WO2021015431A1

WO2021015431A1 - Joint drive control module for robot

Info

Publication number: WO2021015431A1
Application number: PCT/KR2020/008197
Authority: WO
Inventors: 양우성; 천세영; 노재호; 이재용; 이랑진
Original assignee: 주식회사 이지원인터넷서비스
Priority date: 2019-07-24
Filing date: 2020-06-23
Publication date: 2021-01-28
Also published as: KR102196484B1

Abstract

Introduced is a joint drive control module for a robot, according to the present invention, comprising: a first motor, a second motor, a third motor, and a fourth motor sequentially stacked in the height direction; a first link, a second link, a third link, and a fourth link each having one end connected to a rotor of each motor; a front connection part to which the other ends of the second link and the third link are connected, and a front rod having one end connected to the front connection part; a rear connection part to which the other ends of the first link and the fourth link are connected, and a rear rod having one end connected to the rear connection part and the other end connected to the front rod; and a controller for independently driving the first to fourth motors so as to move the front rod and rear rod, thereby generating a pitch motion, a yaw motion, or a roll motion of a robot joint.

Description

Robot joint drive control module

The present invention creates a joint pitch, yaw, and roll motion, while at the same time ensuring that the rotation center of the motion is located at the center of the joint, thereby realizing natural motion, and increasing the driving torque by overlapping a plurality of motors. It relates to a joint drive control module of.

Robots such as humanoids have joints, have motors in the joints, and generate pitch, yaw, and roll motions of joints by driving the motors.

However, in the case of an actual human joint, the rotation center of the joint is inside the joint, but in the case of a humanoid, a plurality of motors are intervened to create a complex motion, and the process of matching the rotation centers of the plurality of motors to the center of the joint Uneasy. In addition, even if the center of the joint is aligned, there is a problem that the layout is huge and it is difficult to apply it.

On the other hand, in general, when implementing a joint of a robot, only one motor is used for each of the pitch, yaw, and roll motion.There is a problem that the torque to be implemented is insufficient due to the problem of the motor capacity, thereby increasing the weight. There was a problem that it was difficult to implement the robot.

The matters described as the background art are only for enhancing an understanding of the background of the present invention, and should not be taken as acknowledging that they correspond to the prior art already known to those of ordinary skill in the art.

The prior art for this is JP 2018-126854 A.

The present invention has been proposed to solve this problem, and it is possible to implement a natural motion by generating a joint pitch, yaw, and roll motion while simultaneously placing the rotation center of the motion at the center of the joint, and overlapping a plurality of motors. By doing so, it is intended to provide a joint drive control module of a robot that can increase the drive torque.

The joint drive control module of the robot according to the present invention for achieving the above object includes: a first motor, a second motor, a third motor, and a fourth motor sequentially stacked in a height direction; A first link, a second link, a third link, and a fourth link having one end connected to the rotor of each motor; A front connecting portion configured by connecting the other ends of the second link and the third link, and a front rod having one end connected to the front connecting portion; A rear rod having one end connected to a rear connection unit and a rear connection unit configured by connecting the other ends of the first link and the fourth link and the other end connected to the front rod; And a control unit that independently drives the first to fourth motors to move the front rod and the rear rod to generate a pitch motion, yaw motion, or roll motion of the robot joint.

The first motor, the second motor, the third motor, and the fourth motor may be sequentially stacked so that the second motor and the third motor may be disposed between the first motor and the fourth motor.

The second link and the third link may form a "V" shape by gathering and interconnecting the other ends with one end connected to the second motor and the third motor, respectively.

The first link and the fourth link may form a “V” shape by gathering and connecting the other ends with one end connected to the first motor and the fourth motor, respectively.

The controller may generate a roll motion of the robot joint by rotating the rotors of the first motor and the second motor in one direction and rotating the rotors of the third and fourth motors in the other direction.

The controller may generate a yaw motion of the robot joint by rotating the rotors of the first motor and the third motor in one direction and rotating the rotors of the second and fourth motors in the other direction.

The controller may generate a pitch motion of the robot joint by rotating the rotors of the first motor and the fourth motor in one direction and rotating the rotors of the second and third motors in the other direction.

The front rod is composed of a front upper rod and a front lower rod connected by a rotating shaft, and the front connection portion is connected to one end of the front upper rod, and the other end of the rear rod may be connected to the front lower rod.

The controller may generate a pitch motion of the front upper rod by driving the rotors of the second and third motors.

The control unit may generate pitch motion of the rear rod and the front lower rod by driving the rotors of the first and fourth motors.

According to the joint drive control module of the robot of the present invention, it is possible to realize a natural motion by generating the pitch, yaw, and roll motion of the joint while simultaneously placing the rotation center of the motion at the center of the joint, and by overlapping a plurality of motors. Drive torque can be increased.

1 to 2 are views showing a motor and a control unit of a joint drive control module of a robot according to an embodiment of the present invention.

3 to 6 are views for explaining the pitch motion of the joint drive control module of the robot according to an embodiment of the present invention.

7 to 8 are views for explaining the roll motion of the joint drive control module of the robot according to an embodiment of the present invention.

9 to 10 are views for explaining the yaw motion of the joint drive control module of the robot according to an embodiment of the present invention.

1 to 2 are views showing a motor and a control unit of a joint drive control module of a robot according to an embodiment of the present invention, and Figs. 3 to 6 are a pitch motion of the joint drive control module of a robot according to an embodiment of the present invention. 7 to 8 are views for explaining the roll motion of the joint drive control module of the robot according to an embodiment of the present invention, and Figures 9 to 10 are the joint of the robot according to an embodiment of the present invention It is a figure explaining the yaw motion of a drive control module.

The joint drive control module of the robot according to the present invention includes: a first motor 100, a second motor 200, a third motor 300 and a fourth motor 400 stacked in a height direction; A first link 160, a second link 260, a third link 360, and a fourth link 460 having one end connected to the

rotors

120, 220, 320, and 420 of each motor; A front connecting portion 520 configured by connecting the other ends of the second link 260 and the third link 360 and

front rods

522 and 524 having one end connected to the front connecting portion 520; One end is connected to the rear connection unit 620 and the rear connection unit 620 configured by connecting the other ends of the first link 160 and the fourth link 460, and the other end is connected to the

front rods

522 and 524, the rear rod 622 ; And by independently driving the first motor 100 to the fourth motor 400, the

front rods

522 and 524 and the rear rod 622 are moved to move the robot joint's pitch motion or yaw motion or roll ( roll) a control unit that generates motion.

1, the first motor 100, the second motor 200, the third motor 300, and the fourth motor 400 are sequentially stacked so that the second motor 200 and the third motor 300 May be disposed between the first motor 100 and the fourth motor 400.

In addition, the second link 260 and the third link 360 are arranged to be spaced apart from the second motor 200 and the third motor 300 and have a shape surrounding the second motor 200 and the third motor 300. It can be bent to form a spherical joint. In addition, the second link 260 and the third link 360 may form a "V" shape by gathering and interconnecting the other ends with one end connected to the second motor 200 and the third motor 300, respectively. .

Meanwhile, the first link 160 and the fourth link 460 are arranged to be spaced apart from the first motor 100 and the fourth motor 400 and surround the first motor 100 and the fourth motor 400 It can be bent to form a spherical joint. In addition, the first link 160 and the fourth link 460 may form a “V” shape by gathering and interconnecting the other ends with one end connected to the first motor 100 and the fourth motor 400, respectively. .

In addition, the first to fourth motors 100 to 400 may be positioned on a straight line L having the same rotation axis. In addition, the first motor 100, the second motor 200, the third motor 300, and the fourth motor 400 are sequentially stacked so that the second motor 200 and the third motor 300 are Arranged between the motor 100 and the fourth motor 400, the center point of the straight line L connecting the rotation center of the second motor 200 and the third motor 300 is the joint center LC. Configurable. And one end of the first link 160 to the fourth link 460 is through the first bearing 140 to the fourth bearing 440, respectively, the

rotors

120, 220, 320, 420 of the first motor 100 to the fourth motor 400. ), and the rotation centers of the first bearings 140 to the fourth bearings 440 may all be arranged to face the joint center LC. In addition, the other ends of the second link 260 and the third link 360 are connected to the front bearing 521 of the front connection unit 520, and the rotation center of the front bearing 521 may face the joint center LC. have. In addition, the other ends of the first link 160 and the fourth link 460 are connected to the rear bearing 621 of the rear connection part 620, and the rotation center of the rear bearing 621 can face the joint center LC. have.

That is, the first motor 100 to the fourth motor 400 are located on a straight line L having the same rotation axis, and the center of the straight line L forms the center of the entire joint. And the rotation center of the first bearing 140 to the fourth bearing 440 is designed to face the joint center LC, and at the same time, the rotation center of the front bearing 521 and the rotation center of the rear bearing 621 are also joint It is to face the center (LC). Through this structure, the first link 160 to the fourth link 460 have a shape surrounding the joint center LC, so that the rotation center of the motion coincides with the joint center when the pitch, yaw, and roll motion of the joint are moved. Is to do. This makes it possible to implement natural joint movement, increase the degree of freedom of the joint, and make the joint layout very compact.

For reference, in the case of Fig. 2, the cross section of the first motor 100 and the second motor 200 is shown. In the case of a motor, the rotating part 102 rotates based on the fixed part 101, and the rotating part 102 ) Transmits the driving force to the rotor 120 through the reducer 103 (harmonic drive).

On the other hand, between the second motor 200 and the third motor 300, an idling (D1) for implementing idling is disposed, and the front connector 520 extends toward the idling (D1) side and is connected to the idling (D1) It can be supported by the idling (D1). In addition, the rear connection part 620 may extend toward the idling D2 and be connected to the idling D2 to be supported by the idling D2. And the idling (D1, D2) is composed of a pair of relative rotation, each connected to the front connection 520 and the rear connection 620, and the front connection 520 and the rear connection 620 can freely rotate relative to each other Do it. Through this structure, even when the load of the robot is applied to the first link 160 to the fourth link 460, the link is supported through a motor, so that the load is stably supported and the durability of the joint is increased.

In addition, since the movement of the

front rods

522 and 524 and the rear rod 622 is implemented by simultaneous driving of the first motor 100 to the fourth motor 400, all four motors are driven when the joint is implemented. I need this. Through this, it is possible to increase the torque of joint drive. That is, even when the joint is driven to any one side, motion is realized by the summation of the torques of the four motors, so that the size of the joint and the motor size are reduced, while sufficient joint torque can be obtained.

Specifically, the control unit enables the necessary motion to be implemented by driving each motor as shown in the table below.

The symbols in the table above indicate the driving direction of the motor. 3 to 6 are diagrams illustrating pitch motion of a joint drive control module of a robot according to an embodiment of the present invention. In the case of pitch motion, the driving directions of the second motor 200 and the third motor 300 moving the

front rods

522 and 524 are the same as one side, and the first motor 100 and the first motor moving the rear rod 622 4 When the driving direction of the motor 400 is the same as the other direction, the

front rods

522 and 524 and the rear rods 622 may be gathered together to form a state as shown in FIG. 3.

In this state, it is possible to switch the driving directions of the first motor 100 and the fourth motor 400 so that only the rear rod 622 moves as shown in FIG. 4, or the second motor 200 and the third motor It is possible to change the driving direction of 300 so that only the

front rods

522 and 524 move as shown in FIG. 5, and by driving all of the first motors 100 to the fourth motors 400, the combined motion as shown in FIG. It is also possible to make it happen. That is, the controller rotates the rotors of the first motor 100 and the fourth motor 400 in one direction, and rotates the rotors of the second motor 200 and the third motor 300 in the other direction. Pitch motion can be created.

Specifically, the

front rods

522 and 524 are composed of a front upper rod 522 and a front lower rod 524 connected by a rotating shaft, and the front connecting portion 520 is connected to one end of the front upper rod 522, and the rear rod ( The other end of 622 may be connected to the front lower rod 524.

The control unit rotates the rotors of the first motor 100 and the fourth motor 400 in one direction, and rotates the rotors of the second motor 200 and the third motor 300 in the other direction, thereby causing the pitch motion of the robot joint. Can be created. Further, the control unit may generate a pitch motion of the front upper rod 522 by driving the rotors of the second motor 200 and the third motor 300. Further, the controller may generate a pitch motion of the rear rod 622 and the front lower rod 524 by driving the rotors of the first motor 100 and the fourth motor 400.

7 to 8 are views for explaining the roll motion of the joint driving control module of the robot according to an embodiment of the present invention, and the rotors of the first motor 100 and the second motor 200 are rotated in one direction. And, by rotating the rotors of the third motor 300 and the fourth motor 400 in the other direction, the roll motion of the robot joint may be generated. That is, when the second motor 200 and the third motor 300 are driven in different directions, the

front rods

522 and 524 are inclined, and the rear rod 622 is also the first motor 100 and the fourth motor ( If 400) is driven in different directions, it will be inclined. And accordingly, the

front rods

522 and 524 and the rear rods 622 are inclined in the same direction, thereby generating a roll motion of the joint.

And Figures 9 to 10 are views for explaining the yaw motion of the joint drive control module of the robot according to an embodiment of the present invention, the control unit is the rotor of the first motor 100 and the third motor 300 in one direction. By rotating and rotating the rotors of the second motor 200 and the fourth motor 400 in the other direction, the yaw motion of the robot joint may be generated. In this case, unlike the implementation of the roll motion, the

front rods

522 and 524 and the rear rod 622 are tilted in different directions so that the joint is twisted as a whole.

Although illustrated and described in connection with specific embodiments of the present invention, it is understood in the art that the present invention can be variously improved and changed within the scope of the technical spirit of the present invention provided by the following claims. It will be obvious to those of ordinary skill.

[Explanation of code]

100: first motor 200: second motor

300: third motor 400: fourth motor

522: front upper rod 524: front lower rod

622: rear rod

Claims

A first motor, a second motor, a third motor, and a fourth motor sequentially stacked in the height direction;

A first link, a second link, a third link, and a fourth link having one end connected to the rotor of each motor;

A front connecting portion configured by connecting the other ends of the second link and the third link, and a front rod having one end connected to the front connecting portion;

A rear rod having one end connected to a rear connection unit and a rear connection unit configured by connecting the other ends of the first link and the fourth link and the other end connected to the front rod; And

A control unit that independently drives the first to fourth motors to move the front rod and the rear rod to generate pitch motion, yaw motion, or roll motion of the robot joint; Joint drive control module.
The method according to claim 1,

A joint drive control module for a robot, characterized in that the first motor, the second motor, the third motor and the fourth motor are sequentially stacked so that the second and third motors are disposed between the first and fourth motors. .
The method according to claim 2,

The second link and the third link have one end connected to the second motor and the third motor, respectively, and the other ends are gathered and interconnected to form a "V" shape.
The method according to claim 2,

A joint drive control module of a robot, characterized in that one end of the first link and the fourth link is connected to the first motor and the fourth motor, and the other ends are connected to each other to form a "V" shape.
The method according to claim 1,

The control unit rotates the rotors of the first and second motors in one direction, and rotates the rotors of the third and fourth motors in the other direction, thereby generating a roll motion of the robot joint. module.
The method according to claim 1,

The control unit rotates the rotors of the first and third motors in one direction, and rotates the rotors of the second and fourth motors in the other direction, thereby generating yaw motion of the robot joint. module.
The method according to claim 1,

The control unit rotates the rotors of the first and fourth motors in one direction, and rotates the rotors of the second and third motors in the other direction, thereby generating a pitch motion of the robot joint. module.
The method according to claim 1,

The front rod is composed of a front upper rod and a front lower rod connected by a rotating shaft, the front connection part is connected to one end of the front upper rod, and the other end of the rear rod is connected to the front lower rod.
The method of claim 8,

The control unit rotates the rotors of the first and fourth motors in one direction, and rotates the rotors of the second and third motors in the other direction, thereby generating a pitch motion of the robot joint. module.
The method of claim 9,

The control unit generates a pitch motion of the front upper rod by driving the rotors of the second motor and the third motor.
The method of claim 9,

The control unit generates a pitch motion of the rear rod and the front lower rod by driving the rotors of the first motor and the fourth motor.