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KR-102961447-B1 - FOOT MODULE OF ROBOT AND ASSEMBLING METHOD THEREOF

KR102961447B1KR 102961447 B1KR102961447 B1KR 102961447B1KR-102961447-B1

Abstract

The present invention discloses a foot module for a robot. A foot module for a robot according to one embodiment of the present invention comprises: a holder coupled to a link member that extends to support the ground, having a receiving space formed inside, an open bottom, and a coupling portion protruding from both sides; a foot tip having a recess formed on both sides to be coupled to the coupling portion of the holder by a coupling member for coupling; and a sole member coupled to surround the outer surface of the foot tip.

Inventors

  • 조백규
  • 김태호
  • 한윤호

Assignees

  • 국민대학교산학협력단

Dates

Publication Date
20260507
Application Date
20240603

Claims (7)

  1. A holder coupled to a link member that extends to support the ground, having a receiving space formed inside, an open bottom, and connecting portions protruding from both sides; A foot tip having concave portions formed on both sides to be coupled to the coupling portion of the above-mentioned holder by a coupling member for coupling; and A sole member coupled to wrap around the outer surface of the above foot tip; comprising, The above foot tip is, A first surface that is coupled to the holder, is located in the receiving space of the holder, and forms a plane; A second surface extending downward from the first surface to form an arc shape; and Characterized by including a third surface forming a lateral side perpendicular to the first surface and the second surface. Robot foot module.
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  3. In Article 1, The concave portion is formed at the portion where the first surface and the third surface are connected, and The above-mentioned concave portion is characterized by having a coupling hole formed therein to which the coupling portion of the holder is coupled. Robot foot module.
  4. In Article 1, The first surface is characterized by having a plurality of mutually spaced coupling holes formed therein, into which the brush member is coupled by a coupling member. Robot foot module.
  5. A holder coupled to a link member that extends to support the ground, having a receiving space formed inside, an open bottom, and connecting portions protruding from both sides; A foot tip having concave portions formed on both sides to be coupled to the coupling portion of the above-mentioned holder by a coupling member for coupling; and A sole member coupled to wrap around the outer surface of the above foot tip; comprising, The material of the above-mentioned sole member is characterized as being an elastic material having elasticity. Robot foot module.
  6. In Article 1, The above-mentioned sole member is characterized by having a structure in which both ends are connected and both sides are open. Robot foot module.
  7. An assembly method for assembling a robot foot module according to any one of claims 1, 3 to 6, A step in which a sole member is joined to wrap around the outer surface of the foot tip, A step in which the foot tip to which the above-mentioned sole member is attached is connected from the lower part of the holder upward, and Characterized by including the step of coupling the holder, to which the foot tip is coupled, to the end of the link member of the robot. Assembly method.

Description

Foot Module of Robot and Assembly Method Thereof The present invention relates to a foot module of a robot, and more specifically, to a foot module that is attached to the part of a quadruped robot that contacts the ground, making assembly and replacement easy. Generally, a robot is a machine that automatically performs assigned tasks or operates according to input using its own capabilities. Recently, the fields of robot application have expanded, leading to the development of industrial, medical, and aerospace robots, as well as household robots for general use. Among these robots, those capable of driving under their own power are called mobile robots. Due to various social factors such as the advancement of science and technology, COVID-19, population aging, and population decline, there is a growing need for mobile robots that can assist humans and perform various roles. Korean Patent Publication No. 10-2023-0119362 discloses a wheel-based quadruped robot. The prior art comprises a robot body, four leg assemblies rotatably connected to the robot body and having a plurality of joint parts, and a direction changing device disposed on the robot body and connected to the four assemblies to change the direction of the leg assemblies. The prior art is configured to provide a wheel-based quadruped robot. However, conventional technology has the problem that it is difficult to replace the foot area if it is damaged while the robot is moving, and the assembly process is complex. FIG. 1 is a schematic diagram showing a coupling example in which a foot module of a robot according to one embodiment of the present invention is coupled to a link member of a robot that is extended to support the ground. FIG. 2 is a schematic diagram showing a foot module of a robot according to one embodiment of the present invention. FIG. 3 is an exploded perspective view showing the combined structure of a foot module of a robot according to one embodiment of the present invention of FIG. 2. FIG. 4 is a front schematic diagram showing a foot module of a robot according to one embodiment of the present invention of FIG. 3 from the front. FIG. 5 is a drawing showing a sole member and a foot tip in a foot module of a robot according to one embodiment of the present invention. FIG. 6 is a side view of a foot tip in which a holder and a sole member are combined in a foot module of a robot according to one embodiment of the present invention. FIG. 7 is a planar view showing a foot tip in which a holder and a sole member are combined in a foot module of a robot according to one embodiment of the present invention. FIG. 8 is a flowchart illustrating a method for assembling a quadruped robot according to one embodiment of the present invention. Specific structural or functional descriptions of embodiments according to the concept of the present invention disclosed herein are provided merely for the purpose of explaining embodiments according to the concept of the present invention, and embodiments according to the concept of the present invention may be implemented in various forms and are not limited to the embodiments described herein. Embodiments according to the concept of the present invention may be subject to various modifications and may take various forms; therefore, embodiments are illustrated in the drawings and described in detail in this specification. However, this is not intended to limit the embodiments according to the concept of the present invention to specific disclosed forms, and includes modifications, equivalents, or substitutions that fall within the spirit and scope of the present invention. FIG. 1 is a schematic diagram showing a coupling example in which a foot module of a robot according to one embodiment of the present invention is coupled to a link member of a robot that is extended to support the ground, FIG. 2 is a schematic diagram showing a foot module of a robot according to one embodiment of the present invention, FIG. 3 is an exploded perspective view showing the coupling structure of a foot module of a robot according to one embodiment of the present invention of FIG. 2, and FIG. 4 is a front schematic diagram showing a foot module of a robot according to one embodiment of the present invention of FIG. 3 from the front. Referring to FIGS. 1 to 4 together, a foot module (100) of a robot according to one embodiment of the present invention is configured to include a holder (110), a foot tip (120), and a sole member (130). Although this embodiment is described using a quadruped robot as one example, it is not limited thereto. A holder (110) is coupled to the end of a link member (12) that extends downward to support the ground, and the holder (110) has a receiving space formed inside and an open bottom, and downwardly connecting parts (114) are formed on each side of the bottom. The holder (110) has its upper part (111) connected to the end of the link member (12) and its lower part (113) connected to the