WO2011099662A1

WO2011099662A1 - Variable traveling system using double driving tracks and a free wheel arm

Info

Publication number: WO2011099662A1
Application number: PCT/KR2010/000908
Authority: WO
Inventors: 김병수
Original assignee: 주식회사 한울로보틱스
Priority date: 2010-02-12
Filing date: 2010-02-12
Publication date: 2011-08-18

Abstract

The present invention relates to a variable traveling system using double driving tracks and a free wheel arm. In the variable traveling system, endless-type driving track parts are installed at the front and rear ends of a body such that the driving track parts can be variably and symmetrically operated, so as to improve the climbing and traveling characteristics of the variable traveling system. The variable traveling system comprises: a body frame including groove parts at either side thereof; two pairs of front and rear driving track parts disposed at either side of the front and rear ends of the body frame parallel to each other; a traveling motor part installed in the body frame to simultaneously drive a pair of the front and rear driving track parts; a variable motor part installed in the body frame to simultaneously and symmetrically rotate all the front and rear driving track parts; a free wheel part disposed on the body frame between the front driving track parts and the rear driving track parts; and a rotation motor part installed in the body frame to rotate the free wheel part.

Description

Variable travel system with dual drive track and freewheel arm

The present invention relates to a variable driving system using a dual drive track and a freewheel arm, and to install an endless track each of which is controlled at an angle by a predetermined distance from both front and rear ends of the fuselage frame of the driving system, and between arms spaced apart. The present invention relates to a variable driving system having a freewheel having a shape, which improves obstacle overcoming and running properties of a traveling system.

In general, a traveling device configured to move the ground by using rotational power such as a motor or an engine is divided into a method using a track and a method using a wheel. In the above method, using the caterpillar (sometimes called Caterpillar) is slower than the method using the wheel, but the surface contact with the ground has a large area so that the road can be freely driven on uneven roads or muddy ground. In addition, there is an advantage that it is possible to freely change the running direction by adjusting the left and right rotation speed. Therefore, it is mainly used for vehicles used in bad driving conditions such as tanks, tractors and heavy equipment.

In recent years, unmanned robots capable of remote control, such as unmanned surveillance of buildings, civil surveillance of dangerous areas where nuclear reactors or dangerous goods exist, civilian use such as exploration and data collection, military exploration, mine detection and removal, etc. (Or self-propelled robots) are used a lot of crawler.

In the traveling device of the unmanned robot used for such a purpose is required to climb the stairs. However, when the driving device of the unmanned robot is composed of wheels, the stability when climbing stairs is largely insufficient, and when configured as an infinite track, there is a difficulty in configuring the first stairs to climb up.

As a traveling device capable of climbing a conventional staircase, Crawler conveying device for stairway climbing in Korea No. 177,545, stairway lifting device in No. 374,755, staircase, ramp, rough road traveling device, 2004-8373 stairway climbing The four-wheel linkage traveling system of the six-wheeled traveling robot, the link type track device of 2004-8374, and the like are disclosed.

The Patent Publication Nos. 2003-22172 and 2004-8373 are configured to connect the six or eight wheels by a plurality of links to sequentially climb the stairs while changing the height and relative position of the front and rear wheels. However, in this case, since the traveling device is constituted by the wheels, the radius of rotation increases, and there is a problem in that a link structure connecting six or eight wheels is complicated and lacks stability in climbing stairs. If the rotation radius of the traveling device is increased in the above, there is a problem that the direction change or U-turn can not be more than 90 ° in a narrow space.

In addition, the patent No. 177,545 is configured to deform and support the shape of the belt according to the situation when climbing the stairs using the belt support device and jack consisting of two divided front and rear active members. However, in this case, since the belt support device contacts the inner surface of the belt, power loss occurs while driving, and it is impossible to apply it when it is used in a place where the height is low because it requires space for installing a jack on the upper part of the belt. There is a problem.

Patent No. 374,755 is configured to travel with wheels and to climb stairs using endless tracks. In this case, however, the front and rear wheels are erected so that the endless track does not come into contact with the ground during driving and the front and rear wheels are folded when climbing stairs. When the eccentricity of the caterpillar is larger than that of the conventional caterpillar, it is difficult to climb the first stairs as in the case of the conventional caterpillar.

The Patent Publication No. 2004-8374 discloses a stair climbing process by dividing a track part forward and backward and installing it in two parts and connecting a link part to change a relative position of the front and rear track part using the link part. However, in this case, since the structure of the link portion for changing the relative position of the front and rear track portions is complicated, and it requires space for installing the link portion above the track portion, it is impossible to apply it when used in a place with a low height. have.

In addition, in the case of Patent Registration No. 0596483, filed by the applicant of the present invention, the above problems can be solved to some extent, but the driving force of the driving motor is transmitted to the roller shaft by a belt, and the rotation of the roller shaft is prevented. As a result, the rollers protruding outward from the deformation block are rotated to drive the caterpillar, so that the width (distance from the roller shaft to the roller) of the traveling system is designed to be wide. That is, Patent Registration No. 0596483 has a gap between the fuselage (frame) and the caterpillar when the crawler is installed in the roller, it may cause the jamming of obstacles, and the caterpillar is installed on the protruding roller Therefore, there is a problem in that the overall width of the traveling system becomes wider than necessary.

In addition, Patent No. 0596483 has a plurality of rollers are connected by a single track, and is moved by the drive of the track connected in this way, between the rollers installed in the front of the body (frame) and the rollers installed in the rear end When obstacles are located in the road, even if there is a track, obstacles may come into contact with the body (frame) to interfere with driving.

In addition, there is also a patent registration No. 0686982 that has a larger attack angle by adding an auxiliary endless track to the main endless track in order to improve the ability to climb stairs, it is installed another auxiliary endless track in one main endless track Since the configuration of the outer side of the fuselage is complicated, and a separate drive device for driving the auxiliary caterpillar and the self-rotating of the auxiliary caterpillar is installed in the fuselage, the configuration of the inside of the fuselage is also very complicated, which makes maintenance and design difficult. There was this. In addition, the auxiliary caterpillar itself is rotated in order to increase the angle of attack, but there are various problems such as the limitation of the rotation range of the auxiliary caterpillar due to interference with the fuselage and the main caterpillar.

The present invention is to solve the above problems, the object is to install the drive tracks of the endless track respectively in the front and rear end of the body, so that the installed drive tracks are deformed at an angle symmetrical with each other, obstacle climbing and runability It is to provide an improved variable driving system.

Another object of the present invention is to receive the driving force of the driving motor by the gear coupling to minimize the width of the drive track, and to minimize the separation distance between the fuselage and the caterpillar of the traveling system to smooth the running To provide a system.

Still another object of the present invention is to install a freewheel having a female shape between the drive tracks installed at the front and rear ends of the travel system body, thereby preventing obstacles from being inserted between the drive tracks and making contact with the body. It is to provide a variable driving system that enables the smooth running of.

Still another object of the present invention is to allow the freewheel having an arm shape to be rotated indefinitely between the driving track portions, thereby enabling driving by increasing the contact force between the driving track and the floor surface regardless of the position and state of the driving system. It is to provide a variable driving system.

Still another object of the present invention is to provide a variable driving system that can simplify the configuration of the driving system body for driving, to easily secure a space in the body and to further install additional necessary materials.

Still another object of the present invention is to provide a variable traveling system having excellent climbing performance of the first stair by forming an inclined front track in contact with a stairway by changing the relative position of the roller supporting the track.

Another object of the present invention is that it is possible to configure the system to a minimum height because it does not require a space for installing a separate mechanism or link to the top of the track in order to improve the climbing ability of the stairs, Since it is possible to symmetrically deform the upper and lower shapes, it is to provide a variable driving system that can exhibit the same running performance even when the rollover.

It is still another object of the present invention to provide a dual track driving robot having a freewheel having an arm shape in synchronization with a shear drive track, thereby improving the stability of the mobile robot.

The present invention provides a fuselage frame having grooves on both sides, two pairs of front and rear drive tracks arranged in parallel to both front and rear ends of the fuselage frame, and a pair of front and rear drive tracks installed in the fuselage frame. A traveling motor unit for driving the unit simultaneously, a deformed motor unit installed in the fuselage frame to simultaneously rotate two pairs of front and rear driving tracks so that the front and rear driving tracks are symmetrical to each other, a front driving track unit and a rear driving track unit It comprises a freewheel portion provided in the fuselage frame so as to be located between, and a rotating motor portion provided in the fuselage frame to rotate the freewheel portion.

Thus, the present invention is to be installed in the front and rear end of the fuselage frame of the traveling system, respectively, it is possible to ensure the driving stability when passing the obstacle compared to the traveling system having one endless track.

In addition, the present invention is to be rotated in the shape of the trackless drive tracks located in the front and rear of the fuselage of the traveling system symmetrical with each other, to improve the step climbing ability through the up and down of the fuselage frame according to the angle deformation of the drive track Can be.

In addition, according to the present invention, a pair of front and rear driving tracks are operated by the driving force of the same motor, and two pairs of front and rear driving tracks are rotated by one motor, thereby simplifying the configuration in the driving system body. .

In addition, the present invention is provided with a freewheel portion is adjusted between the front and rear drive tracks, the rotation angle is adjusted, when overcoming the stairs or rough ground, due to the space between the front and rear drive tracks unspecific obstacles in contact with the body Can be prevented.

In addition, the present invention is to be rotated 360 ° freewheel portion, it is possible to contact the driving track portion and the bottom surface of one side irrespective of the state of the fuselage or the driving track portion, it is possible to improve the running ability of the traveling system In addition, the driving track of one side is lifted to enable high-speed driving of the traveling system.

In addition, the present invention can be driven independently of the rotation of the drive track and the rotation of the freewheel can be overcome the obstacles through various forms of deformation even in the case of various complex terrain and rough terrain, stairs or unspecified obstacles.

In addition, the present invention can minimize the width of the driving track to reduce the overall width of the driving system, and minimize the distance between the driving track and the driving system body to prevent the insertion of foreign matter and obstacles.

In addition, the present invention is simple in the fuselage configuration, not only to facilitate maintenance, but also to easily secure space in the fuselage, it is possible to further install additional necessary materials.

In addition, the present invention has a structure that is vertically symmetrical, it is possible to continue running even if the rollover phenomenon of the traveling system occurs during driving.

In addition, even if a part of the driving track is damaged while driving, the present invention enables driving through deformation of the body if power is supplied to the remaining driving part and deformation of the freewheel is possible.

In addition, the present invention is composed of a caterpillar prefabricated, it is possible to replace the part at the time of partial damage, it can be applied by modifying according to the size of the drive track.

In addition, since the present invention is possible to deform the front / rear drive track portion as long as possible in the horizontal longitudinal direction after climbing the first stairs, it is possible to continue climbing the stairs, it is possible to obtain excellent climbing performance.

In addition, the present invention is to form each drive track portion in an endless track, it is possible to maintain the same tension due to a short interval, does not require a separate tension control device, and to change the length of the endless track Does not cause.

In addition, the present invention does not require a space for installing a separate mechanism or link to the top of the caterpillar to improve the climbing ability of the first staircase, it is possible to configure the system to a minimum height. Therefore, by installing a control device, a camera, a sensor, etc. in accordance with the height of the caterpillar, it is possible to exhibit the same performance even at the time of overturning, and to achieve the object sufficiently even in a bad terrain or a bad driving condition.

In addition, the present invention, when installed so as to have a freewheel having an arm type synchronous with the front drive track portion, the front drive track portion having an endless track and the rear drive track portion and the freewheel portion of the arm structure is rotated by one motor The internal configuration of the mobile robot can be simple and can facilitate maintenance.

In addition, the present invention, when installed so as to have a freewheel having a female shape that is synchronized with the front end drive track portion, the freewheel portion is synchronized with the front end drive track portion is operated integrally, the freewheel portion between the front end drive track portion and the rear end drive track portion It is always in the position to prevent the intrusion of obstacles between the drive track.

In addition, the present invention is installed so as to have a freewheel having an arm shape that is synchronized with the shear drive track portion, the rotation radius of the shear drive track portion and the rotation radius of the freewheel portion is the same, the freewheel portion is always in contact with the bottom surface, This minimizes the contact between the obstacle and the fuselage.

In addition, the present invention, when installed so as to have a freewheel having an arm form synchronous with the shear drive track portion, the freewheel portion is to be rotated by the deformable motor portion, to simplify the configuration in the travel system body frame and to install another equipment It is easy to secure space for.

In addition, the present invention, when installed so as to have a freewheel having an arm form synchronous with the shear drive track portion, the freewheel portion is always in contact with the bottom surface, to improve the running stability of the mobile robot during driving, and the shear drive track portion It is possible to prevent contact between the body frame and the obstacle caused by the space between the rear drive track.

1 is an exemplary view showing a configuration according to the present invention

Figure 2 is an exemplary view showing the internal configuration of the shear drive track portion according to the present invention

Figure 3 is an exemplary view showing the configuration of the drive track portion according to the present invention

Figure 4 is an exemplary view showing the drive of the drive track portion and the freewheel according to the invention

Figure 5 is another exemplary view showing the operation of the freewheel portion according to the present invention

6 is an exemplary view showing the configuration of the caterpillar according to the present invention

7 is an exemplary view showing a staircase climbing in accordance with the present invention

8 is an exemplary view showing a modified configuration according to the present invention

9 is an exemplary view showing the driving of the front and rear drive track and the freewheel according to the modified configuration of the present invention

10 is an exemplary view showing a staircase climbing according to a modified configuration of the present invention

* Explanation of symbols for main parts of the drawings

(10): fuselage frame (11): groove

(12): space (20): shear drive track

(21): main shaft (22): power transmission gear

(23): power transmission wheel (24): deformation frame

(25): connecting gear (26): driving gear

(27): driving wheel (28): caterpillar

(30): rear drive track portion 31: main shaft

(33): power transmission wheel (34): deformation frame

(38): Caterpillar (40): Traveling motor part

(41): drive motor (42): motor gear

(43): Power transmission reduction gear (50): Deformation motor part

50a: first connecting wheel 50b: second connecting wheel

(51): shear strain shaft (52): shear strain shaft

(53): Front drive wheel (54): Rear drive gear

(55): strain motor (56): motor gear

(57): rear drive wheel (58): belt or chain

60: freewheel portion 61: rotating shaft

(62): drive gear (63): arm

(64): freewheel (65): freewheel radius

70: rotary motor unit 71: rotary motor

* (72): Motor Gear (100): Driving System

200: bottom surface 281: track base

(282): Tread connection joint (283): Tread

(284): Track connector (285): Track connector

1 is an exemplary view showing a configuration according to the present invention, Figure 2 is an exemplary view showing an internal configuration of the drive track according to the invention, Figure 3 is an exemplary view showing a configuration of the drive track according to the present invention, Figure 4 is an exemplary view showing the drive of the freewheel portion other than the drive track portion according to the present invention, Figure 5 is another exemplary view showing the operation of the wheely wheel portion according to the present invention, Figure 6 is a configuration of the endless track according to the present invention By way of example, the present invention provides a fuselage frame 10 having grooves 11 on both sides, and two pairs of front and rear drives respectively disposed in parallel with both front and rear ends of the fuselage frame 10. It is provided in the

track part

20, 30, the drive motor part 40 which is installed in the fuselage frame 10, and drives the pair of front / rear

drive track parts

20 and 30 simultaneously, and in the fuselage frame 10. Two pairs of front and rear drive tracks (20, 30) to be rotated at the same time Deformation motor unit 50 for rotating the

rack units

20 and 30 so as to be symmetrical with each other, and a freewheel unit installed in the fuselage frame 10 so as to be positioned between the front drive track unit 20 and the rear drive track unit 30 ( 60 and a rotating motor unit 70 provided in the body frame 10 to rotate the freewheel unit 60.

The fuselage frame 10 is a part constituting the body of the traveling system, and has a space 12 in which the driving motor and the driving motor are installed therein, and the groove part 11 in which the freewheel part 60 is installed in the middle portions of both sides. Is concave inwardly.

The front drive track portion 20 is installed at both front ends of the fuselage frame 10, the rear end drive tracks 30 are respectively installed at both rear ends of the fuselage frame, the front drive track portion 20 and the rear end Since the driving track unit 30 is configured in the same configuration, the front / rear driving track unit will be described with reference to FIG. 2 showing the front driving track unit without further explanation.

The front end drive track portion 20 has a main shaft 21 having a power transmission gear 22 at the other end so that one side is bearing-supported to the fuselage frame 10 and positioned outside the fuselage frame 10, and the fuselage frame. A power transmission wheel 23 integrally formed on the main shaft 21 so as to be located in the 10, a deformation frame 24 bearing bearing ends of the main shaft 21 protruding out of the fuselage frame 10, and a main shaft A coupling gear 25 positioned at both sides of the power transmission gear 22 and rotatably mounted to the deformation frame 24 so that one side is engaged with the power transmission gear 22 of the main shaft, and one side of the coupling gear 25. A drive gear 26 rotatably mounted to the deformation frame 24 so as to be engaged with the drive gear, a drive wheel 27 having the same axis as the drive gear 26 and located on both sides of the deformation frame 24, and driving The track 27 is provided to the wheel 27 is included.

At this time, the power transmission gear 22, the connecting gear 25, the drive gear 26 is geared to each other such that the central axis is located on the same line, the connecting gear 25 and the drive gear 26 are deformed frame The bearing is supported by 24 to be rotatable.

In addition, the main shaft 21 has a hollow structure, the power transmission wheel 23 is made of a sprocket or roller or pulley.

As shown in FIG. 6, the caterpillar 28 has a prefabricated structure in which a plurality of parts, not integral parts, are connected to each other to form an entire track. That is, the crawler track 28 according to the present invention includes a track base 281, a tread 283 connected to a track base upper surface by a tread connecting joint 282, and one track base and another adjacent thereto. And a track connecting joint 285 for connecting the track base 281 and the track connecting board 284 between the track bases 284 provided between the track bases.

In addition, the driving wheel 27 has a structure in which the crawler 28 can be installed, and the structure of the drive wheel corresponds to a known technique used when installing the crawler, and thus detailed description thereof will be omitted.

In addition, the front end drive track unit 20 and the rear end drive track unit 30 respectively positioned at one side of the fuselage frame 10 are connected to each other by a power transmission belt or a chain 80. That is, the power transmission wheel 23 of the front drive track portion and the power transmission wheel 33 of the rear drive track portion are connected by a power transmission belt or a chain 80.

The traveling motor unit 40 drives a pair of front and rear driving tracks 20 and 30 located at one side of the fuselage frame 10 simultaneously, and the traveling motor 41 is fixed in the fuselage frame 10. And a motor transmission 42 integrally installed on the shaft of the traveling motor, and a power transmission reduction gear 43 integrally installed on the main shaft 21 of the front drive track portion such that one side of the motor gear is engaged with the motor gear and is located inside the fuselage frame. ) Is included. That is, the traveling motor unit 40 is provided with two pairs in the fuselage frame (10).

According to the present invention configured as described above, when the driving motor unit 40 is operated, the driving force of the driving motor 41 is the power transmission reduction gear 43, the main shaft 21, the power transmission gear 22, and the connecting gear 25. It is transmitted to the drive gear 26 to rotate the endless track 28 of the front drive track portion 20, and is transmitted to the main shaft 31 of the rear drive track portion through the power transmission wheel 23 to the endless drive track portion Rotate the trajectory 38.

The deformable motor unit 50 rotates the front drive track unit 20 and the rear drive track unit 30 in a direction opposite to each other to deform the angles of the front and rear

drive track units

20 and 30 into a substantially trapezoidal shape. It is used for climbing stairs, passing obstacles, and driving at high speeds.

The deformable motor unit 50 is fixed to the deformable frame 24 by both ends thereof penetrating the main shaft 21 of the shear drive track unit located at both sides of the fuselage frame 10, and being bearing-supported to the main shaft 21. The front strain shaft 51 and the rear strain shaft which are fixed to the strain frame 34 through the main shaft 31 of the rear end drive track portion located on both sides of the fuselage frame 10 and are supported by the main shaft ( 52, a front driving wheel 53 integrally installed on the front deformation shaft 51, a rear drive gear 54 integrally installed on the rear deformation shaft 52, and a fuselage frame of the traveling system 100. Deformation motor 55 provided in (10), the motor gear 56, which is integrally installed on the shaft of the deformation motor 55, and one side is engaged with the rear drive gear 54, and the shaft of the deformation motor 55 It is configured to include a rear end driving wheel (57) integrally installed in the front drive wheel 53 and connected by a belt or chain (58).

The front drive wheel 53 and the rear drive wheel 57 is appropriate to the pulley, roller, sprocket, etc. according to the connection method.

In the modified motor unit 50 of the present invention configured as described above, when the deformation motor 55 is operated, the driving force of the deformation motor 55 is the motor gear 56, the rear drive gear 54, and the rear drive wheel 57. And, while being transmitted to the deformation frame 34 of the rear end drive track portion 30 through the rear end deformation shaft 52, the connection drive wheel 57, belt or chain 58, shear drive wheel 53, shear deformation It is transmitted to the deformation frame 24 of the shear drive track 20 through the shaft (51). By the driving force of the deformation motor 55, the deformation frame 24 of the front drive track portion and the deformation frame 34 of the rear drive track portion are rotated in a symmetrical direction. That is, the front and rear drive tracks 20 and 30 are rotated at a predetermined angle to have a trapezoidal shape as shown in FIG. 4.

The freewheel unit 60 is for preventing the contact of the fuselage frame of the obstacle and the high-speed running of the traveling system, the rotary shaft 61 is installed to penetrate both sides of the fuselage frame, and the drive gear 62 integrally installed on the rotary shaft; And arms 63 provided at both ends of the rotating shaft so as to be located in the groove part of the fuselage frame, and a freewheel 64 provided to be rotatable to the arm.

The rotary motor unit 70 includes a rotary motor 71 installed in the fuselage frame 10 and a motor gear 72 integrally installed on the shaft of the rotary motor and engaged with the drive gear 62 of the freewheel unit. It is supposed to be.

That is, in the present invention, the driving force of the rotary motor 71 is transmitted to the rotary shaft 61 through the motor gear 72 and the drive gear 62, and the arm 63 is rotated by the rotation of the rotary shaft 61 to freewheel. The position of 64 is changed, and the freewheel 64 is rotated 360 ° in the groove 11 of the fuselage frame by the driving force of the rotation motor 71.

In addition, although not shown in the fuselage frame 10 of the present invention, a camera for sensing and reconnaissance, a sensor unit, an antenna for transmitting and receiving control signals and data, and a driving motor by processing a control signal received through the antenna and It is possible to further install a control device for controlling the deformation motor and the like.

In addition, the fuselage frame 10 of the present invention, although not shown in the drawings, it is also possible to install a robot arm, tongs, fork-lane, crane, etc. for performing the work, in addition to a variety of equipment and devices can be installed.

Figure 4 shows an exemplary view showing the drive of the drive track and the freewheel according to the present invention, the present invention can be transformed into a trapezoidal shape by varying the angle of the front and rear drive tracks by the deformation motor unit. The freewheel part is operated to prevent contact with the fuselage frame by inserting an obstacle into the space between the front drive track part and the rear drive track part due to the deformation of the front and rear drive track parts. To prevent contact with the fuselage frame of obstacles.

In addition, Figure 5 shows another exemplary view showing the operation of the wheely wheel portion according to the present invention, Figure 5 is to drive the freewheel portion by the rotary motor portion when one drive track portion is in the air due to obstacles By allowing the freewheel to come into contact with the floor or an obstacle, the contact force of the one side driving track portion can be enhanced, thereby enabling travel.

In addition, the present invention can selectively lift the front or rear drive track by the bottom contact support of the freewheel portion, it is possible to enable high-speed driving.

Figure 7 shows an exemplary view showing a step climbing in accordance with the present invention, the present invention is a step using the operation shown in Figures 4 and 5, that is, the front and rear drive track of the deformation and driving, the operation of the freewheel It is possible to facilitate the passing of obstacles in the form of obstacles and the passage of obstacles in the form of grooves. For example, when a traveling system that runs in a trapezoidal shape having a front / rear driving track portion as shown in FIG. 7 encounters a stepped obstacle such as a staircase, the endless track of the front driving track portion contacts the stairs and is sheared by the deformation motor portion. After the rear drive track part is operated to change the front / rear drive track part into a straight or inverted trapezoidal shape, the track motor is operated by the traveling motor part to climb the step. Since the method of passing such an obstacle is made through the operation of the present invention described above, a detailed description thereof will be omitted.

Hereinafter, a modified embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Figure 8 is an exemplary view showing a modified configuration according to the present invention, Figure 9 is an exemplary view showing the drive of the front and rear drive track and the freewheel according to the modified configuration according to the present invention, the present invention grooves on both sides A fuselage frame 10 having 11, two pairs of front and rear

drive track portions

20 and 30 disposed in parallel to both front and rear ends of the fuselage frame 10, respectively, and the fuselage frame 10, respectively. A fuselage frame installed between the traveling motor part 40 and the front drive track part 20 and the rear end drive track part 30 which are installed inside the driving motor part 40 and drive the pair of front and rear

drive track parts

20 and 30 simultaneously. A freewheel portion 60 which is installed at (10) and operates integrally with the front end drive track portion 20, and which is installed in the fuselage frame 10 and has two pairs of front / rear

drive track portions

20 and 30 and a freewheel portion ( The side for rotating at the same time 60, the front drive track portion 20 and the rear drive track portion 30 to be symmetrical with each other It is constituted by a motor unit (60).

The fuselage frame 10 is a part constituting the body of the traveling system, and has a space 12 in which the traveling motor and the deformation motor are installed therein, and the groove part 11 in which the freewheel part 60 is installed in the middle portions of both sides. Is concave inwardly.

As shown in FIG. 5, the caterpillar 28 has a prefabricated structure in which a plurality of parts, which are not integral, are connected to each other to form an entire track. That is, the crawler track 28 according to the present invention includes a track base 281, a tread 283 connected to a track base upper surface by a tread connecting joint 282, and one track base and another adjacent thereto. And a track connecting joint 285 for connecting the track base 281 and the track connecting board 284 between the track bases 284 provided between the track bases.

The freewheel unit 60 is for preventing contact of the fuselage frame with obstacles, and one side is always in contact with the bottom surface, and is installed to penetrate both sides of the fuselage frame, and the rotating shaft 61 is connected to the deformation motor unit 50. And arms 63 provided at both ends of the rotating shaft so as to be located in the groove part of the fuselage frame, and a freewheel 64 provided to be rotatable to the arm.

drive track units

20 and 30 into a substantially trapezoidal shape. Simultaneously, the freewheel unit 60 is synchronized with the front end drive track 20, that is, the rotational angle of the front end drive track unit and the free wheel unit 60 are operated to be the same.

The deformable motor unit 50 is fixed to the deformable frame 24 by both ends thereof penetrating the main shaft 21 of the shear drive track unit located at both sides of the fuselage frame 10, and being bearing-supported to the main shaft 21. The front strain shaft 51 and the rear strain shaft which are fixed to the strain frame 34 through the main shaft 31 of the rear end drive track portion located on both sides of the fuselage frame 10 and are supported by the main shaft ( 52), a shear drive wheel 53 integrally installed on the shear deformation shaft 51, and a shear drive by a chain or belt 58 which is integrally installed on the rotation axis of the freewheel so as to be in line with the shear drive wheel. The first connecting wheel 50a connected to the wheel, the rear drive gear 54 integrally installed on the rear deformation shaft 52, and the deformation motor 55 installed in the fuselage frame 10 of the traveling system 100. ) And a motor gear 56 integrally installed on the shaft of the deformable motor 55 so that one side is engaged with the rear drive gear 54; The rear end driving wheel 53 is integrally installed on the shaft of the mold motor 55 and the rear end driving wheel 53 is integrally installed on the rotating shaft of the freewheel so as to be located on the same line as the rear driving wheel 53 and driven by the chain or the belt 59. And a second connecting wheel 50b connected to the wheel.

In the modified motor unit 50 of the present invention configured as described above, when the deformation motor 55 is operated, the driving force of the deformation motor 55 is the motor gear 56, the rear drive gear 54, and the rear drive wheel 57. , Is transmitted to the deformation frame 34 of the rear drive track portion 30 through the rear end deformation shaft 52, and the free wheel by the rear drive wheel 57, belt or chain 59, the second connecting wheel (50b) At the same time as being transmitted to the unit 60, through the first connecting wheel 50a, belt or chain 58, the shear drive wheel 53, the shear deformation shaft 51 and the deformation frame of the shear drive track 20 Is passed to 24.

That is, the first and second connection wheels 50a and 50b of the deformation motor unit 50 are fixed to the rotation shaft 61 of the freewheel unit 60, and the rotation shaft 61 is a driving force of the deformation motor 55. Is transmitted by the second connecting wheel (50b) to the arm (63), and at the same time to rotate the first connecting wheel (50a) to transfer the driving force of the deformation motor 55 to the transmission drive wheel (53). .

The arm 63 is rotated by the rotation of the rotary shaft 61 as described above, and the position of the freewheel 64 is changed, and the freewheel 64 is the groove 11 of the fuselage frame by the driving force of the deformation motor 55. Is rotated at

By the driving force of the deformation motor 55, the deformation frame 24 of the front drive track part and the deformation frame 34 of the rear drive track part are rotated in a symmetrical direction, and the freewheel part 60 is the shear drive track part. It is rotated in synchronization in the same direction as 20. That is, the front and rear drive tracks 20 and 30 are rotated at a predetermined angle to have a trapezoidal shape as shown in FIG. 4, and the freewheel 60 and the front drive track 20 are linked. Like a structure, it works in parallelogram.

The present invention can be transformed into a trapezoidal shape by varying the angle of the front and rear drive track portion and the freewheel portion by the deformation motor portion, the front drive track portion and the rear end drive due to the deformation of the front and rear drive track portion and the freewheel portion An obstacle is inserted into the space between the track portions to prevent contact with the fuselage frame.

FIG. 10 is an exemplary view showing a staircase climbing according to a modified configuration of the present invention, and the present invention is synchronized with the front and rear drive tracks, that is, the operations shown in FIG. 9, that is, the front and rear drive tracks. By using the operation of the freewheel that is operated it is possible to facilitate the stepped obstacle climbing, the passage of obstacles in the groove form. That is, when a mobile robot traveling in a trapezoidal shape having a front / rear drive track part as shown in FIG. 10 encounters a stepped obstacle such as a step, the endless track of the front drive track part contacts the step, and the shear / After the rear end drive track is operated to change the front / rear drive track to a straight or inverted trapezoidal shape, the track motor is operated by the traveling motor to climb the step. Since the method of passing such an obstacle is made through the operation of the present invention described above, a detailed description thereof will be omitted.

The present invention is not limited to the above-described specific preferred embodiments, and various modifications can be made by any person having ordinary skill in the art without departing from the gist of the present invention claimed in the claims. Of course, such changes will fall within the scope of the claims.

Claims

A fuselage frame having grooves on both sides, two pairs of front and rear drive tracks arranged in parallel to both front and rear ends of the fuselage frame, and a pair of front and rear drive tracks installed in the fuselage frame at the same time. A driving motor unit and a deformable motor unit installed in the fuselage frame to simultaneously rotate two pairs of front / rear drive tracks so that the front / rear drive tracks are symmetrical with each other, and positioned between the front drive track and the rear drive tracks. And a rotating motor part installed in the fuselage frame to rotate the freewheel part.
A fuselage frame having grooves on both sides, two pairs of front and rear drive tracks arranged in parallel to both front and rear ends of the fuselage frame, and a pair of front and rear drive tracks installed in the fuselage frame at the same time. A driving motor unit, a freewheel unit installed in the fuselage frame so as to be located between the front drive track unit and the rear drive track unit, and integrally operated with the front drive track unit, and two pairs of front and rear drive track units installed in the fuselage frame. And a deformable motor unit which rotates the freewheel unit at the same time and rotates the front drive track unit and the rear drive track unit to be symmetrical to each other.
The method according to claim 1 or 2;

The front drive track portion and the rear drive track portion are bearing-supported on one side of the fuselage frame, and have a main shaft having power transmission gears at the other end to be located outside the fuselage frame, and a power transmission wheel integrally formed on the main shaft to be located in the fuselage frame. And a deformed frame bearing the end of the main shaft protruding out of the fuselage frame, and a connection gear installed at both sides of the main transmission gear of the main shaft so as to be rotatable to the deformable frame, and one side of which is engaged with the main transmission gear of the main shaft. It includes a drive gear rotatably installed in the deformation frame so that one side is engaged with the connection gear, a drive wheel having the same axis as the drive gear and positioned on both sides of the deformation frame, and an endless track installed on the drive wheel A variable driving system characterized by the above.
The method according to claim 3;

And the power transmission gear, the connection gear, and the drive gear are geared to each other such that the central axis is located on the same line, and the connection gear and the drive gear are bearing-supported to be rotatable in the deformation frame.
The method according to claim 3;

The track has a track base, a tread connected to a track base by a tread connecting joint, a track connecting bar installed between one track base and another track base adjacent thereto, and connecting the track base and the track connecting unit. Variable driving system, characterized in that consisting of a track connecting joint.
The method according to claim 1 or 2;

The front drive track portion and the rear end drive track portion respectively located at one side of the front and rear of the fuselage frame is connected to each other by a power transmission belt or a chain is a variable driving system, characterized in that the integral drive.
The method according to claim 1 or 2;

The driving motor unit is a driving motor fixed in the fuselage frame, a motor gear integrally installed on the axis of the driving motor, and a power that is integrally installed on the main shaft so that one side of the driving gear and the motor gear are engaged and positioned inside the fuselage frame of the front drive track portion. Variable driving system comprising a transmission reduction gear.
The method according to claim 1;

The deformed motor part is fixed to the deformed frame through the main shaft of the front end drive track portion, both ends of which are located on both sides of the fuselage frame, the front end of the deformation bearing bearing on the main shaft, and the rear end drive is located on both sides of the fuselage frame A rear end shaft that is fixed to the deformation frame through the main shaft of the track part and is bearing-supported to the main shaft, a front drive wheel integrally installed on the front end shaft, a rear drive gear integrally installed on the rear end shaft, and a driving system The deformed motor installed in the fuselage frame of the motor, the motor gear which is integrally installed on the shaft of the deformed motor and is engaged with the rear end drive gear, and is integrally installed on the shaft of the deformed motor and connected by the shear driving wheel and the belt or the chain. Variable driving system comprising a connection driving wheel.
The method according to claim 1;

The freewheel portion is provided so as to be rotatable on the arm, and the rotating shaft is installed to penetrate both sides of the fuselage frame, the drive gear integrally installed on the rotating shaft, arms provided at both ends of the rotation shaft to be located in the groove portion of the fuselage frame; Variable driving system comprising a freewheel.
The method of claim 9;

The freewheel is a variable driving system, characterized in that rotated 360 ° about the axis of rotation.
The method according to claim 1;

The rotating motor unit includes a rotary motor installed in the fuselage frame, and a variable driving system characterized in that it comprises a motor gear is integrally installed on the shaft of the rotary motor and meshed with the drive gear of the freewheel unit.
The method according to claim 2;

The freewheel part includes a rotation shaft installed to penetrate both sides of the fuselage frame and connected to the deformable motor part, arms respectively installed at both ends of the rotation shaft so as to be located in the groove part of the fuselage frame, and a freewheel installed to be rotatable to the arm. Variable traveling system, characterized in that.
The method according to claim 2;

The deformed motor part is fixed to the deformed frame through the main shaft of the front end drive track portion, both ends of which are located on both sides of the fuselage frame, the front end of the deformation bearing bearing on the main shaft, and the rear end drive is located on both sides of the fuselage frame It is fixed to the deformed frame through the main shaft of the track part, and is fixed to the rear-end strain shaft bearing on the main shaft, the shear driving wheel integrally installed on the shear deformation shaft, and integrally with the rotation shaft of the freewheel portion so as to be in line with the shear driving wheel. A first connecting wheel installed to be connected to the front driving wheel by a chain or belt, a rear driving gear integrally mounted to the rear deformation shaft, a deformation motor installed in the fuselage frame of the mobile robot, and a shaft of the deformation motor. Motor gear that is installed at the one end to be engaged with the rear drive gear, the rear drive wheel integrally installed on the shaft of the deformation motor, and the rear drive wheel And a second connecting wheel which is integrally installed on the rotating shaft of the freewheel part so as to be positioned and connected to the rear drive wheel by a chain or a belt.