KR101248978B1 - Hybrid mobile robot - Google Patents

Abstract

PURPOSE: A mobile robot with a caterpillar and a driving wheel is provided to enhance energy efficiency by preventing unnecessary use of power when driving. CONSTITUTION: A mobile robot with a caterpillar and a driving wheel comprises a body unit(100), a main wheel support board(200), an auxiliary wheel support board(300), a first driving wheel(410), a driving caterpillar(430), a second driving wheel(420), a first driving motor, a caterpillar assembly motor, a caterpillar driving motor, a second driving motor, and a control unit. The caterpillar assembly motor assembles the driving caterpillar. The control unit controls operation of the first driving motor, the caterpillar assembly motor, the caterpillar driving motor, and the second driving motor.

Description

Mobile Robot with Caterpillar and Driving Wheel {Hybrid Mobile Robot}

The present invention relates to a mobile robot capable of overcoming various terrains and obstacles, and includes a caterpillar and a driving wheel that are individually operated, and are capable of controlling various postures.

The driving mechanism of the mobile robot can be largely divided into wheeled, tracked, and legged.

The wheel type mobile robot has the advantage of excellent driving performance on flat terrain and the simple mechanical structure and control mechanism.However, the wheel type mobile robot with fixed distance between axes cannot pass through various obstacles such as stairs, pools, and steep slopes. The disadvantage is that it is extremely difficult.

In order to overcome these disadvantages, the wheel type mobile robot is equipped with a driving mechanism that can adjust the distance between the wheels, which gives the ability to overcome various obstacles such as stairs, but due to the complicated driving mechanism and mechanical elements. There is a problem that a lot of weight, and have a complicated control system.

In the case of multi-legged mobile robots, it is highly adaptable to various terrains such as climbing stairs. The movement speed is relatively slow, the driving mechanism is very complicated and difficult to control.

Track type mobile robots are easily used as robots that can overcome various obstacles such as stairs because the driving mechanism can be easily configured without considering the distance between wheels. Obstacles that can be overcome depending on the length must be limited, but if the track is made larger than necessary to maximize the ability to overcome the obstacles, the overall weight of the mobile robot increases and excessive power is consumed, which reduces energy efficiency. have.

Therefore, it is necessary to provide climbing and traversing of rugged terrain such as indoor and outdoor stairs, simple structure, simple control, and energy efficient driving mechanism for driving. Three links (1, 2, 3) and rotary joints are driven by three wheels (100, 200, 300) independently driving the left and right sides of the mobile robot body (4) having a symmetrical structure of the type shown in FIG. (31, 32, 33) to connect to the body (4) and connect the body and the first link (1), using a joint mechanism (50) to limit the rotation angle of the first link (1) Section 4 linkage driving system of wheel driving robot is constructed.

Such a six-wheeled robot can pass high obstacles even with small wheels, and can move while minimizing the shaking of the body 4 even in a terrain with large left and right steps, and in-situ rotation and narrow terrain movement are possible. Together, there is an advantage that the energy efficiency when driving compared to the track type, but as shown in Figure 2 it can be seen that there is a limit to overcome all the various types of obstacles commonly encountered in our daily life.

Accordingly, the present inventors have developed a new type of mobile robot having a new driving mechanism that maximizes various types of obstacle overcoming capabilities.

The object of the present invention created to solve the above problems is as follows.

First, it is an object of the present invention to provide a new driving mechanism having a caterpillar and a driving wheel to maximize the obstacle passing ability of the mobile robot.

Secondly, another object of the present invention is to provide a mobile robot capable of loading, firing or deploying a small robot.

Third, another object of the present invention is to provide a mobile robot having a new structure that can increase energy efficiency while driving.

Technical composition of the present invention created to achieve the above object is as follows.

The present invention body portion 100; Main wheel support 200 is rotatably coupled to the left and right sides of the body portion 100; An auxiliary wheel support 300 which is rotatably coupled to one end of each of the main wheel support 200; First driving wheels 410 mounted to the other end of each of the main wheel rests 200; A traveling caterpillar 430 rotatably mounted at one end of each of the auxiliary wheel rests 300; A second driving wheel 420 rotatably mounted at the other end of each of the auxiliary wheel rests 300; A first driving motor 510 mounted at the other end of each of the main wheel rests 200 to drive the first driving wheel 410; A caterpillar rotating motor 540 mounted at one end of each of the auxiliary wheel rests 300 to rotate the traveling caterpillar 430; A caterpillar drive motor 530 mounted inside each of the traveling caterpillar 430 and driving the traveling caterpillar 430; A second driving motor 520 mounted to the other end of each of the auxiliary wheel rests 300 to drive the second driving wheel 420; And a controller mounted on the body part 100 to control operations of the first driving motor 510, the caterpillar driving motor 540, the caterpillar driving motor 530, and the second driving motor 520. It is configured to include, and can maximize the obstacle passing ability of the driving robot by selectively using the driving caterpillar and the driving wheel independently driven according to the terrain.

Technical effects of the configuration of the present invention are as follows.

First, it is possible to maximize the obstacle passing ability of the mobile robot by providing a new driving mechanism that combines a caterpillar and a driving wheel.

In other words, the driving wheel and the caterpillar are mounted on the main wheel support 200 and the auxiliary wheel support 300 capable of active posture control in combination, thereby increasing the obstacle overcoming capacity as compared to the case in which only the general travel wheel is mounted.

In addition, the main wheel rest 200 may not only rotate in the front-rear direction, but also expand in the left-right direction, and thus may pass through various terrains.

Second, it is possible to load, launch or deploy small robots.

In other words, a small mobile robot may be loaded into the inner loading portion 710 and the upper loading portion 810 to be deployed or launched.

Third, it is possible to increase energy efficiency by preventing unnecessary use of power when driving.

In other words, when the caterpillar driving mechanism alone is relatively noisy and the power consumption increases while driving, the caterpillar-type driving wheel method combines the caterpillar and driving wheel methods with the ability to overcome obstacles while simultaneously consuming power. Can be reasonably reduced. In addition, if the angle of the main wheel support () is appropriately changed, it may be possible to drive with only the caterpillar, and even with only the caterpillar and some driving wheels, the operation of the non-grounded driving wheels may be stopped, thereby minimizing unnecessary power usage.

1 shows a structure of a conventional six wheel driving robot.
Figure 2 shows the obstacle overcoming limit of the conventional six-wheel drive robot.
Figure 3 shows (a) side structure, and (b) front structure of the present invention.
4 shows the driving mechanism of the present invention.
5 illustrates a rotational structure of the main wheel rest 200.
6 illustrates a structure in which the main wheel rest 200 is spread from side to side.
7 shows the internal loading portion 710 structure.
8 shows the structure of the upper loading portion 810.
9 illustrates a deployment process of the internal loading portion 710.
10 shows the firing process of the upper stack 810.
11 illustrates a state in which the main wheel rest 200 is greatly extended from side to side.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings.

Fig. 3 shows (a) the side structure and (b) the front structure of the present invention, and Fig. 4 shows the driving mechanism of the present invention.

The body part 100 is supported by a traveling mechanism of the mobile robot, and the body part 100 is provided with an internal loading part 710, an upper loading part 810, a controller 600, and the like.

The main wheel support 200 is rotatably coupled to the left and right sides of the body portion 100, the auxiliary wheel support 300 is rotatably coupled to one end of each of the main wheel support 200, the main wheel support ( 200, the first driving wheel 410 is mounted at the other end of each.

A driving caterpillar 430 is rotatably mounted at one end of each of the auxiliary wheel rests 300 rotatably coupled to one end of the main wheel rest 200, and a second travel is performed at the other end of the auxiliary wheel rest 300. Wheel 420 is mounted.

The first driving motor 510 is mounted at the other end of each of the main wheel support 200 and serves to drive the first driving wheel 410. That is, the first driving wheels 410 may be driven independently of each other. Therefore, the driving direction (driving direction) of the left and right first driving wheels 410 may be different from each other, and the driving speed may be different from each other.

As shown in the cross-sectional view of FIG. 4, the first driving motor 510 may be a structure engaged with the driving shaft of the first driving wheel 410 by a bevel gear, but is not necessarily limited to such a structure, and is generally known. The driving shaft of the first driving motor 510 and the first driving wheel 410 may be engaged by the power transmission mechanism.

The caterpillar rotating motor 540 is mounted at one end of each of the auxiliary wheel rests 300 and serves to rotate the driving caterpillar 430. That is, the traveling caterpillar 430 may be rotated independently of each other to maintain an arbitrary angle.

As shown in the cross-sectional view of FIG. 4, the caterpillar rotating motor 540 is installed to interlock with one side of the traveling caterpillar 430 and is mounted on one side end of the auxiliary wheel support 300 (angle). Randomly adjust to maximize the ability to overcome obstacles. In this case, unlike the cross-sectional view of FIG. 4, a bevel gear system may be applied.

The caterpillar driving motor 530 is mounted inside each of the traveling caterpillar 430 and serves to drive the traveling caterpillar 430. That is, the traveling caterpillar 430 may be driven independently of each other. Therefore, the driving direction (driving direction) of the left and right traveling caterpillar 430 may be different from each other and the traveling speed may be different from each other.

As shown in the cross-sectional view of FIG. 4, the caterpillar drive motor 530 may be a structure that interlocks with a drive wheel of the driving caterpillar 430 by a bevel gear, but is not necessarily limited to such a structure, and generally known power transmission. The driving wheels of the caterpillar driving motor 530 and the driving caterpillar 430 may be engaged by a mechanism.

The second driving motor 520 is mounted at the other end of each of the auxiliary wheel support 300 and serves to drive the second driving wheel 420. That is, the second driving wheels 420 may be driven independently of each other. Therefore, the driving direction (driving direction) of the left and right second driving wheels 420 may be different from each other, and the driving speed may be different from each other.

As shown in the cross-sectional view of FIG. 4, the second driving motor 520 may be a structure engaged with the driving shaft of the second driving wheel 420 by a bevel gear, but is not necessarily limited to such a structure, and is generally known. The driving shaft of the second driving motor 520 and the second driving wheel 420 may be engaged by the power transmission mechanism.

The control unit 600 is mounted to the body portion 100 and the first drive motor 510, the caterpillar drive motor 540, the caterpillar drive motor 530, the second drive motor 520, the main wheel support motor 550 ), The trolley deployment motor 940, the first shape of the alloy lock spring 730 and the second shape of the alloy lock spring 830 to control the operation.

The controller 600 may receive a control signal from an external remote controller to give a necessary control command or may issue a control command by an embedded program.

In addition, although not attached to the accompanying drawings, a battery for supplying power for the operation of the mobile robot may be mounted (see the battery box shown between four upper loading portions 810 of FIG. 10 or 11). It can also be powered from the outside.

5 shows a rotation structure of the main wheel support 200, the main body 100 is equipped with a main wheel support rotation motor 550 for rotating the main wheel support 200.

As shown in FIG. 5, the main wheel support rotation motor 550 rotates the main rotation shaft 910 by being engaged with the main rotation shaft 910, and thus, the main wheel coupled to the end of the main rotation shaft 910. The pedestal 200 rotates to maintain an arbitrary angle (posture).

The main pivot shaft 910 is composed of one axis, the main wheel support 200 provided on the left and right sides of the body portion 100 by the main wheel support pivot motor 550 may rotate at the same time to maintain the same angle, Although not shown in detail as a separate drawing, it is composed of two shafts and does not interfere with each other in the direction of rotation, and the main wheel support pivot motor 550 is connected to only one of two shafts constituting the main pivot shaft 910. It is also possible to control only one angle (posture) of the two main wheel support (200).

As such, if only one of the two main wheel rests 200 is actively controlled, the other is naturally rotated at an arbitrary angle according to the shape of the ground.

In addition, although not shown separately in the accompanying drawings, the main pivot shaft 910 is composed of two axes do not interfere with each other in the direction of rotation and the main wheel support pivot motor 550 is a two constituting the main pivot shaft 910 It is also possible to select the way in which the individual axes are connected, one for each of the four axes.

The main wheel support 200 rotates in the front-rear direction to variously change the posture of the mobile robot to improve the obstacle overcoming ability, and also rotates in the left-right direction as shown in FIG. 6.

The first bogie connecting portion 920 is coupled to each of the left and right end portions of the main pivot shaft 910 which rotates in association with the main wheel support pivot motor 550 to rotate together with the main pivot shaft 910.

The second balance connecting portion 930 is rotatably coupled to each of the first balance connecting portions 920, and the rotation shaft is coupled to be arranged in the front-rear direction so that the second balance connecting portion 930 may be rotated in the left-right direction to be unfolded.

The trolley deployment motor 940 is mounted on each of the first trolley connecting portions 920 to perform a function of rotating the second trolley connecting portion 930.

When the main wheel support 200 is coupled to each of the second balance connecting portions 930, and the second balance connecting portion 930 is rotated upward and rightward by the balance-development motor 940, the main wheel support 200 accordingly. It will also be spread from side to side together.

As such, when the main wheel rest 200 is unfolded from side to side, it is possible to sufficiently secure the grounding force in the ground of the "V" shape, and when the main wheel rest 200 is rotated upward by 90 degrees upward as shown in FIG. You can also pass through canyons close to the vertical without touching the ground.

7 shows the structure of the internal loading portion 710.

The internal loading portion 710 serves to store the load as a loading space provided in the body portion 100. The load may be of various kinds, and a small mobile robot may be loaded if necessary.

Deployment door 720 is rotatably coupled to the front end of the body portion 100, and serves to open and close the front of the inner loading portion (710).

The first shape-retaining alloy spring 730 is coupled to one side of the development door 720 and is rotated while pulling the deployment door 720 while being rotated when a current is supplied to open the deployment door 720. When the current supply is interrupted, the first shape-retaining alloy spring 730 returns to its original size and the development door 720 is closed again.

8 shows the structure of the upper loading portion 810, the upper loading portion 810 is provided on the upper portion of the body portion 100 serves to launch the stored load while rotating momentarily. That is, it functions to launch the load to the outside on the same principle as the catapult.

The firing spring 820 is coupled to the lower side of the upper loading portion 810 serves to provide a momentary rotational force to the upper loading portion 810.

As shown in FIG. 8, the torsion spring 820 may be a torsion spring installed on the rotational shaft of the upper loading part 810, but is not necessarily limited to the torsion spring. May be used.

The trigger 840 rotates the upper loading part 810 to a stowed position so that the firing spring 820 is inserted into one side of the upper loading part 810 in a compressed state to prevent the upper loading part 810 from rotating. It is a kind of lock that plays a role.

The second shape-retaining alloy spring 830 is coupled to one side of the trigger 840 and contracts when the current is supplied to pull the trigger 840 to exit the upper loading portion 810. When the trigger 840 is released from the upper loading portion 810 in this manner, the upper loading portion 810 is momentarily rotated by the elastic force of the firing spring 820 to fire the load stored therein.

The kind of the load loaded on the upper loading part 810 is not limited to a specific object, and a small mobile robot may be loaded as needed.

FIG. 9 sequentially shows a process of opening the deployment door 720 after rotating the main wheel support 200 so that the body part 100 is inclined toward the front, and the upper loading part 810 is shown for convenience. Omitted. As such, when the deployment door 720 is opened, a load (for example, a small mobile robot) stored therein is taken out through the deployment door 720.

10 shows the load stored in the upper loading part 810 by pivoting the upper loading part 810 after rotating the main wheel support 200 so that the body part 100 is inclined toward the front. The process of firing a small mobile robot forward) is shown.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, Addition or deletion of a technique, and limitation of a numerical value are included in the protection scope of the present invention.

100: body part
200: main wheel support
300: beam wheel support
410: first driving wheel
420: second driving wheel
430: driving caterpillar
510: first drive motor
520: second drive motor
530: caterpillar drive motor
540: caterpillar rotating motor
550: main wheel support rotation motor
600: control unit
710: internal loading
720: development door
730: the first type of metal alloy spring
810: top loading
820: foot spring
830: the second shape memory alloy spring
840: Trigger
910: main coaxial
920: the first cart connection
930: second balance connecting portion
940: trolley development motor

Claims (7)

A body portion 100;
Main wheel support 200 is rotatably coupled to the left and right sides of the body portion 100;
An auxiliary wheel support 300 which is rotatably coupled to one end of each of the main wheel support 200;
First driving wheels 410 mounted to the other end of each of the main wheel rests 200;
A traveling caterpillar 430 rotatably mounted at one end of each of the auxiliary wheel rests 300;
A second driving wheel 420 rotatably mounted at the other end of each of the auxiliary wheel rests 300;
A first driving motor 510 mounted at the other end of each of the main wheel rests 200 to drive the first driving wheel 410;
A caterpillar rotating motor 540 mounted at one end of each of the auxiliary wheel rests 300 to rotate the traveling caterpillar 430;
A caterpillar drive motor 530 mounted inside each of the traveling caterpillar 430 and driving the traveling caterpillar 430;
A second driving motor 520 mounted at the other end of each of the auxiliary wheel rests 300 to drive the second driving wheel 420; And
The control unit 600 is mounted to the body portion 100 and controls the operation of the first driving motor 510, the caterpillar rotating motor 540, the caterpillar driving motor 530 and the second driving motor 520. );
Mobile robot having a caterpillar and a driving wheel, characterized in that configured to include. In claim 1,
A main wheel support pivoting motor (550) mounted to the body part (100) to rotate the main wheel support (200);
Mobile robot having a caterpillar and a driving wheel, characterized in that it further comprises. In claim 2,
An inner loading part 710 provided inside the body part 100 and storing a load;
A development door 720 which is rotatably coupled to the front end of the body part 100 and opens and closes the front surface of the inner loading part 710; And
A first shape retaining alloy spring 730 that is coupled to one side of the deployment door 720 and contracts when the current is supplied and pulls the deployment door 720 to open the deployment door 720;
A mobile robot having a caterpillar and a driving wheel, characterized in that it further comprises. In claim 2,
An upper loading part 810 provided on an upper portion of the body part 100 and firing a stored load while rotating momentarily;
A firing spring 820 which provides an instantaneous rotational force to the upper loading part 810;
The upper loading part 810 is rotated to a loading position, the trigger is inserted into one side of the upper loading portion 810 in the compressed spring 820 is compressed to prevent the rotation of the upper loading portion 810 840; And
A second shape retaining alloy spring 830 coupled to one side of the trigger 840 to be pulled out of the upper loading part 810 by pulling the trigger 840 while contracting when a current is supplied;
A mobile robot having a caterpillar and a driving wheel, characterized in that it further comprises. The method according to any one of claims 2 to 4,
A main pivot 910 penetrating the body portion 100 in a horizontal direction and rotating in conjunction with the main wheel support pivot motor 550;
A first bogie connecting portion 920 coupled to each of left and right ends of the main pivot shaft 910 exposed to left and right sides of the body portion 100 to rotate together with the main pivot shaft 910;
A second balance connecting portion 930 rotatably coupled to the first balance connecting portion 920 such that a rotation shaft is arranged in a front-rear direction; And
A trolley deployment motor 940 mounted to each of the first trolley connecting portions 920 to rotate the second trolley connecting portion 930;
Lt; / RTI >
Mobile robot having a caterpillar and a driving wheel, characterized in that the main wheel support 200 is coupled to each of the second cart connection portion (930). The method of claim 5,
The main pivot shaft 910 is composed of two shafts are coupled to each other so as not to interfere with each other in the rotation direction to protrude to the left and right sides of the body portion 100,
The main wheel support pivot motor 550 is a mobile robot having a caterpillar and a driving wheel, characterized in that connected to only one of the two shafts constituting the main pivot shaft (910). The method of claim 5,
The main pivot shaft 910 is composed of two shafts are coupled to each other so as not to interfere with each other in the rotation direction to protrude to the left and right sides of the body portion 100,
The main wheel support pivot motor (550) is connected to each of the two shafts constituting the main pivot (910) one by one, the robot and the moving wheel having a traveling wheel, characterized in that it operates independently.

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