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WO2016003238A1 - Système de fonctionnement de robot ayant une courroie de liaison jouant le rôle d'une chenille d'un contact avec un obstacle - Google Patents

Système de fonctionnement de robot ayant une courroie de liaison jouant le rôle d'une chenille d'un contact avec un obstacle Download PDF

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Publication number
WO2016003238A1
WO2016003238A1 PCT/KR2015/006881 KR2015006881W WO2016003238A1 WO 2016003238 A1 WO2016003238 A1 WO 2016003238A1 KR 2015006881 W KR2015006881 W KR 2015006881W WO 2016003238 A1 WO2016003238 A1 WO 2016003238A1
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WO
WIPO (PCT)
Prior art keywords
wheel
interlocking belt
belt
driving wheel
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2015/006881
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English (en)
Korean (ko)
Inventor
최훈
오상진
김미로
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
COREBELL SYSTEMS Inc
Original Assignee
COREBELL SYSTEMS Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by COREBELL SYSTEMS Inc filed Critical COREBELL SYSTEMS Inc
Publication of WO2016003238A1 publication Critical patent/WO2016003238A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles

Definitions

  • 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.
  • 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.
  • 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.
  • the rotating shaft is composed of a double shaft
  • the two wheels are connected to each of the rotating shaft by each bevel gear
  • the rotating shaft composed of the dual shaft by one wheel drive shaft to rotate in the opposite direction to each other.
  • 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.
  • 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.
  • the battery consumption increases because the robot weight increases significantly.
  • 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.
  • 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.
  • the mobile robot 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • One or more rollers may be configured.
  • According to one embodiment may further include a spring to control the tension of the interlocking belt.
  • 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.
  • 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.
  • a robot drive system equipped with an interlocking belt for caterpillar combined use.
  • 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.
  • the bottom portion of the interlocking belt 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.
  • 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.
  • 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.
  • 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.
  • FIG. 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.
  • FIG. 4 is an exemplary side view of a robot according to the present invention.
  • FIG. 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.
  • 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.
  • FIG. 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 can be automatically driven without the help of a person can be used primarily for home use.
  • it can be widely used in various industrial sites and service sites, such as warehouses and manufacturing plants.
  • 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.
  • AGV Automated Guided Vehicle
  • Caterpillar of the present invention means that a plurality of steel sheets or elastic plate pieces to be used as a wheel by connecting like a chain.
  • 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.
  • the components included in the present invention will be described in more detail.
  • 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.
  • 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.
  • the motor 110 may be located at either the front or the rear of the robot body.
  • 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.
  • 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.
  • 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.
  • 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.
  • the 'side' of the outer driving wheel 200b may mean a surface facing the inner driving wheel 200a.
  • 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.
  • 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.
  • 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. .
  • the connecting shaft 203 of the present invention may be engaged with the interlocking belt 300 and operate like a pulley.
  • 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.
  • 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).
  • 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.
  • 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.
  • the driven wheels 210 of both sides may be connected to the wheel driving shaft 130.
  • 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.
  • 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.
  • 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).
  • the 'side' of the outer driven wheel 210b may mean a surface facing the inner driven wheel 210a.
  • 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.
  • a space having a constant width may be formed around a tread in which the driven wheel 210 contacts the ground.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the interlocking belt 300 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.
  • 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.
  • 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).
  • 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.
  • 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
  • the interlocking belt 300 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the interlocking belt 300 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.
  • 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.
  • rotating the driven wheel 210 can be rotated so that the robot can easily move over the obstacle 500 on the floor.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

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  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
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Abstract

La présente invention se rapporte à un système de fonctionnement de robot comportant une courroie de liaison jouant le rôle d'une chenille, lors d'un contact avec un obstacle, le système de fonctionnement de robot permettant la rotation d'une roue menée conjointement avec une roue d'entraînement qui tourne au moyen du fonctionnement d'un moteur et permettant, de ce fait, un fonctionnement à quatre roues, et permettant un déplacement aisé qui n'est pas entravé par un obstacle sur le sol. Un système de fonctionnement de robot comportant une courroie de liaison et une chenille, selon un mode de réalisation de la présente invention, comprend : un ou plusieurs moteurs agencés sur un corps de robot ; une roue d'entraînement, agencée sur un côté de l'avant ou de l'arrière du corps de robot, qui tourne par le fonctionnement des moteurs et comporte sur la périphérie d'une bande de roulement qui vient en contact avec le sol, un espace ayant une largeur prédéterminée ; une roue menée, agencée sur l'autre côté du corps de robot, qui comporte sur la périphérie de la bande de roulement qui vient en contact avec le sol, un espace ayant une largeur prédéterminée ; et une courroie de liaison, insérée et placée dans les espaces ayant une largeur prédéterminée, pour relier mutuellement la roue d'entraînement et la roue menée de sorte à faire tourner la roue menée par la rotation de la roue d'entraînement.
PCT/KR2015/006881 2014-07-03 2015-07-03 Système de fonctionnement de robot ayant une courroie de liaison jouant le rôle d'une chenille d'un contact avec un obstacle Ceased WO2016003238A1 (fr)

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KR10-2014-0083123 2014-07-03
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CN109291031A (zh) * 2018-08-15 2019-02-01 北京思迈特科技有限公司 一种电缆沟巡检机器人行走机构及其控制系统
CN110329382A (zh) * 2019-08-08 2019-10-15 北京思迈特科技有限公司 一种改进型电缆沟巡检机器人行走机构
CN112536807A (zh) * 2020-12-03 2021-03-23 广西科技大学 一种移动式康复机器人驱动轮安装装置
CN113116235A (zh) * 2021-04-20 2021-07-16 广州科语机器人有限公司 驱动轮组及自移动机器人
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CN107685782A (zh) * 2017-08-30 2018-02-13 国网福建省电力有限公司 轻型履带式运输车
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CN109291031A (zh) * 2018-08-15 2019-02-01 北京思迈特科技有限公司 一种电缆沟巡检机器人行走机构及其控制系统
CN110329382A (zh) * 2019-08-08 2019-10-15 北京思迈特科技有限公司 一种改进型电缆沟巡检机器人行走机构
CN110329382B (zh) * 2019-08-08 2024-07-23 北京思迈特科技有限公司 一种改进型电缆沟巡检机器人行走机构
CN112536807A (zh) * 2020-12-03 2021-03-23 广西科技大学 一种移动式康复机器人驱动轮安装装置
CN113116235A (zh) * 2021-04-20 2021-07-16 广州科语机器人有限公司 驱动轮组及自移动机器人
CN113133718A (zh) * 2021-04-22 2021-07-20 彭奥 一种物联网用自动避障扫地机器人设备

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