KR-102962423-B1 - HYBRID DRIVE ROBOT PLATFORMS

KR102962423B1KR 102962423 B1KR102962423 B1KR 102962423B1KR-102962423-B1

Abstract

A composite drive robot platform is disclosed. The composite drive robot platform of the present invention may include a walking robot, a robot arm, and a locking device. The walking robot may switch between bipedal and quadrupedal walking. The robot arm may be mounted on the walking robot. The locking device may block the movement of the robot arm relative to the walking robot when the robot arm is in a home position. According to the present invention, a composite drive robot platform can be provided in which gravity compensation of the robot arm is unnecessary when switching walking modes or when the robot arm is in a non-working state, thereby reducing unnecessary energy consumption and improving overall energy efficiency.

Inventors

김진원
김무림
이준영
유병기
고대권

Assignees

한국로봇융합연구원

Dates

Publication Date: 20260507
Application Date: 20250220

Claims (10)

Walking robot capable of switching between bipedal and quadrupedal locomotion; A robot arm mounted on the above walking robot; and A locking device that blocks the movement of the robot arm relative to the walking robot when the robot arm is in a home position. Complex drive robot platform.
In paragraph 1, The above locking device is, A locking housing that forms an insertion groove and in which a ball pressed by a spring protrudes into the insertion groove; and As the robot arm is positioned in the home position, it is inserted into the insertion groove in a first direction and includes a locking block having an inclined surface inclined to the first direction. The ball contacts the inclined surface by the pressing force of the spring to block the detachment of the locking block. Complex drive robot platform.
In paragraph 2, The ball and the spring are respectively provided on opposite sides with respect to the insertion groove, and The above inclined surfaces are respectively provided on opposite sides of the locking block, and The balls press the locking block in the first direction through the inclined surfaces, Complex drive robot platform.
In paragraph 2, The above-mentioned robotic arm is, A first arm rotatably mounted on the above walking robot; and It includes a second arm rotatably mounted on the first arm, and Either one of the locking housing and the locking block is coupled to the walking robot and the other is coupled to the second arm, thereby blocking the movement of the first arm and the second arm relative to the walking robot when the robot arm is in a home position. Complex drive robot platform.
In paragraph 4, The above-mentioned robotic arm is, A third arm rotatably mounted on the second arm; A fourth arm rotatably mounted on the third arm; and It includes a fifth arm rotatably mounted on the fourth arm, and Either one of the locking housing and the locking block is further coupled to the second arm and the other is further coupled to the fifth arm, so as to block the movement of the third arm, the fourth arm and the fifth arm relative to the second arm when the robot arm is in a home position. Complex drive robot platform.
In paragraph 5, The above-mentioned robotic arm is, It includes an end effector rotatably mounted on the fifth arm, and A keyway is formed in either of the second arm and the end effector, and An insertion key is coupled to the other of the second arm and the end effector, and When the robot arm is positioned at the home position, the insertion key is inserted into the keyway to block the movement of the end effector relative to the second arm. Complex drive robot platform.
In paragraph 1, The above-mentioned robotic arm is, A first arm rotatably mounted on the above walking robot; and It includes a second arm rotatably mounted on the first arm, and The above locking device is, A first locking device that blocks the movement of the first arm and the second arm based on the walking robot, Complex drive robot platform.
In Paragraph 7, The above-mentioned robotic arm is, A third arm rotatably mounted on the second arm; A fourth arm rotatably mounted on the third arm; and It includes a fifth arm rotatably mounted on the fourth arm, and The above locking device is, A second locking device comprising blocking the movement of the third arm, the fourth arm, and the fifth arm based on the second arm, Complex drive robot platform.
In paragraph 8, The above-mentioned robotic arm is, It includes an end effector rotatably mounted on the fifth arm, and The above locking device is, A third locking device that blocks the flow of the end effector based on the second arm, Complex drive robot platform.
In Paragraph 9, The above third locking device is, An insertion key coupled to either of the second arm and the end effector; and It includes a keyway formed in the other of the second arm and the end effector, and When the above robot arm is positioned in the home position, the insertion key is inserted into the keyway. Complex drive robot platform.

Description

Hybrid Drive Robot Platforms The present invention relates to a composite drive robot platform, and more specifically, to a composite drive robot platform in which gravity compensation of the robot arm is unnecessary when switching walking modes or when the robot arm is in a non-working state. Robot technology capable of performing missions in diverse environments, such as roads, open fields, and mountainous terrain, plays a crucial role in various fields including military, disaster relief, and exploration. From a military perspective, walking-based robot technology is garnering attention for its ability to move stably and perform missions even in complex terrain. Recently, beyond single walking methods (bipedal or quadrupedal walking), complex drive robot platforms are being developed that can switch between bipedal and quadrupedal walking modes by selecting the optimal walking method according to terrain conditions. This multi-drive robot platform is equipped with a multi-degree-of-freedom robotic arm capable of performing object manipulation, structure installation, and exploration tasks. The combined operation of the multi-drive robot platform and the multi-degree-of-freedom robotic arm enhances mission efficiency and enables stable operation even in rough terrain. However, when the complex drive robot platform switches between bipedal and quadrupedal walking modes, the direction of gravity acting on the robot arm changes, which causes a problem where each joint motor continuously consumes current to compensate for gravity even when the robot arm is in a non-working state. This results in unnecessary energy consumption, which acts as a major factor in reducing the energy efficiency of the platform. Therefore, it is necessary to solve the problem of gravity compensation for the robot arm that occurs when switching between bipedal and quadrupedal walking modes. Figure 1 is a diagram showing the quadrupedal locomotion of a composite drive robot platform. Figure 2 is a diagram showing the bipedal locomotion of a composite drive robot platform. FIG. 3 is a perspective view showing a robot arm according to an embodiment of the present invention. FIG. 4 is a drawing showing a walking robot and a robot arm of a composite driving robot platform according to an embodiment of the present invention, showing the state in which the robot arm is positioned at the home position. FIG. 5 is a drawing showing a walking robot and a robot arm of a composite drive robot platform according to an embodiment of the present invention, showing the state in which the robot arm is operated and unfolded. FIG. 6 is a perspective view showing a locking device according to an embodiment of the present invention. FIG. 7 is a partial cross-sectional view showing part A of FIG. 4, which shows the state in which the locking block of the locking device is coupled to the locking housing. Figure 8 is a drawing showing the state in which the locking block and locking housing of Figure 7 are separated. FIGS. 9 and FIGS. 10 are partial perspective views showing part B of FIG. 4. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. However, in describing the present invention, descriptions of already known functions or configurations will be omitted in order to clarify the gist of the present invention. The X, Y, and Z directions described in the embodiments of the present invention may each be mutually orthogonal directions. The X and Y directions may each be directions parallel to the horizontal direction, and the Z direction may be a direction parallel to the vertical direction. When the X direction is a direction parallel to the left-right direction, the Y direction may be a direction parallel to the front-back direction. When the X direction is a direction parallel to the front-back direction, the Y direction may be a direction parallel to the left-right direction. In the following, "front" refers to the direction indicated by the X-axis arrow, and "back" may refer to the opposite side of the direction indicated by the X-axis arrow. In the following, "up" refers to the direction indicated by the Z-axis arrow, and "down" may refer to the opposite side of the direction indicated by the Z-axis arrow. FIG. 1 is a schematic diagram of a composite drive robot platform (10), showing quadrupedal locomotion. FIG. 2 is a schematic diagram of a composite drive robot platform (10), showing bipedal locomotion. The composite drive robot platform (10) of the present invention is configured such that gravity compensation of the robot arm (200) is unnecessary when switching walking modes or when the robot arm (200) is in a non-working state, thereby reducing unnecessary energy consumption and improving overall energy efficiency. In addition, the locking and unlocking of the robot arm (200) is implemented without separate electronic drive or additional energy consumption. A composite