KR101786447B1 - Color Controllable Servo Motor Module and Articulated Humanoid Robot of Adapting the Same - Google Patents

Abstract

The present invention provides a servo motor module with improved visibility by diffusing LED light at a bright place by uniformly emitting the LED light through a housing whose four sides are exposed in a strap shape, and a color controllable articulated humanoid robot capable of improving the overall visibility of the articulated humanoid robot by applying the color controllable servo motor module, implementing a more brilliant color by combining a desired color to be close to the number of infinite cases, expressing splendid performance by being combined with various motions, creating various educational curriculums using the articulated humanoid robot capable of implementing various colors and various motion operations, and further improving creativity.

Description

[0001] The present invention relates to a color controllable servomotor module and a multi-joint humanoid robot using the same, and more particularly to a color controllable servo motor module and an articulated humanoid robot,

The present invention relates to a humanoid or humanoid multi-joint humanoid robot to which a servo motor module is applied, and more particularly to a color controllable servomotor module for illuminating various colors of LED light for each servo motor module, The present invention relates to a multi-joint humanoid robot capable of implementing various colors and various motions by applying a servo motor module capable of color control.

As is known, various types of toy articulated robots or educational articulated robots combining servo motors are manufactured, and servo motors embodying articulated joints of articulated robots are provided with LEDs for status display or decoration, Is applied.

As a first prior art of the above-described servo motor, Korean Register No. 10-108737 (servo motor having a plurality of illumination windows) and Korean Priority No. 10-2008-0017081 Motor training and toy robots).

In the first prior art, light emitted from a light source passes through an optical path member and is irradiated to two or more light-exposed regions formed in a case, and is shielded by interconnection between servomotors or blocking of light exposure by a connection bracket, So that the internal state of the servo motor can be grasped and a decoloration effect can be obtained.

However, in the first prior art, although two or more light-exposing regions are formed, the visibility is lowered in a bright place, and the decorating effect is also insignificant due to the limitation of the light-exposing region.

The second prior art is very limited in checking the operation state of the motor and the power connection state through the LED provided at one side of the joint drive type motor module and the rotation drive type motor module.

Korean Registered Patent No. 10-108737 (November 11, 2011) Korean Patent Publication No. 10-2008-0017081 (Feb. 25, 2008)

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and it is an object of the present invention to provide a servo motor module capable of implementing various colors and irradiating LED light in all directions irrespective of light or darkness, An object of the present invention is to provide a multi-joint humanoid robot to which the present invention is applied.

In order to achieve the above object,
A servo motor module according to an embodiment of the present invention includes a first case;
A second case assembled to the first case;
A housing disposed between the first and second cases and formed of a transparent material;
A servo motor assembled to the housing and disposed inside the first and second cases;
A gear stage assembled to the housing and receiving torque from the servo motor;
And LEDs each including a red LED, a green LED, and a blue LED are arranged at four corners of each corner, and light emitted from the LED unit through color control of the LED unit is transmitted to the housing To diffuse light and to diffuse light through the light guide plate; And
A position sensor inserted into and coupled to a rotation shaft coupled to a drive shaft to which the torque of the gear is transmitted to sense the rotational position of the drive shaft and transmit the sensed rotational position to a printed circuit board;
.

Further, in the servo motor module according to an embodiment of the present invention, the housing may be interposed between the first case and the second case so as to expose four sides in a strip shape.

Further, in the servo motor module according to an embodiment of the present invention, the housing may be formed of polycarbonate.

Further, in the servo motor module according to an embodiment of the present invention, the LED unit may include a red LED, a green LED, and a blue LED.

In the servo motor module according to an embodiment of the present invention, the printed circuit board includes a communication module for receiving a color density control signal of the red, green, and blue LEDs transmitted from a smart terminal equipped with a color control application, An RGB operation module for dividing the color density control signal received by the communication module into red, green and blue colors, and a PWM signal generation module for generating a PWM signal corresponding to the color density control signal for each color ,
The red, green, and blue LED voltages of the respective LED units may be adjusted by the PWM signal or the PWM signal amplified through the amplifier, and the color of the LED unit may be controlled through the adjusted voltage.

In addition, in the servo motor module according to an embodiment of the present invention, the red, green, and blue LEDs of the LED unit arranged for 4 minutes may be connected in parallel and controlled in parallel by the PWM signal.

Further, in the servo motor module according to an embodiment of the present invention, the PCB may control the color density of 250 steps for each of red, green, and blue LEDs.

Meanwhile, a multi-joint humanoid robot to which the color controllable servomotor module according to an embodiment of the present invention is applied includes a pair of arm joints of the articulated humanoid robot, a pair of first and second shoulder joints, The first and second leg joints, the pair of knee joints, the pair of first and second ankle joints, the waist joint and the neck joint are operated by the respective servo motor modules, and a color controllable articulated humanoid robot I have to.

Further, in the articulated humanoid robot using the color controllable servomotor module according to an embodiment of the present invention, the respective unique IDs are assigned to the respective servo motor modules, The color intensity control signal of 250 steps can be transmitted for each of the red, green, and blue LEDs, individually or grouped by unique IDs individually.

According to the present invention, it is possible to uniformly irradiate LED light through a housing in which four sides are exposed in a strip shape, thereby realizing a thermo-motor module in which the LED light is uniformly diffused in a bright place or in a dark place, It is effective.

In addition, it is possible to improve the overall visibility of the multi-joint humanoid robot by applying the color controllable servomotor module, and it is possible to combine the desired color close to the number of the infinite case to realize brilliant color, It has the effect of directing the performance.

Furthermore, it is possible to diversify educational curriculum and improve creativity by using multi-articulated humanoid robots that can realize various colors and various motion movements in control and program education of various types of articulated robots or after-school classes There is an effect that can be made.

1 is a perspective view of a color controllable servo motor module according to the present invention.
FIGS. 2A and 2B are step-wise exploded perspective views of the servo motor module of FIG.
FIG. 3 is a photograph illustrating a color implementation through the housing of the servo motor module of FIG. 1;
FIG. 4 is a schematic diagram of a circuit configuration of a printed circuit board for controlling the color of an LED portion of the servo motor module of FIG. 2B.
FIG. 5A illustrates a UI screen of a color control application installed in a smart terminal, and FIG. 5B illustrates a color implementation through a housing of the servo motor module.
FIG. 6 illustrates a color space distribution diagram for each red, green, and blue LED in FIG.
FIG. 7A is a front view of a multi-joint humanoid robot to which the color controllable servomotor module of FIG. 1 is applied, and FIG. 7B is a partial exploded view.
FIG. 8 is an exploded view of an arm configuration of the articulated humanoid robot shown in FIG. 7; FIG.
9 is a photograph illustrating a color implementation of a multi-joint humanoid robot in which a servo motor module is applied to each joint.

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

FIG. 1 is a perspective view of a color controllable servomotor module according to the present invention, FIGS. 2a and 2b are a stepwise exploded perspective view of the servo motor module of FIG. 1, Fig.

1 to 3, a color controllable servomotor module 100 according to the present invention includes first and second cases 110 and 120, a housing 130, a servo motor 140, a gear stage 150, And a substrate 160.

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The first and second cases 110 and 120 have outer surfaces formed in a planar shape with a housing 130 interposed therebetween and a servomotor 140, a gear stage 150, and a printed circuit board 160 .

The housing 130 is interposed between the first and second cases 110 and 120 and may be made of a transparent material such as polycarbonate. 1, the housing 130 is interposed between the first case 110 and the second case 120, and may be formed so that four sides of the housing 130 are exposed in a strip shape having a predetermined thickness.
As shown in FIG. 2A, the first case 110, the housing 130, and the second case 120 are fastened to the bolts 111.

The servo motor 140 is assembled into an internal space formed in the shape of a servo motor of the housing 130 and transmits torque to the gear stage 150. In this embodiment, a servo motor 140 that generates a torque of 5.5 kg @ 5 V 1000 mA and operates at a voltage of 5 V to 9 V is illustrated.

The gear stage 150 receives torque from the servo motor 140. For example, a fourth gear 151 is disposed and successively rotates together to finally transmit the torque to the drive shaft 152. [ Here, the fourth gear 151 may be made of a metal gear for improving durability and wear resistance.

The printed circuit board 160 is disposed on one side of the housing 130 to control the color of the LED unit 170 and the rotation of the servo motor 140.
As shown in FIG. 2B, four LED units 170 are disposed at four corners of the printed circuit board 160 for four minutes.

The position sensor 180 is inserted into the rotation shaft 153 coupled to the driving shaft 152 and senses the rotational position of the driving shaft 152 to transmit the rotation to the printed circuit board 160.

The LED light emitted from the LED unit 170 is transmitted through the housing 130 made of a transparent material by the color control of the LED unit 170 by the printed circuit board 160, And is uniformly irradiated onto the outer surface of the housing 130.
That is, as illustrated in FIG. 3, the LED light emitted from the LED unit 170 can be uniformly irradiated through the outer surface exposed on four sides in a strip shape by light scattering and diffusion inside the housing 130.
Accordingly, since the LED light is diffused in the light or in the dark to be uniformly irradiated to the four surfaces, the servo motor module 100 having improved visibility can be realized.

Each LED unit 170 includes a red LED, a green LED, and a blue LED. The circuit configuration of the printed circuit board 160 for controlling the color of each LED of the LED unit 170 will be described with reference to FIG. 4 Will be described in detail.

FIG. 4 is a schematic diagram of a circuit configuration of a printed circuit board for controlling the color of the LED portion of the servo motor module of FIG. 2B. FIG. 5 (a) illustrates a UI screen of a color control application installed in a smart terminal (b) are photographs illustrating color implementations through the housing of the servo motor module, respectively.

4 and 5, the printed circuit board 160 for controlling the color implementation of the LED light includes a communication module 161, an RGB operation module 162, a PWM signal generation module 163, and an amplifier 164 .

The communication module 161 receives the color density control signals of the red, green, and blue LEDs 171, 172, and 173 transmitted from the smart terminal 200 in which the color control application is installed, through the Bluetooth communication.
Here, the smart terminal for transmitting the color density control signal through the Bluetooth communication is exemplified. However, the present invention is not limited thereto, and it is also possible to transmit the color density control signal from all the communication type terminals including the PC or the tablet PC by all wired and wireless communication methods.

The RGB operation module 162 separates the color density control signals received by the communication module 161 into red, green, and blue colors, respectively, and transmits them to a PWM signal generation module 163 to be described later.

The PWM (Pulse Width Modulation) signal generation module 163 generates a PWM signal corresponding to the color density control signal divided for each color, that is, a signal converted into a PWM value.

Subsequently, the voltage of each LED portion can be adjusted by the PWM signal directly or by the PWM signal amplified by the amplifier 164, and the color of each LED portion can be controlled through the adjusted voltage.
As shown in FIG. 4, each of the red, green, and blue LEDs 171, 172, and 173 of the LED unit arranged for 4 minutes may be connected in parallel to emit the LED light from the four LED units of the servo motor module as a whole with a constant color density.

5, the color intensity control signals of the four LEDs of the servo motor module are generated using the color control application installed in the smart terminal 200, and transmitted to the communication module 161 of the printed circuit board, The color corresponding to the density control signal can be realized through the housing and the color intensity of 250 steps can be controlled for each of the red, green and blue LEDs 171, 172 and 173 through the color control application, Colors can be implemented.

In addition, according to the setting of the color control application, the light emitting mode of LED light of the LED unit can be variously implemented through the printed circuit board. For example, blinking, breathe, Music) can be implemented variously.

FIG. 6 illustrates a color space distribution diagram for each of the red, green, and blue LEDs of FIG. 4, wherein the color density of each red, green, and blue LED light from the LED unit disposed at four corners of the printed circuit board And the LED light is uniformly irradiated to the outer surface of the housing by forming the molding of the housing in which four sides are exposed in a strip shape reflecting the diffusion angle of each color.

When the servo motor module 100 described above with reference to Figs. 1 to 5 is applied to each joint of the articulated humanoid robot and the LED light is irradiated to the outer surface through the housing 130, the visibility is enhanced as a whole A joint humanoid robot can be implemented, which will be described in detail with reference to FIGS. 7 to 9. FIG.

FIG. 7A is a front view of a multi-joint humanoid robot using the color controllable servomotor module of FIG. 1, FIG. 7B is a partial exploded view, and FIG. 8 is an exploded view of an arm configuration of the multi- to be.

As shown in Fig. 7 (b) in which the servo motor module 100 is partially exposed, each joint of the articulated humanoid robot is realized by the servo motor module 100, and various motions similar to human behavior .
For example, a pair of arm joints 100-1 of the articulated humanoid robot, a pair of first and second shoulder joints 100-2 and 3, a pair of first and second leg joints 100-4 , A pair of knee joints 100-6, a pair of first and second ankle joints 100-7,8, a waist joint 100-9 and a neck joint 100-10, (Walking, standing), fighting, soccer, stair climbing, stair descending, tumbling and dancing motions in 18 degrees of freedom (DOF), implemented by the servomotor module 100, Can be performed in various manners.

8, a first connecting member 310 of the shoulder joint part 300 is connected to the driving shaft 152 of the servo motor module 100-1 and a bolt (not shown) of the servo motor module 100-1 at one side of the servo motor module 100-1. And the second connecting member 410 is coupled to the nut 411 and the bolt 412 inserted into the nut buried structure formed at each corner of the servo motor module 100. The bolt 412 is inserted into the nut- And the hand 400 is fastened to the second linking member 410 by the bolt 401 and the nut 402. As shown in Fig.

9 is a photograph illustrating a color implementation of a multi-joint humanoid robot in which a servo motor module is applied to each joint.

Referring to Figures 5 (a) and 9, as described above, the articulated humanoid robot includes a pair of arm joints, a pair of first and second shoulder joints, a pair of first and second legs The joints, the pair of knee joints, the pair of first and second ankle joints, the waist joints, and the neck joints are realized by respective servo motor modules. The respective IDs are assigned to the respective servo motor modules, (a), the servo motor modules for each unique ID are totally or grouped through the color control application of the smart terminal 200, or individually for each of the red, green and blue LEDs, Lt; / RTI >
That is, the combination of the color density (for example, R: 250, G: 0, B: 0) set for each of the red, green and blue LEDs is determined as an intrinsic value (e.g., fa0000) The LED light (e.g., red) emitted from the light source can emit light.

FIG. 9 is a photograph illustrating a color implementation of a multi-joint humanoid robot in which a servo motor module is applied to each joint. The upper part of FIG. 9 illustrates the LEDs of the servo motor module corresponding to each unique ID as a whole , And the photo at the bottom is implemented by individually or grouping the LEDs of the servo motor module corresponding to each unique ID.

Therefore, as shown in Fig. 9, the overall visibility of the articulated humanoid robot can be improved, the desired color can be combined with the number of infinitesimal colors to realize brilliant colors, and a brilliant performance combined with various motions .

Meanwhile, although the articulated humanoid robot using the color controllable servomotor module is described as an example, the present invention is not limited to this, and a color controllable servomotor module may be applied to various articulated robots of various shapes to perform performance combining various colors and various motions Can be implemented.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not endless disclosure of the present invention. Accordingly, various equivalents and modifications Examples should be understood.

100: Servo motor module 111: Bolt
110: first case 120: second case
130: housing 140: servo motor
150: gear stage 151: fourth gear
152: drive shaft 153:
160: printed circuit board 161: communication module
162: RGB operation module 163: PWM signal generation module
164: amplifier 170: LED part
171: Red LED 172: Green LED
173: Blue LED 180: Position sensor
200: smart terminal 300: shoulder joint
310: first connecting member 311: bolt
400: Hand 401: Bolt
402: nut 410: second connecting member
411: Nut 412: Bolt
100-1 to 100-10: Servo motor module

Claims (9)

A first case;
A second case assembled to the first case;
A housing interposed between the first and second cases and formed of a transparent material;
A servo motor assembled to the housing and disposed inside the first and second cases;
A gear stage assembled to the housing and receiving torque from the servo motor;
And LEDs each including a red LED, a green LED, and a blue LED are arranged at four corners of each corner, and light emitted from the LED unit through color control of the LED unit is transmitted to the housing To diffuse light and to diffuse light through the light guide plate; And
A position sensor inserted into and coupled to a rotation shaft coupled to a drive shaft to which the torque of the gear is transmitted to sense the rotational position of the drive shaft and transmit the sensed rotational position to a printed circuit board;
/ RTI >
Wherein the printed circuit board comprises a communication module for receiving color intensity control signals of the red, green and blue LEDs transmitted from a smart terminal equipped with a color control application, And a PWM signal generation module for generating a PWM signal corresponding to the color density control signal classified and calculated for each color,
Wherein the controller controls the red, green, and blue LED voltages of the LED units by the PWM signal and the PWM signals amplified through the amplifiers, and controls the color of the LED unit through the adjusted voltage. Servo motor module possible.
The method according to claim 1,
Wherein the housing is interposed between the first case and the second case so as to expose four sides in a strip shape.
The method of claim 2,
Wherein the housing is formed of polycarbonate.
delete delete The method according to claim 1,
Wherein the red, green, and blue LEDs of the LED unit arranged for 4 minutes are connected in parallel and controlled in parallel by a PWM signal.
The method according to claim 1,
Wherein the printed circuit board controls the color density of 250 steps for each of the red, green, and blue LEDs.
A multi-joint humanoid robot using the color controllable servomotor module according to any one of claims 1, 2, 3, 6, and 7,
A pair of arm joints of the articulated humanoid robot, a pair of first and second shoulder joints, a pair of first and second leg joints, a pair of knee joints, a pair of first and second ankle joints , Waist joints and neck joints are operated by the above servo motor modules.
The method of claim 8,
Each of the servomotor modules is provided with a corresponding unique ID, and the color control application of the smart terminal provides a color density control signal of 250 steps for each of the red, green, and blue LEDs, Wherein the robot control unit controls the robot to move the robot to a predetermined position.

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