WO2016003238A1

WO2016003238A1 - Robot operating system having connecting belt playing role of caterpillar upon contact with obstacle

Info

Publication number: WO2016003238A1
Application number: PCT/KR2015/006881
Authority: WO
Inventors: 최훈; 오상진; 김미로
Original assignee: 주식회사코어벨
Priority date: 2014-07-03
Filing date: 2015-07-03
Publication date: 2016-01-07
Also published as: KR20160004603A

Abstract

The present invention relates to a robot operating system having a connecting belt playing the role of a caterpillar upon contact with an obstacle, the robot operating system enabling rotation of a driven wheel together with a driving wheel that rotates by means of operation of a motor and thereby enabling four-wheel operation, and enabling easy moving undeterred by an obstacle on the floor. A robot operating system having a connecting belt-and-caterpillar, according to an embodiment of the present invention, comprises: one or more motors provided on a robot body; a driving wheel, provided on one side of the front or the back of the robot body, which rotates by means of operation of the motors and has on the periphery of a tread that comes in contact with the ground a space having a predetermined width; a driven wheel, provided on the other side of the robot body, which has on the periphery of the tread that comes in contact with the ground a space having a predetermined width; and a connecting belt, inserted and placed in the spaces having a predetermined width, for mutually connecting the driving wheel and the driven wheel so as to rotate the driven wheel by means of the rotation of the driving wheel.

Description

Robot drive system with interlocking belt that can act as a caterpillar when obstacles come in contact

The present invention relates to a robot driving system having an interlocking belt capable of acting as a caterpillar when contacting an obstacle. More specifically, the driven wheel can be rotated by using an interlocking belt together with a driving wheel that is rotated by driving of a motor. The four-wheel drive is possible, and using an interlocking belt like a caterpillar, the robot drive system that can be easily autonomous movement on the rough road regardless of the obstacles on the floor.

In general, mobile robots used for research, medical, security, and home use should be able to move in all directions depending on the surrounding environment and needs.

The omnidirectional wheels of the mobile robot used in the prior art are moved in all directions by the point contact of the wheels and the ground, so there is no problem in traveling in a flat floor, but it cannot be used outdoors where the floor is uneven. Since driving by the point contact, there was a problem that the wheel slipping phenomenon occurs during driving.

In addition, US Patent No. 4,657,104 filed to solve the above problems to prevent the sliding phenomenon of the wheel during driving by installing a general roller, but only one wheel is installed on the wheel device of the mobile robot, when the acceleration and deceleration of the mobile robot In this case, the balance of the mobile robot is in trouble.

In addition, the US Patent 5,609,216 is to compensate for the shortcomings of the US Patent 4,657,104, the two wheels are driven by two rotary shafts installed in the wheel device.

That is, the rotating shaft is composed of a double shaft, the two wheels are connected to each of the rotating shaft by each bevel gear, and the rotating shaft composed of the dual shaft by one wheel drive shaft to rotate in the opposite direction to each other.

As described above, one wheel is driven by a first rotation shaft located at a center of the rotation shafts rotating in opposite directions, and another wheel is driven by a second rotation shaft located outside the first rotation shaft, such that two wheels are identical to each other. Drive in the direction.

However, the U.S. Patent 5,609,216 has a dual shaft structure inside the wheel assembly so that power is transmitted to different wheels by using one power shaft and two bevel gears, the structure is very complicated, and the unit cost is high. However, there is a problem that the battery consumption increases because the robot weight increases significantly.

In addition, since the structure of the wheel assembly is not modularized and is composed of an integrated unit, it is not easy to assemble and there is a high possibility of failure after assembly.

In addition, since the two bevel gears connected to the power transmission shaft are engaged with the upper and lower parts of the power transmission shaft such that the rotation directions of the wheels are opposite to each other, the two wheels are driven at the same speed by the power transmission shaft. Will rotate.

That is, when the mobile robot is rotated (turning direction), the mobile robot rotates smoothly only when the steering motor and the drive motor are driven together.

On the other hand, in the conventional mobile robot, when the robot body is lifted due to an obstacle such as an unpredictable protrusion that rises on the ground, and the rotational force cannot be transmitted, the wheel is idle (revolutionary phenomenon) and it is not possible to move forward or backward frequently. In particular, the situation is pointed out as a big problem in the field of autonomous driving robot technology, such as an unmanned vehicle or a robot cleaner.

The present invention has been made in order to solve the above problems, the object of the four-wheel drive while the driven wheel is also rotated when the drive wheel is rotated by connecting the driving wheel and the driven wheel rotated by the drive of the motor. It is possible to maximize the driving efficiency of the robot.

Another object of the present invention is to use the interlocking belt as a caterpillar, even if the driving wheel or driven wheel is lifted due to the obstacle on the floor, the interlocking belt rotates to push the contact portion of the interlocking belt like a caterpillar to overcome the obstacle. It's about having it.

In addition, the driving wheel and the driven wheel is connected by the interlocking belt, the driven wheel can be rotated together by the driving wheel to maximize the performance of the product while preparing for an unexpected situation, such as the revolution of the wheel.

The present invention for achieving the above object is a robot drive system, at least one motor installed in the robot body; A driving wheel which is disposed on either side of the front or rear side of the robot body and is rotated by the driving of the motor and has a space having a constant width around the tread contacting the ground; A driven wheel disposed on the other side of the robot body and having a space having a constant width around a tread in contact with the ground; And an interlocking belt inserted and disposed in a space having a predetermined width and interlocking the driving wheel and the driven wheel so that the driven wheel can be rotated by the rotation of the driving wheel. A drive system can be provided.

According to an embodiment of the present invention, the driving wheel is coupled to the inner and outer driving wheels inside and outside, the inner driving wheel is connected to the wheel drive shaft while the fitting groove is formed between the inner driving wheel in the center A mounting groove may be mounted, and a fastening groove may be formed in the outer side of the mount to fasten the fastening member so that the inner driving wheel and the outer driving wheel are connected to each other.

In addition, the outer driving wheel is configured as a coupling shaft so that the outer driving wheel is coupled to the inner driving wheel while being charged into the fitting groove on the side, the coupling shaft is coupled to the mounting groove into the mounting groove on the inner surface of the connecting shaft coupled An additional portion is formed and an unevenness may be formed so that the interlocking belt may be rotated by the rotation of the driving wheel while the interlocking belt is engaged around the outer periphery of the connecting shaft.

According to an embodiment of the present invention, the driven wheel is coupled to the inner and outer driven wheels inside and outside, the inner driven wheel is connected to the wheel drive shaft while the fitting groove is formed between the inner driven wheel in the center The mounting table is mounted, and a fastening groove for fastening the fastening member to be connected to the inner driven wheel and the outer driven wheel may be formed in the outside of the mounting table.

In addition, the outer driven wheel is configured as a coupling shaft so that the outer driven wheel is coupled to the inner driven wheel while being charged into the fitting groove on the side, the coupling shaft is coupled to the mounting groove on the inner surface of the connecting shaft so that the mounting rod can be charged An additional portion is formed, and the interlocking belt is engaged with the outer periphery of the connecting shaft while the interlocking belt is rotated by the rotation of the driving wheel, thereby forming an unevenness to rotate the driven wheel.

According to an embodiment, the interlocking belt is connected across the driving wheel and the driven wheel, and is engaged with the irregularities formed in the connecting shaft of the driving wheel and the driven wheel so that the driven wheel can rotate while being rotated in accordance with the rotation of the driving wheel. Unevenness may be formed inwardly.

According to an embodiment, an unevenness may be formed in an outward direction of the interlocking belt so that the interlocking belt may climb an obstacle that rises irregularly from the ground.

According to an embodiment, the interlocking belt may be formed of any one of a flat belt, a timing belt, a V-belt, and an O-ring type belt.

According to an embodiment, the interlocking belt may be made of synthetic resin having a high elasticity to smoothly rotate the driven wheel when the interlocking driving wheel is rotated.

And at the side of the robot body at least when the robot interlocks to the interlocking belt to smoothly rotate the interlocking belt even if obstacles on the floor between the driving wheel and the driven wheel to be moved without being caught in the obstacle. One or more rollers may be configured.

According to one embodiment may further include a spring to control the tension of the interlocking belt.

According to one embodiment, the outer periphery of the roller may be formed so that the roller is rotated by the rotation of the interlocking belt in engagement with the unevenness of the interlocking belt.

According to another embodiment of the present invention to achieve the above object, a robot drive system, comprising: a motor mounted on the robot body; A driving wheel disposed on either side of the front or rear side of the robot body to rotate by driving of the motor; A driven wheel disposed on the other side of the robot body; And an interlocking belt that transmits the rotational force of the driving wheel to the driven wheel and is provided so that the robot can continue to move beyond the obstacle even when the robot is caught by an obstacle located between the driving wheel and the driven wheel.

The interlocking belt is inserted and disposed in a space having a predetermined width around the tread of the driving wheel and the driven wheel, and the unevenness is formed in the outward direction of the interlocking belt so as to climb an obstacle on the ground. Provided is a robot drive system equipped with an interlocking belt for caterpillar combined use.

According to an embodiment of the present invention, the interlocking belt is inserted into the space having the predetermined width, and the unevenness is formed in the inner direction of the interlocking belt so as to engage with the connecting shaft formed to extend from the rotation axis of the driving wheel and the driven wheel. It may be characterized by.

According to an embodiment of the present invention, when the driving wheel and the driven wheel are in contact with the ground, the bottom portion of the interlocking belt is formed to have a predetermined height from the ground, and the interlocking belt does not touch the ground when it is not caught by an obstacle. Therefore, it may be characterized in that it performs only the role of transmitting the power of the drive wheel to the driven wheel.

Looking at the effect of the home robot drive system equipped with a interlocking belt for caterpillar combined use according to the present invention.

First, by engaging a plurality of rollers in the interlocking belt that interlocks the driving wheel and the driven wheel, the robot can move smoothly as it moves over obstacles on the floor as the robot moves, improving product quality and maximizing user satisfaction. It has an effect.

Second, the interlocking belt is rotated by rotating the driving wheel by interlocking the driving wheel and the driven wheel by plurally arranging the driving wheel and the driven wheel of the robot to be coupled to the connecting shaft and connecting the interlocking belt to the connecting shaft of the driving wheel and the driven wheel. As the rotating wheel can be rotated together, the four-wheel drive of the robot can be performed with a simple structure, thereby maximizing the convenience of work using the robot and the operation efficiency of the robot.

1 is a perspective view of a robot according to the present invention;

Figure 2 is an exploded perspective view showing a robot according to the present invention.

Figure 3 is an exemplary view showing the internal configuration of the drive unit of the robot according to the present invention.

4 is an exemplary side view of a robot according to the present invention;

5 is a cross-sectional view taken along the line “A-A” of FIG. 4.

Figure 6 is a cross-sectional view before coupling showing the internal configuration of the drive wheel of the robot according to the present invention.

Figure 7 is a cross-sectional view before coupling showing the internal configuration of the driven wheel of the robot according to the present invention.

8 is an operation example of the interlocking belt acting as a caterpillar according to the present invention.

Figure 9 is a schematic plan view showing an example in which the interlocking belt is connected to the wheel of the robot according to the present invention.

10 is a mounting state of the spring for controlling the tension of the interlocking belt connected to the wheel of the robot according to the invention.

11 is a state in which the spring is mounted on the roller for controlling the tension of the interlock belt of the robot according to the present invention.

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

1 is a perspective view showing a robot according to the present invention, Figure 2 is an exploded perspective view showing a robot according to the present invention, Figure 3 is an exemplary view showing the internal configuration of the drive unit of the robot according to the present invention, Figure 4 is Figure 5 is a side view of the robot according to the present invention, Figure 5 is a cross-sectional view taken along the line "AA" of Figure 4, Figure 6 is a cross-sectional view before coupling showing the internal configuration of the drive wheel of the robot according to the invention, Figure 7 Cross-sectional view showing the internal configuration of the driven wheel of the robot according to the invention, Figure 8 shows an operation example of the interlocking belt acting as a caterpillar according to the present invention.

Robot drive system equipped with a caterpillar combined interlock belt according to an embodiment of the present invention can be automatically driven without the help of a person can be used primarily for home use. However, it should be noted that it can be widely used in various industrial sites and service sites, such as warehouses and manufacturing plants. For example, it can be applied to an AGV (Automated Guided Vehicle) using the robot drive system of the present invention, or can be applied to an autonomous mobile robot cleaner.

Caterpillar of the present invention (Catapillar) means that a plurality of steel sheets or elastic plate pieces to be used as a wheel by connecting like a chain. In one embodiment of the present invention is provided with the interlocking belt 300 and the driving wheel 100 and the driven wheel 200, which is a component that performs the role of the caterpillar, the interlocking belt provided with a combined caterpillar improved than the prior art A robot drive system can be provided. Hereinafter, the components included in the present invention will be described in more detail.

As shown in Figures 1 to 8, the present invention is a robot drive system with a caterpillar interlock belt, the robot drive system is a driving wheel 200 and driven wheels connected / installed to the robot body 100 210, the interlocking belt 300 and the roller 400 may be configured to be included. In the figure, although one driving wheel 200 and one driven wheel 210 are provided on each of the left and right sides of the robot body, the driving wheels 200 and one driven wheel 210 are respectively provided. 200 and driven wheels 210 may be provided.

The driving wheel 200 is installed on both sides of the robot body 100, but both driving wheels 200 are connected to the wheel driving shaft 130 and are installed on the left and right parts of the robot body, respectively, and provided with at least one. The driving wheel 200 may be rotated by the driving of the motor 110. That is, the wheels on the left and the right may be driven independently of each other, such that the mobile robot may smoothly travel, such as freeing the direction of rotation. Here, the motor 110 may be located at either the front or the rear of the robot body.

In addition, the driving wheel 200 may be formed by coupling the inner driving wheel 200a and the outer driving wheel 200b to each other inside and outside. In this case, the inner driving wheel 200a and the outer driving wheel 200b may be connected at intervals (or spaces) in which the interlocking belt 300 may be inserted.

As shown in Figure 2 and 6, the center of the inner drive wheel (200a) is mounted to the mounting unit 201 is connected to the wheel drive shaft 130, the mounting unit 201 between the inner drive wheel (200a) The fitting groove 202 can be mounted to be formed.

In addition, a fastening groove 201a to which the fastening member 220 is fastened may be formed in the outside of the mount 201 so that the inner drive wheel 200a and the outer drive wheel 200b may be coupled to each other.

The outer driving wheel 200b is connected to the inner driving wheel 200a while being inserted into the fitting groove 202 on the side, and the connecting shaft 203 is configured. Here, the 'side' of the outer driving wheel 200b may mean a surface facing the inner driving wheel 200a. In more detail, the connecting shaft 203 may be positioned at the center of the outer driving wheel 200b so that the mounting table 201 may be interpolated. At this time, the coupling portion 203b may be formed on the inner surface of the coupling shaft 203 so that the mounting shaft 201 may be charged while the coupling shaft 203 is coupled to the fitting groove 202. By forming in such a structure the present invention can provide a rigid wheel assembly.

By the configuration of the connecting shaft 203 according to an embodiment of the present invention, a space having a predetermined width may be formed around a tread in which the driving wheel 200 contacts the ground. More specifically, the connecting shaft 203 is placed between the inner driving wheel 200a and the outer driving wheel 200b, and the inner driving wheel 200a and the outer driving wheel 200b are connected via the connecting shaft 203. Is connected to have a dual wheel structure of approximately 'H' shape, wherein the 'space' refers to a groove having a constant width formed by the outer circumference of the connecting shaft 203 and the interface between the driving wheel 200. . In this 'space' drive wheel 200 and the driven wheels 210 by interlocking the drive wheels 200 to rotate the driven wheels 210 by the rotation of the drive wheels 200 can be inserted and arranged do. Therefore, the connecting shaft 203 of the present invention may be engaged with the interlocking belt 300 and operate like a pulley.

In addition, the outer periphery of the connecting shaft 203 of the drive wheel 200 of the present invention is engaged with the interlocking belt 300 while the interlocking belt 300 is rotated by the rotation of the drive wheel 200 is uneven (203a) This can be formed. By providing the concave-convex (203a) engaging with the inner direction of the interlocking belt 300, the driving force of the motor can be effectively transmitted from the driving wheel 200 to the driven wheel (300).

On the other hand, the coupling method of the inner drive wheel (200a) and the outer drive wheel (200b) as described above may be configured by changing the components of the inner drive wheel (200a) and the outer drive wheel (200b), but not shown, Even when the inner driving wheel (200a) and the outer driving wheel (200b) of the combination is not hindered at all. In more detail, the connecting shaft 203 may be formed on the inner driving wheel 200a and the mount 201 may be formed on the outer driving wheel 200b.

The driven wheel 210 is installed at the rear of the robot body 100 when the driving wheel 200 is installed in front of the robot body 100, and when the driving wheel 200 is installed at the rear of the robot body 100. The driven wheel 210 is installed in front of the robot body 100. That is, the driving wheel 200 is located on both sides of the robot body 100 on the other side and the installation position is installed so as to face the driving wheel 200. Here, the driven wheels 210 of both sides may be connected to the wheel driving shaft 130.

In addition, the driven wheel 210 may be formed by coupling the inner driven wheel 201a and the outer driven wheel 210b with each other inside and outside. At this time, the inner driven wheel (210a) and the outer driven wheel (210b) may be connected at intervals (or spaces) in which the interlocking belt 300 can be inserted.

As shown in Figure 2 and 7, the center of the inner driven wheel (210a) is mounted to the mounting wheel 211 is connected to the wheel drive shaft 130, the mounting table 211 is the inner driven wheel (210a) The fitting groove 212 may be formed to be mounted therebetween.

In addition, a fastening groove 211a to which the fastening member 220 is fastened may be formed at an outer portion of the mount 211 so that the inner driven wheel 210a and the outer driven wheel 210b are coupled to each other.

The outer driven wheel (210b) is connected to the inner driven wheel (210a) is inserted into the fitting groove 212 on the side is configured with a connecting shaft (213). Here, the 'side' of the outer driven wheel 210b may mean a surface facing the inner driven wheel 210a. At this time, the coupling portion 213b may be formed on the inner surface of the coupling shaft 213 so that the mounting shaft 211 may be charged while the coupling shaft 213 is coupled to the fitting groove 212. By forming in such a structure the present invention can provide a rigid wheel assembly.

By the configuration of the connecting shaft 213 of the driven wheel 210 according to an embodiment of the present invention, a space having a constant width may be formed around a tread in which the driven wheel 210 contacts the ground. . In more detail, when the inner driven wheel 210a and the outer driven wheel 210b are connected by the connecting shaft 213, it will have a double wheel structure having an approximately 'H' shape. Means a groove having a constant width formed by the outer periphery of (203) and the interface between the driven wheel 210.

On the other hand, the outer periphery of the connecting shaft 213 of the driven wheel 210 is engaged with the interlocking belt 300 is engaged with the irregularities 213a to be rotated by the rotation of the interlocking belt 300 is formed (213a) Can be.

On the other hand, the coupling method of the inner driven wheel (210a) and the outer driven wheel (210b) as described above can be configured by changing the components of the inner driven wheel (210a) and the outer driven wheel (210b), respectively, Edo not interfere with the coupling of the inner driven wheel (210a) and the outer driven wheel (210b) at all.

For reference, the driving wheel 200 and the driven wheel 210 of the present invention can be easily moved without slipping the robot by forming a projection on the tread (surface) portion to the ground.

4 and 8 together, the interlocking belt 300 according to an embodiment of the present invention will be described in more detail.

The interlocking belt 300 of the present invention not only serves to transfer the power generated from the motor from the driving wheel 200 to the driven wheel 210, but also serves as a caterpillar in some cases. For example, when the robot encounters the obstacle 500 while driving, while transmitting the rotational force of the driving wheel 200 to the driven wheel 210 by the interlocking belt 300, between the driving wheel 200 and the driven wheel 210. Even if the obstacle 500 is located in the obstacle 500 can continue to move over.

However, when the driving wheel 200 and the driven wheel 210 are in contact with the ground, the bottom portion of the interlocking belt 300 is formed to have a predetermined height from the ground, so that the robot is not caught by the obstacle 500 while driving. If not, the interlocking belt 300 does not touch the ground, and only the driving wheel 200 and the driven wheel 210 are in contact with the ground. Therefore, the interlocking belt 300 at this time performs only a role of transmitting power of the driving wheel to the driven wheel.

Here, the “bottom portion” of the interlocking belt 300 is defined by the connecting

shafts

203 and 213 and the roller 400 as shown in FIGS. 4 and 5, and a curved portion formed by the track of the interlocking belt 300. It may refer to the lowest portion of, and may refer to the portion where the outer unevenness (300b) is formed. In addition, the "predetermined height" here is from the ground (or horizontal plane) defined by the radius of the connecting shaft (203, 213), the radius of the drive wheel 200 and driven wheels 210, the position of the roller 400 It is to be noted that the distances are separated and may vary depending on the dimensions of the above-described components.

For example, only the driving wheel 200 and the driven wheel 210 are grounded to the ground, and the interlocking belt 300 does not touch the ground, and as shown in FIG. 4, the short axis length of the track of the interlocking belt 300 is driven to the driving wheel ( 200 and smaller than the radius of the driven wheel 210 may be applicable.

Due to this configuration, the interlocking belt 300 according to an embodiment of the present invention plays a role of a caterpillar only when driving on a bad road, and thus has an advantage of reducing fuel consumption during normal road driving.

Meanwhile, in the interlocking belt 300 of the present invention, the unevenness 300a is formed in the inner (inner) direction of the interlocking belt 300 so as to be engaged with the connecting

shafts

203 and 213 of the driving wheel 200 and the driven wheel 210, respectively. Can be. Specifically, the unevenness 300a in which the interlocking belt 300 is provided inwardly is disposed between the inner and

outer driving wheels

200a and 200b and the inner and outer driven

wheels

210a and 210b of the outer driving wheel 200b. It is connected to the connecting shaft 213 of the connecting shaft 203 and the outer driven wheel (210b) is engaged with the concave-convex (203a, 213a) formed on the connecting shaft (203, 213).

Here, the unevenness (300a, 300b) formed in the interlocking belt 300 is preferably formed inward, outward so that the drive wheel 200 and the driven wheel 210 can be connected to the front and rear without distinction. As such, when the unevenness 300b of the outward direction is provided, the climbing belt 300 is easily climbed when passing through the obstacle 500 on the ground or the road surface, so that the robot does not stop even when the robot is caught by the obstacle 500 during the autonomous movement. You can quickly escape without

When the interlocking belt 300 having the unevenness 300b of the outward direction is used, the interlocking belt 300 replaces or supplements the role of the driving wheel 200 or the driven wheel 210 in an unexpected situation in which the robot is caught by an obstacle. Done. However, since the diameter of the connecting

shafts

203 and 213 to which the interlocking belt 300 is fastened is smaller than the outer diameter of the wheel contacting the ground, the interlocking belt is only the driving wheel 200 and the driven wheel 210 during normal driving of the robot. It is grounded with the ground and can secure superior maneuverability compared to general track robot.

On the other hand, the interlocking belt 300 may be made of a high elastic synthetic resin to smoothly rotate the driven wheel 210 when the driving wheel 200 is rotated.

In addition, the interlocking belt 300 may be formed of any one of a flat belt, a timing belt, a V-belt, and an O-ring type belt. By using a timing belt, a V-belt, and an O-ring type belt, the interlocking belt 300 may be more firmly engaged with the connecting

shafts

203 and 213.

In addition, the interlocking belt 300 may be connected to the outside of the inner driving wheel (200a) and the inner driven wheel (210a) having a large diameter, as shown in Figure 9 (a), this time the outer driving wheel ( 200b) and the outer driven wheel 210b can be replaced by a simple wheel member. In a similar manner, the interlocking belt 300 may be connected to the inner side of the outer driving wheel 200b and the outer driven wheel 210b having a large diameter as shown in FIG. 9 (b), wherein the inner driving wheel ( 200a) and the inner driven wheel 210a may be replaced by a simple wheel member.

Next, the roller 400 of this invention is demonstrated in detail.

The roller 400 according to an embodiment of the present invention may be engaged with the interlocking belt 300 while being installed at the side of the robot body 100. That is, at least one roller 400 that is engaged with the interlocking belt 300 and rotates by the rotation of the interlocking belt 300 may be installed on the side of the robot body 100.

That is, referring back to FIG. 8, the roller 400 may move the interlocking belt 300 even when the robot is caught because the obstacle 500 on the bottom is positioned between the driving wheel 200 and the driven wheel 210 when the robot moves. It can be smoothly rotated to pass through the obstacle 500 and the driving wheel 200 and the driven wheel 210 can be rotated without being caught by the obstacle 500 to move the robot.

Accordingly, an outer circumference of the roller 400 may be engaged with the unevenness 300a of the interlocking belt 300 so that the unevenness 400a may be formed to rotate the roller 400 by the rotation of the interlocking belt 300.

As described above, at least one roller 400 may be installed at the side surface of the robot body 100 when engaged with the interlocking belt 300, and the robot 400 may be smoothly in preparation for the obstacle 500. It is preferable that a plurality of rollers 400 are provided for movement.

On the other hand, according to an embodiment of the present invention, it may further include a spring (S) to control the tension of the interlocking belt.

The spring S for controlling the tension can be mounted in various ways. For example, the spring S may be connected to the axis of the driving wheel 200 or the axis of the driven wheel 210 as shown in FIG. 10 and to the roller 400 as shown in FIG. If the purpose of the spring (S) according to the present invention can be met, it should be noted that the positional relationship between the roller 400 and the spring (S) is not limited to the embodiment of the present invention.

Looking at the operating state according to the present invention made of a configuration as described above are as follows.

The wheel driving shaft 130 is rotated by the driving of the motor 110, and the driving wheel 200 is rotated according to the rotation of the wheel driving shaft 130.

When the driving wheel 200 is rotated, the driven wheel 210 is also rotated according to the rotation of the driving wheel 200 by the interlocking belt 300 connected to the driving wheel 200 and the driven wheel 210. do.

At this time, the connecting shaft of the connecting shaft 203 and the outer driven wheel 210b of the outer driving wheel 200b across the inner and

outer driving wheels

200a and 200b and the inner and outer driven

wheels

210a and 210b. The interlocking belt 300 is connected to the 213, and the unevenness 300a formed on the interlocking belt 300 and the

unevenness

203a and 213a formed on the connecting

shafts

203 and 213 are engaged with each other. The interlocking belt 300 is rotated along with the rotation, and the driven wheel 210 is rotated by the rotation of the interlocking belt 300.

As described above, the driving wheel 200 is rotated by the driving of the motor 110, but the driven wheel 210 is connected to the driving wheel 200 and the interlocking belt 300, so that the driving wheel is not driven of the motor 110. Only by the rotation of the 200 can be rotated.

Accordingly, the robot according to the present invention is capable of being driven by four wheels in which the driving wheel 200 as well as the driven wheel 210 can be rotated together using the motor 110 installed in the driving wheel 200. It is possible to increase the operating efficiency of.

In addition, the interlocking belt 300 for interlocking the driving wheel 200 and the driven wheel 210 is in a space formed between the inner and

outer driving wheels

200a and 200b and the inner and outer driven

wheels

210a and 210b. Inserted and disposed to be connected to each connecting shaft (203, 213) smoothly without falling from the drive wheel 200 and the driven wheel 210 when the interlocking belt 300 is rotated by the rotation of the drive wheel 200 To rotate.

When the interlocking belt 300 is connected to the driving wheel 200 and the driven wheel 210, the unevenness 300a formed on the interlocking belt 300 and the unevenness 203a formed on each of the connecting

shafts

203 and 213 are provided. 213a is engaged with each other so that the interlocking belt 300 can stably rotate the driven wheel 210 without malfunction.

In addition, the present invention is the drive wheel 200 is rotated and the driven belt (210) is rotated while the driven wheel (210) is rotated when the robot is driven between the drive wheel 200 and the driven wheel (210) Even when the obstacle 500 is positioned, the roller 400 is in close contact with the interlocking belt 300 so that the interlocking belt 300 is not stopped by the roller 400 and continues with the rotation of the driving wheel 200. By rotating the driven wheel 210 can be rotated so that the robot can easily move over the obstacle 500 on the floor.

On the other hand, the concave-convex (300a) is formed on the inner (inside surface) and / or the outer (outer side) of the interlocking belt 300, the concave-convex (300a) inside the interlocking belt 300 is the outer drive wheel (200b) And the interlocking belt 300 can be rotated by engaging the concave-

convex portions

203a and 213a of the respective connecting

shafts

203 and 213 installed on the inner driven wheel 210b. When the interlocking belt 300 is in contact with the obstacle 500, the interlocking belt 300 does not slip on the obstacle 500 so that the interlocking belt 300 can be smoothly rotated by acting as a caterpillar.

Accordingly, the present invention connects the drive wheel 200 and the driven wheel 210 to the interlocking belt 300 to interlock the drive wheel 200 and the driven wheel 210 and drives the motor 110 while being driven. When the wheel 200 is rotated, the interlocking belt 300 is rotated and the driven wheel 210 is rotated by the rotation of the interlocking belt 300, thereby driving the wheel using the motor 110 installed in the driving wheel 200. As well as 200, the driven wheel 210 can be rotated at the same time, so that the four-wheel drive of the robot is enabled by the interlocking belt 300 for interlocking the driving wheel 200 and the driven wheel 210. In addition, even if the idle phenomenon occurs in one wheel due to the reduction of friction with the ground has the advantage that can solve the problem by driving the other wheel normally.

In addition, a plurality of rollers 400 are installed in engagement with the interlocking belt 300 inside the interlocking belt 300 interlocking the driving wheel 200 and the driven wheel 210, thereby driving the driving wheel 200 and the driven wheel 210. Even if the robot body 100 is caught due to the obstacle 500 on the bottom surface, the roller 400 to smoothly rotate the interlocking belt 300 so that the driving wheel 200 and the driven wheel 210 ) Can easily pass over the obstacle 500, the robot can continue to operate without stopping, thereby overloading the motor 110.

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

In the robot drive system,

At least one motor installed in the robot body;

A driving wheel which is disposed on either side of the front or rear side of the robot body and rotates by driving of the motor, and has a space having a constant width around a tread contacting the ground;

A driven wheel disposed on the other side of the robot body and having a space having a constant width around a tread in contact with the ground; And

Robot drive with a caterpillar interlocking belt including a; interlocking belt inserted and disposed in the space having a predetermined width and interlocking the driving wheel and the driven wheel to rotate the driven wheel by the rotation of the driving wheel; system.
The method of claim 1,

The driving wheel,

Inner and outer driving wheels are connected to the inside and outside,

The inner driving wheel has a fitting groove formed between the inner driving wheels in the center thereof, and a mounting groove connected to the wheel driving shaft is mounted, and a fastening groove in which the fastening member is fastened so that the inner driving wheel and the outer driving wheel are connected to the outside of the mounting shaft. Is formed,

The outer drive wheel is configured as a connecting shaft so that the outer drive wheel is connected to the inner drive wheel while being charged into the fitting groove on the side, the coupling portion is formed so that the mounting rod is charged as the connecting shaft is coupled to the inner groove of the connecting shaft. And a periphery belt for caterpillar combined use, characterized in that irregularities are formed such that the interlocking belt is rotated by the rotation of the driving wheel while the interlocking belt is engaged with the outer periphery of the connecting shaft.
The method of claim 1,

The driven wheel,

Inner and outer driven wheels are connected to the inner and outer,

The inner driven wheel has a mounting groove formed between the inner driven wheels in the center thereof and is equipped with a mounting rod connected to the wheel driving shaft, and a fastening groove in which the fastening member is fastened so that the inner driven wheel and the outer driven wheel are connected to the outer inside of the mounting wheel. Is formed,

The outer driven wheel is configured as a connecting shaft so that the outer driven wheel is connected to the inner driven wheel while being inserted into the fitting groove on the side, the coupling portion is formed so that the mounting shaft is charged as the connecting shaft is coupled to the inner groove of the connecting shaft. And a periphery belt for caterpillar combined use, characterized in that irregularities are formed so that the interlocking belt is rotated by the rotation of the driving wheel while the interlocking belt is engaged with the outer periphery of the connecting shaft.
The method of claim 1,

The interlocking belt is connected across the driving wheel and the driven wheel, and engaged with the irregularities formed on the connecting shafts of the driving wheel and the driven wheel to rotate in accordance with the rotation of the driving wheel, so that the uneven inward direction can be rotated. Robot drive system with a caterpillar combined interlock belt, characterized in that formed.
The method of claim 1,

Robot drive system equipped with a caterpillar interlocking belt, characterized in that the irregularities are formed in the outward direction of the interlocking belt so that the interlocking belt can climb an obstacle rising irregularly from the ground.
The method according to claim 4 or 5,

The interlocking belt is a robot drive system provided with a caterpillar interlocking belt, characterized in that formed of any one of a flat belt, a timing belt, a V-belt, O-ring belt.
The method of claim 1,

The interlocking belt is a robot drive system equipped with a caterpillar interlocking belt, characterized in that the high-elasticity synthetic resin made to smoothly rotate the driven wheels when the drive wheel is rotated.
The method of claim 1,

Side of the robot main body is provided with at least one roller interlocked with the interlocking belt to rotate in rotation of the interlocking belt is equipped with a caterpillar interlocking belt, characterized in that the robot drive system.
The method of claim 1,

Robot drive system with a caterpillar interlocking belt, characterized in that it further comprises a spring to control the tension of the interlocking belt.
The method of claim 8,

The outer periphery of the roller is a robot drive system equipped with a caterpillar interlocking belt, characterized in that the concave-convex is formed so that the roller is rotated by the rotation of the interlocking belt in engagement with the irregularities of the interlocking belt.
In the robot drive system,

A motor mounted on the robot body;

A driving wheel disposed on either side of the front or rear side of the robot body to rotate by driving of the motor;

A driven wheel disposed on the other side of the robot body; And

And an interlocking belt that transmits the rotational force of the driving wheel to the driven wheel and is provided so that the robot can continue to move beyond the obstacle even when the robot is caught by an obstacle located between the driving wheel and the driven wheel.

The interlocking belt is inserted and disposed in a space having a predetermined width around the tread of the driving wheel and the driven wheel, and the unevenness is formed in the outward direction of the interlocking belt so as to climb an obstacle on the ground. Robot drive system with interlocking belt for caterpillar.
The method of claim 11,

The interlocking belt is to form a space having the predetermined width, the caterpillar combined, characterized in that the irregularities are formed in the inner direction of the interlocking belt to engage with the connecting shaft is formed extending from the rotation axis of each of the driving wheel and driven wheels Robot drive system equipped with an interlocking belt.
The method of claim 11,

In the state in which the driving wheel and the driven wheel are in contact with the ground, the bottom portion of the interlocking belt is formed to have a predetermined height from the ground. When the driving wheel and the driven wheel are not caught by an obstacle, the interlocking belt does not touch the ground to drive the power of the driving wheel. Robot drive system equipped with a caterpillar interlocking belt, characterized in that only serves to transfer to the wheel.