the entire drive module 300 including the actuator assembly 310, leg assembly 320, and driver 330 can be located outside the controller 200. Through this, when replacing only the driving module 300, such as when there is a problem with the driving module 300, only the driving module 300 can be separated from the controller 200 without the need to separate other components, and the driving module 300 can be easily replaced. can be maintained and repaired.

In another embodiment, the driver 330 may be individually provided in each actuator 311. For example, three drivers 330 may be provided in each of the first actuator 311a, the second actuator 311b, and the third actuator 311c.

In one embodiment, each driver 330 may be attached to the outside of the actuator 311. For example, each driver 330 may be mounted on the outer peripheral surface of the actuator 311. In another embodiment, each driver 330 may be built into the actuator 311. For example, each driver 330 may be placed inside the housing of the actuator 311.

Hereinafter, the operation of the robot 1 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 14.

9 to 14 show the operation of the driving module 300 according to an embodiment of the present invention.

First, when the robot 1 is in a neutral state, that is, when each actuator 311 is in the initial position, the drive module 300 may have a posture as shown in FIG. 9. The plane formed by the first axis (Ax1) of the first actuator (311a) and the second axis (Ax2) of the second actuator (311b) and the third actuator (311c) may be parallel to the XY plane.

In this state, when the first actuator 311a rotates, the actuator assembly 310 rotates as a whole and the leg assembly 320 may rotate as one piece. For example, as shown in FIG. 10, when the first actuator 311a rotates in one direction about the first axis Ax1, the second actuator 311b is connected to the first actuator 311a through the coupler 314. ) and the third actuator 311c rotate upward around the first axis Ax1. Accordingly, the first leg unit 321 connected to the second actuator 311b also rotates upward by the angle A.

Conversely, as shown in FIG. 11, when the first actuator 311a rotates in the other direction about the first axis (Ax1), the second actuator (311b) and the third actuator (311c) are integrated into the first axis (Ax1). ) rotates downwards. Accordingly, the first leg unit 321 connected to the second actuator 311b also rotates downward by the angle A.

In this way, the first actuator 311a operates like a human scapula and can rotate the driving module 300 as a whole about the first axis Ax1.

Additionally, the second actuator 311b implements a folding operation between the first leg unit 321 and the second leg unit 322. For example, as shown in FIG. 12, when the second actuator 311b rotates in one direction about the second axis Ax2, the first connector 321a of the first leg unit 321 connected to it rotates at angle B. rotates as much as Accordingly, the first link (321b) and the second connector (321c) also rotate around the second axis (Ax2). Here, the rotation connector 322a of the second leg unit 322 is not connected to the second actuator 311b but is connected to the third actuator 311c, so the angle is maintained regardless of the operation of the second actuator 311b. . Therefore, as the first link 321b rotates while the rotary connector 322a is fixed, the second link 322b disposed inside the first link 321b also rotates in the same manner. Accordingly, the third link 322c connected to the second link 322b rotates by an angle C about the fifth axis Ax5. That is, the second actuator 311b operates both the first leg unit 321 and the second leg unit 322.

Additionally, the third actuator 311c also implements a folding operation between the first leg unit 321 and the second leg unit 322. For example, as shown in FIG. 13, when the third actuator 311c rotates about the second axis Ax2, the rotation connector 322a connected thereto also rotates in the same manner. When the rotary connector 322a rotates in one direction, the second link 322b connected to it moves backward, and the third link 322c rotates by an angle D around the third axis Ax3, thereby forming the second leg unit. The folding operation of 322 is performed.

Conversely, as shown in FIG. 14, when the third actuator 311c rotates in the opposite direction about the second axis Ax2, the second link 322b moves forward. Accordingly, the third link 322c rotates by an angle D about the fifth axis Ax5, and the second leg unit 322 is unfolded.

Through this configuration, the robot 1 according to an embodiment of the present invention can modularize the driving module 300. That is, as one actuator 311 rotates, the remaining actuators 311 rotate as one unit, thereby reducing the link structure connecting the plurality of actuators 311 included in the drive module 300. Through this, the size occupied by the plurality of actuators 311 can be minimized. Additionally, through this configuration, the actuator housing 312 can be formed to cover the entire plurality of actuators 311. Through this, the entire actuator assembly 310 can be easily waterproofed and dustproofed without having to individually waterproof and dustproof each actuator 311.

In addition, the robot 1 according to an embodiment of the present invention has the drivers 330 connecting the controller 200 and each actuator 311 arranged outside the controller 200 and in the driving module 300. As a result, the drive module 300 can be easily maintained and repaired by separating only the drive module 300 from the robot 1. More specifically, part or all of the driver 330 is not disposed inside the controller 200, but is included in the driving module 300, without separating the controller 200 or other components of the body frame 100. , only the driving module 300 can be separated from the controller 200 and the body frame 100. Additionally, by mounting the driver 330 on the actuator assembly 310, the wiring connecting the driver 330 and the controller 200 can be simplified and its length reduced.

Although the present invention has been described with reference to the embodiments shown in the drawings, these are merely examples. Those skilled in the art can fully understand that various modifications and equivalent other embodiments are possible from the embodiments. Therefore, the true technical protection scope of the present invention should be determined based on the attached claims.

The specific technical content described in the embodiment is an example and does not limit the technical scope of the embodiment. In order to describe the invention concisely and clearly, descriptions of conventional general techniques and configurations may be omitted. In addition, the connection of lines or the absence of connections between components shown in the drawings exemplify functional connections and/or physical or circuit connections, and in actual devices, various functional connections or physical connections may be replaced or added. It can be expressed as connections, or circuit connections. Additionally, if there is no specific mention such as “essential,” “important,” etc., it may not be a necessary component for the application of the present invention.

“The” or similar designators used in the description and claims may refer to both the singular and the plural, unless otherwise specified. In addition, when a range is described in an example, the invention includes the application of individual values within the range (unless there is a statement to the contrary), and each individual value constituting the range is described in the description of the invention. same. Additionally, unless the order of the steps constituting the method according to the embodiment is clearly stated or there is no description to the contrary, the steps may be performed in an appropriate order. The embodiments are not necessarily limited by the order of description of the steps above. The use of any examples or illustrative terms (e.g., etc.) in the embodiments is merely to describe the embodiments in detail, and unless limited by the claims, the examples or illustrative terms do not limit the scope of the embodiments. That is not the case. Additionally, those skilled in the art will appreciate that various modifications, combinations and changes may be made according to design conditions and factors within the scope of the appended claims or their equivalents.

1: Robot
100: body frame
200: Controller
300: drive module

Claims (5)

An actuator assembly including a first actuator, a second actuator, and a third actuator; and
A leg assembly including a first leg unit connected to the second actuator and a second leg unit connected to the third actuator,
The leg assembly and the third actuator are located on one side and the other side of the second actuator, respectively, so as to face each other with respect to the second actuator,
A driving module, wherein at least a portion of the third actuator passes through the second actuator and is connected to the second leg unit. According to paragraph 1,
The first leg unit is
first link;
a first connector connected to the second actuator at one end of the first link; and
A second connector connected to the second leg unit at the other end of the first link,
A driving module wherein a portion of the second leg unit inserted into the first link is connected to the third actuator. According to paragraph 1,
The second leg unit is
a second link at least partially inserted into the first leg unit;
a rotatable connector, one end of which is rotatably connected to one end of the second link and the other end of which is rotatably connected to the third actuator; and
A driving module comprising a third link, one end of which is rotatably connected to the other end of the second link. According to paragraph 3,
When the third actuator operates, the rotation connector rotates, the second link and the third link rotate, and the first leg unit surrounding the second link rotates. a body frame including a support rod and a plurality of partition plates spaced apart along the longitudinal direction of the support rod and inserted into the support rod to partition a plurality of internal spaces;
a controller inserted into a second internal space located at the center of the plurality of internal spaces; and
It includes a plurality of driving modules each inserted into a first internal space located in front of the second internal space and a third internal space located behind the second internal space,
The partition plate dividing the second internal space includes mounting portions including protruding ribs for mounting the driving module at both ends in the width direction.