KR102661981B1 - Moving part of hybrid robot switchable between leg mode and wheel mode - Google Patents

Abstract

The present invention relates to a moving part of a hybrid robot that can be switched to a leg-wheel mode that can stably move over various terrains by switching to a leg mode or a wheel mode as needed. The moving part includes: a first link; a second link located below the first link and rotating in the same direction in conjunction with the rotation of the first link; Joint movement means connected to one side of the first and second links; and wheel movement means connected to other sides of the first and second links, wherein the moving unit operates by the joint movement means in leg mode, and the wheel movement means in wheel mode. It is characterized in that it operates by .

Description

Moving part of hybrid robot that can be converted to leg-wheel mode {MOVING PART OF HYBRID ROBOT SWITCHABLE BETWEEN LEG MODE AND WHEEL MODE}

The present invention relates to a moving part of a hybrid robot that can be switched to leg-wheel mode, and more specifically, to a hybrid robot that can be switched to leg-wheel mode that can stably move across various terrains by switching to leg mode or wheel mode as needed. It is about the moving part of the robot.

A robot is a machine that automatically handles given tasks using its own capabilities or operates according to manipulation. Recently, the field of application of robots has expanded, and industrial robots, medical robots, and aerospace robots have been developed, and household robots that can be used in general homes are also being created. Among these robots, those that can travel on their own are called mobile robots.

Due to various social factors such as the development of science and technology, COVID-19, population aging, and population reduction, the need for mobile robots to assist humans and perform various roles is increasing.

Currently, Segway-type mobile robots or wheel-type mobile robots using Omni-wheels have been developed and are used in various fields. These wheeled mobile robots have the advantage of faster movement speed than legged mobile robots, but they can only be used on flat terrain and are difficult to use in terrain where wheels are difficult to move, such as stairs. Meanwhile, among legged mobile robots, humanoid robots and four-legged robots can move in various terrains, but their movement speed is slower than that of wheeled mobile robots.

Therefore, there is a need to develop a mobile robot that can move across various terrains while increasing its movement speed.

Korean Patent Publication No. 10-2019-0123679 (Mobile robot and control method of mobile robot) Korean Patent Publication No. 10-2020-0049117 (Humanoid Robot)

The object of the present invention was designed to solve the problems of the above-described prior art, which allows the robot to move at high speed across various terrains, considers the dynamic behavior of the robot for acceleration and deceleration movements, and ensures that the robot is stable even under irregular terrain conditions. The aim is to provide a moving part of a hybrid robot that can be converted to a movable leg-wheel mode.

The moving part of a hybrid robot capable of switching to a leg-wheel mode according to the present invention for achieving the above problem includes: a first link; a second link located below the first link and rotating in the same direction in conjunction with the rotation of the first link; Joint movement means connected to one side of the first and second links; and wheel movement means connected to the other side of the first and second links, wherein the moving part is operated by the joint movement means in leg mode, and the wheel movement means in wheel mode. It is characterized in that it operates by .

Preferably, the joint movement means includes: a first joint driving motor mounted on one side of the first link; A link mount portion connected to be rotated by the first joint driving motor; a first joint exercise rod having one end fixedly connected to the link mount portion and the other end rotatably connected to one side of the second link; And a foot unit rotatably connected to the other end of the first joint exercise rod.

Also, preferably, the first joint exercise rod and the foot unit have the same central axis and are connected to one side of the first link.

Also, preferably, the joint movement means includes a second joint driving motor mounted on the link mount; A third link connected to be rotated by the second joint driving motor; And a second joint exercise rod, one end of which is rotatably connected to the third link and the other end of which is rotatably connected to the foot unit.

Also, preferably, the first joint exercise rod is connected to a first point of the foot unit, and the second joint exercise rod is connected to a second point of the foot unit that is a certain distance away from the first point. It is characterized by

Also, preferably, the second joint motion rod is formed on both sides with the first joint motion rod interposed therebetween.

Also, preferably, the wheel movement means includes: a wheel movement rod whose both ends are rotatably connected to other sides of the first and second links; a wheel rotatably connected to the other side of the second link; and a wheel drive motor that drives the wheel.

Also, preferably, the wheel motion rod and the wheel have the same central axis and are connected to the other side of the second link.

Also, preferably, according to one embodiment, the wheel movement means includes: a pulley fixed to the wheel; and a belt connected to the pulley and rotated by the wheel drive motor.

Also, preferably, according to another embodiment, the wheel drive motor has the same central axis as the wheel and is mounted on the wheel.

Also, preferably, the second links are composed of two, positioned to face each other, and a spacer is installed between the second links.

Also, preferably, the foot unit is equipped with a force sensor.

According to the present invention, it is possible to switch between leg mode and wheel mode, so that the robot operates in wheel mode on terrain where it can move quickly and operates in leg mode on terrain where it cannot travel in wheel mode, allowing the robot to move across various terrains. You can.

In addition, according to the present invention, it is possible to stably perform driving on regular or unstructured roads, obstacle avoidance, driving on curved roads, etc. by controlling various motors mounted on the robot.

In addition, according to the present invention, it is possible to prevent the tipping phenomenon of objects loaded on the main body by considering dynamic behavior during acceleration and deceleration of the robot.

Figure 1 is a perspective view showing the overall configuration of a hybrid robot capable of switching to leg-wheel mode according to the first embodiment of the present invention.
Figure 2 is an exploded perspective view of some components in the state shown in Figure 1.
Figure 3 is a cross-sectional view taken along line AA' in Figure 1.
Figure 4 is a perspective view of the left moving part according to the first embodiment of the present invention viewed obliquely from the right.
Figure 5 is a perspective view of the left moving part shown in Figure 4 viewed obliquely from the left.
Figure 6 is an exploded perspective view of the configuration combined with the second link according to the first embodiment of the present invention.
Figure 7 is a perspective view showing the overall configuration of a hybrid robot capable of switching to leg-wheel mode according to a second embodiment of the present invention.
Figure 8 is an exploded perspective view of some components in the state shown in Figure 7.
Figure 9 is an exploded perspective view of the configuration combined with the second link according to the second embodiment of the present invention.
FIG. 10A shows a station mode, FIG. 10B shows a leg mode, and FIG. 10C shows a wheel mode.
Figure 11 is a diagram showing the operating state of the robot in leg mode.
Figures 12A to 12E are diagrams showing the operating state of the robot in wheel mode.
Figure 13 is a diagram showing a modified example of the main body according to the present invention.

Hereinafter, with reference to the attached drawings, a hybrid robot capable of switching to a leg-wheel mode according to a preferred embodiment will be described in detail as follows. Here, the same symbols are used for the same components, and repetitive descriptions and detailed descriptions of known functions and configurations that may unnecessarily obscure the gist of the invention are omitted. Embodiments of the invention are provided to more completely explain the invention to those skilled in the art. Accordingly, the shapes and sizes of elements in the drawings may be exaggerated for clearer explanation.

<Configuration according to the first embodiment of the present invention>

FIG. 1 is a perspective view showing the overall configuration of a hybrid robot capable of switching to a leg-wheel mode according to a first embodiment of the present invention, FIG. 2 is an exploded perspective view of a portion of the configuration in the state shown in FIG. 1, and FIG. 3 is a cross-sectional view cut along line A-A' in FIG. 1.

As shown in FIG. 1, the hybrid robot capable of switching to leg-wheel mode according to the first embodiment of the present invention includes a main body 100, a left moving part 200, and a right moving part 300. . When comparing the hybrid robot according to the present invention to the human body, the main body 100 may correspond to the torso, and the moving parts 200 and 300 may correspond to the legs. Here, there is no limit to the number of moving parts 200 and 300, but in this specification, it is explained that there are two moving parts 200 and 300 on the left and right with respect to the main body 100.

In the first embodiment of the present invention, the main body 100 includes a body 101 having an internal space, a body cover 103 that opens and closes the opening formed in the body 101, and a body 103 mounted on the lower part of the body 101. Includes hip cover (110). Objects, etc. may be accommodated in the internal space of the body 101. Glass 104 is formed on the body cover 103 so that the internal space of the body 101 can be confirmed.

Meanwhile, the above-described main body 100 is only an example, and can be modified into various forms as long as it can load people, objects, etc.

The main body 100 may be equipped with a hybrid robot according to the present invention, a network device for external or internal communication, and a control unit for processing communication signals. Network devices can use various known industrial network protocols such as EtherCAT and CAN.

Meanwhile, the control unit can process internal and external communication as well as signals from various sensors mounted on the robot. Additionally, the control unit can control the operation of the moving unit, such as station mode, leg mode, and wheel mode, which will be described later.

Additionally, a battery for driving the hybrid robot according to the present invention is built into the main body.

The hip cover 110 may correspond to the hip area of the human body. A frame 112 is mounted inside the hip cover 110. Referring to FIG. 3, the frame 112 is fixed to the upper side of the hip cover 110. However, there is no limit to the position of the frame 112 mounted on the hip cover 110.

Two yaw motors 115 are mounted on the frame 112 in the left and right directions. The yaw motor 115 is a motor that rotates in the yaw direction around the yaw axis (z). A roll motor 116 is mounted on the rotation portion of the yaw motor 115. The roll motor 116 is a motor that rotates in the roll direction around the roll axis (x) axis. A pitch motor 118 is mounted on the rotating portion of the roll motor 116. The pitch motor 118 is a motor that rotates in the pitch direction around the pitch axis (y). Here, a motor bracket 117 is used to connect the roll motor 116 and the pitch motor 118.

Meanwhile, the moving parts 200, 300 rotate around at least one of the three axes (x, y, z) by the yaw motor 115, roll motor 116, and pitch motor 118. It is possible.

The moving parts 200 and 300 are connected to the rotating part of the pitch motor 118. In the present invention, the left moving unit 200 and the right moving unit 300 have the same configuration. Therefore, for convenience of explanation, this specification will focus on the left moving unit 200.

FIG. 4 is a perspective view of the left movable unit according to the first embodiment of the present invention viewed obliquely from the right, and FIG. 5 is a perspective view of the left movable unit shown in FIG. 4 viewed obliquely from the left.

The left moving unit 200 can assume a rotated posture in a specific direction by receiving the rotational movements of the yaw motor 115, roll motor 116, and pitch motor 118. The left moving unit 200 includes a first link 210, a second link 250a, 250b, a joint movement means, and a wheel movement means.

A pitch motor 118 is connected between one side and the other side of the first link 210. As shown in Figures 1 and 2, the first link 210 is formed in the roll axis (x) direction and connected to the pitch motor 118. The first link 210 may correspond to the thigh of the human body.

The second links 250a and 250b are located below the first link 210 and are connected to the first joint motion rod 223 and the wheel motion rod 243, which will be described later. Therefore, when the first link 210 rotates, the second links 250a and 250b also rotate in the same direction. The second links 250a and 250b are composed of two pieces and are coupled while facing each other. At this time, a spacer 249 is installed to maintain the gap between the second links 250a and 250b.

A joint movement means is connected to one side of the first link 210. The joint movement means performs movements similar to those of the human leg and includes a first joint driving motor 220, link mount parts 221 and 222, a first joint movement rod 223, and a foot unit 225. .

The first joint driving motor 220 is mounted on one side of the first link 210. Therefore, when the first link 210 rotates, the first joint drive motor 220 may also move along the rotation path of the first link 210. An axial magnetic flux motor may be used as the first joint driving motor 220. The first joint driving motor 220 may correspond to the knee joint of the human body.

The link mount portions 221 and 222 are connected to one side of the first link 210. The link mount portions 221 and 222 are composed of a link mount 221 and a link mount cover 222. The link mount 221 and the link mount cover 222 are coupled while taking opposing positions. At this time, the link mount parts 221 and 222 are coupled to each other with one side of the first link 210 in between.

As shown in Figures 4 and 5, one end of the link mount cover 222 is connected to the rotation portion of the first joint drive motor 220, and one end of the link mount 221 is connected to the first joint drive motor 220. ) is connected to the opposite side of the rotation part. Therefore, when the first joint driving motor 220 is driven, the link mount portions 221 and 222 rotate together according to the rotation of the first joint driving motor 220. Meanwhile, in another embodiment, one end of the link mount 221 is connected to the rotation part of the first joint drive motor 220, and one end of the link mount cover 222 is opposite to the rotation part of the first joint drive motor 220. Can be connected to the surface.

One end of the first joint exercise rod 223 is fixedly connected to the link mount portions 221 and 222, and the other end is rotatably connected to one side of the second link 250a and 250b. At this time, a joint 224 is formed at the other end of the first joint motion rod 223 for connection with the second links 250a and 250b. The first joint exercise rod 223 may correspond to the lower leg of the human body, and its other end may correspond to the ankle of the human body.

The foot unit 225 is rotatably connected to the other end of the first joint exercise rod 223. At this time, one side of the second link (250a, 250b) connected to the first joint exercise rod 223 and the foot unit 225 have the same central axis. The point connected to the first joint exercise rod 223 on the foot unit 250 is referred to as the first point. The foot unit 225 may correspond to a human foot.

Meanwhile, the joint movement means according to the present invention further includes a second joint driving motor 230 and a second joint movement rod 233 to operate the foot unit 225.

The second joint driving motor 230 is mounted on the link mount portions 221 and 222. Therefore, when the link mount parts (221, 222) rotate, the second joint drive motor 230 can also move along the rotation path of the link mount parts (221, 222). An axial magnetic flux motor may be used as the second joint driving motor 230. Meanwhile, if the foot unit 225 can be operated, there is no limit to the mounting position of the second joint drive motor 230.

Meanwhile, as shown in FIGS. 4 and 5, a third link 235 is used to connect the second joint drive motor 230 and the second joint exercise rod 233. Here, one end of the third link 235 is connected to the rotation portion of the second joint drive motor 230, and the other end is rotatably connected to one end of the second joint movement rod 233. The other end of the second joint exercise rod 233 is rotatably connected to the foot unit 225. At this time, the point connected to the second joint exercise rod 233 on the foot unit 225 is referred to as the second point. The second point on the foot unit 225 is located a certain distance away from the first point. In the present invention, the second point is formed in front of the first point, but in another embodiment, the first point may be formed in front of the second point.

Figure 6 is an exploded perspective view of the configuration combined with the second link according to the first embodiment of the present invention.

Meanwhile, a wheel movement means is connected to the other side of the first link 210. The wheel movement means includes a wheel movement rod 243, a wheel 247, and a wheel drive motor 240.

Both ends of the wheel motion rod 243 are rotatably connected to the other side of the first link 210 and the other side of the second link 250a and 250b. At this time, joints 244 and 245 are formed at both ends of the wheel motion rod 243.

The wheel 247 is rotatably connected to the second link 250b by inserting the wheel shaft 248 into its center. At this time, the other side of the second link (250a, 250b) connected to the wheel motion rod 243 and the wheel 247 have the same central axis through the wheel shaft 248. Meanwhile, in the present invention, the wheel 247 is formed on one side of one of the two second links 250a and 250b, but on the opposite side of the other second link 250a, or on the other side of the second link 250b. It may be formed between two links 250a and 250b.

The wheel drive motor 240 is for driving the wheel 247 and is mounted on the second link 250a 250b. A BLDC (Blushless DC) motor may be used as the wheel drive motor 240, but it is not limited to this and various types of known motors may be used.

Meanwhile, in the first embodiment of the present invention, a pulley 242 and a belt 241 are used for the wheel drive motor 240 to drive the wheel 247. Referring to FIG. 6, the pulley 242 is fixedly mounted on the wheel 247. And, the drive shaft of the wheel drive motor 240 and the pulley 242 are connected by a belt 241. Therefore, when the wheel drive motor 240 is driven, the wheel 247 rotates by the belt 241 and the pulley 242.

Meanwhile, after the joint movement means and the wheel movement means are all coupled to the first link 210 and the second links 250a and 250b, the link cover 260 is mounted on the first link 210.

Meanwhile, in the first embodiment of the present invention, the first joint driving motor 220, the second joint driving motor 230, and the wheel driving motor 240 are motors that rotate around the pitch axis (y).

Meanwhile, in the present invention, the joint movement means is located at the front and the wheel movement means is located at the rear. However, according to a modified example, the wheel movement means may be located at the front and the joint movement means may be located at the rear.

Meanwhile, a force sensor capable of sensing force or torque when the moving part disclosed in the present invention is moving or stationary may be installed. In the present invention, a FT (force-torque sensor) sensor may be mounted on the foot unit 225, but there is no limitation on the type and mounting location of the force sensor.

In addition, the main body or moving part of the hybrid robot according to the present invention includes sensors for sensing visual information such as cameras and vision sensors, sensors for measuring distance to obstacles, and external shock detection to sense external environmental information. Various sensors necessary for the operation of the robot can be installed, such as sensors for robot operation, hearing sensors, acceleration sensors, and IMU (Inertial Measurement Unit) sensors.

<Configuration according to the second embodiment of the present invention>

FIG. 7 is a perspective view showing the overall configuration of a hybrid robot capable of switching to leg-wheel mode according to a second embodiment of the present invention, FIG. 8 is an exploded perspective view of a portion of the configuration in the state shown in FIG. 7, and FIG. 9 is an exploded perspective view of the configuration combined with the second link according to the second embodiment of the present invention.

The hybrid robot capable of switching to leg-wheel mode according to the second embodiment of the present invention has a slightly different configuration of the moving part from the part described in the first embodiment described above. Therefore, the description will focus on parts that are different from the first embodiment.

As shown in FIG. 7, the hybrid robot capable of switching to leg-wheel mode according to the second embodiment of the present invention includes a main body 100, a left moving part 1200, and a right moving part 1300. . As explained in the first embodiment, the second embodiment will also be described focusing on the left moving unit 1200.

The left moving unit 1200 includes a first link 1210, a second link 1250a, 1250b, a joint movement means, and a wheel movement means.

Among the joint movement means according to the second embodiment, the third link 1235 and the second joint movement rods 1233a and 1233b connected to the second joint driving motor 1230 are composed of two pieces. At this time, the second joint motion rods 1233a and 1233b are formed on both sides with the first joint motion rod 1223 in between. One of the third links 1235 is rotatably connected to the link mount 1221.

Referring to FIG. 9, among the wheel movement means according to the second embodiment, the wheel drive motor 1240 for driving the wheel 1247 has its rotating portion fixedly mounted on the wheel 1247. Therefore, unlike in the first embodiment, there is no need for components such as pulleys and belts to drive the wheel 1247. At this time, the position of the wheel drive motor 1240 is the same as described in the first embodiment.

<Operation control mode of the present invention>

FIG. 10A shows a station mode, FIG. 10B shows a leg mode, and FIG. 10C shows a wheel mode.

The hybrid robot capable of switching to leg-wheel mode according to the present invention includes station mode, leg mode, and wheel mode.

As shown in Figure 10a, in the station mode, the first links (210, 1210) remain parallel to the ground, and both the foot units (225, 1225) and the wheels (247, 1247) can touch the ground. Therefore, the robot can stand stably. In other words, station mode is a mode required when the robot needs to stop at a specific location.

As shown in FIG. 10B, in the leg mode, the first links 210 and 1210 move in one direction (in FIG. 10B) so that the foot units 225 and 1225 move downward and the wheels 247 and 1247 move upward. It is rotated counterclockwise). In leg mode, the robot can move while performing joint movements. In the present invention, when operating in leg mode, the robot moves on two legs and can walk or run. Leg mode is a mode required when moving on terrain that cannot be operated in wheel mode. For example, in irregular terrain conditions such as stairs, the robot is more stable operating in leg mode than operating in wheel mode. The robot operation process in leg mode will be described later.

As shown in FIG. 10C, in the wheel mode, the first links 210 and 1210 move in the other direction (in FIG. 10) so that the wheels 247 and 1247 move downward and the foot units 225 and 1225 move upward. It is rotated clockwise). In wheel mode, the robot can move while making wheel movements. In wheel mode, the robot can move at a faster speed than in leg mode. The robot operation process in wheel mode will be described later.

As an example of switching between the three motion control modes described above, while the robot is moving from the current point to the target point, it moves at high speed in wheel mode when moving on regular terrain, and switches to leg mode when moving on irregular terrain. And when the target point is reached, it can be switched to station mode and stopped.

<Operation control process of the present invention>

Figure 11 is a diagram showing the operating state of the robot in leg mode.

First, referring to FIG. 11, the operation process of the robot in leg mode will be described. When the station mode is switched to the leg mode, the pitch motor 118 rotates in one direction so that the first links 210 and 1210 also rotate. At this time, the other side of the first link (210, 1210) and the second link (250a, 250b, 1250a, 1250b) moves upward and the wheel (247, 1247) falls off the ground. Thereafter, the left and right pitch motors 118 and the first joint drive motor 220 are controlled to be driven alternately to perform joint movements of the robot. At this time, when the second joint driving motor 230 is controlled to be driven, the tip of the foot unit (225, 1225) goes up or down, and the angle at which the foot unit (225, 1225) touches the ground can be adjusted.

If a path that rotates in the left and right directions appears, it is possible to control the yaw motor 115 to be driven by the required rotation angle so that the robot turns left or right in the desired direction.

If an obstacle appears on the movement path while the robot is operating in leg mode, it can be avoided by operating the yaw motor 115 described above. Alternatively, if the roll motor 116 is driven so that the moving parts 200 and 300 are apart from each other, the obstacle passes between the left and right moving parts 200 and 300.

Figures 12A to 12E are diagrams showing the operating state of the robot in wheel mode.

Next, referring to FIGS. 12A to 12E, the operation process of the robot in wheel mode will be described. When switching from station mode or leg mode to wheel mode, the pitch motor 118 rotates in the other direction, so that the first links 210 and 1210 also rotate. At this time, the other side of the first link (210, 1210) and the second link (250a, 250b, 1250a, 1250b) moves downward so that the wheels (247, 1247) touch the ground, and the foot units (225, 1225) falls off the ground. Afterwards, when the wheel drive motors 240 and 1240 are controlled to drive, the wheels 247 and 1247 rotate and wheel movement of the robot is performed.

Figure 12a is a diagram showing a state in which the robot turns right when operating in wheel mode. Referring to Figure 12a, when the robot encounters a right turn course while traveling in wheel mode, the first links 210, 1210 of the left moving unit 200 are rotated in the other direction through the pitch motor 118 to move the left moving unit ( If the length of the right moving part 300 is lengthened and the first link of the right moving part 300 is rotated in one direction to shorten the length of the right moving part 300, the robot turns right. An ordinary technician can easily understand that a robot turns left using this same principle.

Figure 12b shows that the effect of active suspension appears by controlling the motor rotation of the left and right moving parts 200 and 300 in accordance with the uneven shape when the robot passes through uneven terrain while traveling in wheel mode.

Figure 12c shows a state in which the motor rotation of the left and right moving parts 200 and 300 are controlled respectively when the height of the terrain through which the left moving part 200 and the right moving part 300 pass is different when the robot is traveling in wheel mode. It is done.

Figure 12d is a diagram showing rotation control of the main body 100 when the robot accelerates or decelerates while traveling in wheel mode. When the robot suddenly accelerates or decelerates, the main body 100 may fall or the load stored inside the main body 100 may be tilted in one direction. Accordingly, in the present invention, when the robot is traveling in wheel mode, it is possible to determine acceleration or deceleration and control the rotation of the main body 100 to prevent the load stored inside the main body 100 from tilting.

Figure 12e shows a state in which the robot avoids an obstacle when running in wheel mode. As shown in FIG. 12e, when an obstacle appears on the robot's movement path, the roll motor 116 is driven so that the left and right moving parts 200 and 300 are spaced apart from each other, so that the obstacle moves between the left and right moving parts 200 and 300. will pass through.

Meanwhile, the robot's operation in the leg mode and wheel mode described above is only an example, and various modified movements are possible by utilizing the motor mounted on the present invention.

In summary, the hybrid robot capable of switching to leg-wheel mode according to the present invention is capable of moving on various terrains such as flat land, sloped terrain, curved terrain, and uneven terrain, and can move by switching to a mode suitable for each terrain. .

Figure 13 is a diagram showing a modified example of the main body according to the present invention.

Meanwhile, as shown in FIG. 13, the main body 100 may be configured in a module form, and it is also possible to stack and combine multiple main body parts 100.

The present invention has been described with reference to an embodiment shown in the attached drawings, but this is merely illustrative, and those skilled in the art will understand that various modifications and other equivalent embodiments are possible therefrom. You will be able to. Accordingly, the true scope of protection of the present invention should be determined only by the appended claims.

100: main body 101: body
103: body cover 104: glass
110: hip cover 112: frame
115: yaw motor 116: roll motor
117: motor bracket 118: pitch motor
200: left moving part 210: first link
220: first joint driving motor 221: link mount
222: Link mount cover 223: First joint exercise rod
224, 244, 245: joint 225: foot unit
230: second joint driving motor 233: second joint movement rod
235: Third link 240: Wheel drive motor
241: belt 242: pulley
243: wheel exercise rod 247: wheel
248: wheel shaft 250a, 250b: second link
260: Link cover

Claims (12)

In the moving part of a hybrid robot that can be converted to leg-wheel mode,
The moving part,
first link;
a second link located below the first link and rotating in the same direction in conjunction with the rotation of the first link;
Joint movement means connected to one side of the first and second links; and
It includes; wheel movement means connected to the other side of the first and second links,
The joint exercise means is,
A first joint driving motor mounted on one side of the first link;
A link mount portion connected to be rotated by the first joint driving motor;
a first joint exercise rod having one end fixedly connected to the link mount portion and the other end rotatably connected to one side of the second link;
a foot unit rotatably connected to the other end of the first joint exercise rod;
A second joint driving motor mounted on the link mount portion;
A third link connected to be rotated by the second joint driving motor; and
It includes a second joint exercise rod, one end of which is rotatably connected to the third link and the other end of which is rotatably connected to the foot unit,
The movement of the hybrid robot convertible to leg-wheel mode, characterized in that the moving part is operated by the joint movement means in leg mode and by the wheel movement means in wheel mode. wealth. delete According to claim 1,
The moving part of a hybrid robot capable of switching to leg-wheel mode, characterized in that the first joint exercise rod and the foot unit have the same central axis and are connected to one side of the first link. delete According to claim 1,
The first joint exercise rod is connected to a first point of the foot unit, and the second joint exercise rod is connected to a second point of the foot unit that is a certain distance away from the first point. Leg-wheel, characterized in that The moving part of a hybrid robot that can be switched between modes. According to claim 1,
The moving part of a hybrid robot capable of switching to leg-wheel mode, characterized in that the second joint motion rod is formed on both sides with the first joint motion rod in between. According to claim 1,
The wheel movement means is,
a wheel movement rod whose both ends are rotatably connected to the other sides of the first and second links;
a wheel rotatably connected to the other side of the second link; and
A moving part of a hybrid robot capable of switching to leg-wheel mode, including a wheel drive motor that drives the wheels. According to claim 7,
The moving part of a hybrid robot capable of switching to leg-wheel mode, characterized in that the wheel exercise rod and the wheel have the same central axis and are connected to the other side of the second link. According to claim 7,
The wheel movement means is,
a pulley fixed to the wheel; and
A moving part of a hybrid robot capable of switching to a leg-wheel mode, further comprising a belt connected to the pulley and rotated by the wheel drive motor. According to claim 7,
The moving part of a hybrid robot capable of switching to leg-wheel mode, characterized in that the wheel drive motor has the same central axis as the wheel and is mounted on the wheel. According to claim 6,
The moving part of a hybrid robot capable of switching to leg-wheel mode, characterized in that the second links are composed of two and take a posture facing each other, and a spacer is installed between the second links. According to claim 1,
A moving part of a hybrid robot capable of switching to leg-wheel mode, characterized in that the foot unit is equipped with a force sensor.