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KR-102963431-B1 - Leg assembly and robot including the robot leg assembly

KR102963431B1KR 102963431 B1KR102963431 B1KR 102963431B1KR-102963431-B1

Abstract

A leg assembly according to embodiments of the present disclosure comprises a plurality of actuators including a first actuator and a second actuator, a plurality of legs including a first leg connected to the first actuator and a second leg connected to the second actuator, and a power transmission mechanism connecting the second actuator and the second leg, wherein the power transmission mechanism may include a guide link having a first end connected to the second actuator and movable in a first direction parallel to the longitudinal direction of the first leg, a coupler rotatably connected to a second end of the guide link and the second leg, respectively, and a linear guide mounted on the first leg, connected to the guide link, and extending in the first direction parallel to the guide link.

Inventors

  • 김보근
  • 이윤행
  • 이현용
  • 박지만

Assignees

  • (주)에이딘로보틱스

Dates

Publication Date
20260513
Application Date
20240620

Claims (5)

  1. A plurality of actuators including a first actuator and a second actuator; A plurality of legs including a first leg connected to the first actuator and a second leg connected to the second actuator; and A power transmission mechanism connecting the second actuator and the second leg; is included. The above power transmission mechanism is A guide link having a first end connected to the second actuator and capable of moving in a first direction parallel to the longitudinal direction of the first leg; A coupler rotatably connected to the second end of the guide link and the second leg, respectively; A linear guide mounted on the first leg, connected to the guide link, and extending in the first direction parallel to the guide link; and It includes an encoder attached to the first leg adjacent to the power transmission mechanism; The above encoder has an encoder head connected to the linear guide and detects the movement of the linear guide while moving in the first direction, and The first leg has an inner groove extended in the longitudinal direction, and the linear guide includes a guide rail that is received in the inner groove and extends in the first direction, and a guide block that moves along the guide rail and is connected to the guide link. The above encoder is, An encoder rail arranged parallel to the linear guide within the inner groove of the first leg; and A leg assembly comprising: an encoder head coupled to the guide block, which moves together along the encoder rail according to the first direction movement of the guide link and detects the movement of the linear guide.
  2. In paragraph 1, The above linear guide is A guide rail attached to the inner surface of the first leg and extending in the first direction; A guide block that moves along the above guide rail; and A connecting pin connecting the first end of the guide block and the coupler to the second end of the guide link; The second end of the above coupler is connected to the second leg, and A leg assembly in which the second leg is rotatably connected to the first leg around a pivot axis spaced apart from the second end of the coupler.
  3. In paragraph 1, The above first leg is A first support frame connected to the first actuator; and A second support frame connected to the first support frame; is included, The above power transmission mechanism is accommodated in the internal space of the first leg, which is partitioned within the first support frame and the second support frame, and The first support frame comprises a protruding surface that protrudes toward the second leg and includes a pivot axis to which the second leg is rotatably connected, forming a leg assembly.
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  5. A plurality of leg assemblies according to any one of paragraphs 1 to 3; A main body on which the above plurality of leg assemblies are mounted; and A controller that is housed in the main body and controls the plurality of leg assemblies; is included, The encoder has an encoder head connected to the linear guide and moves in the first direction, detecting the movement of the linear guide and transmitting it to the controller. A robot whose controller calculates the rotation angle of the second leg based on the movement of the linear guide received from the encoder.

Description

Leg assembly and robot including the robot leg assembly The present disclosure relates to a leg assembly and a robot comprising the same. Generally, a walking robot includes a leg assembly comprising multiple joints, such as scapular joints, hip joints, and knee joints, and multiple actuators that drive the multiple joints. Each actuator is provided inside each joint, and the actuator included in the knee joint rotates the knee link, while the actuator included in the hip joint rotates the hip link. However, this conventional structure has a problem in that the hip joint must also bear the load of the actuator included in the knee joint while driving. Consequently, the size and weight of the actuator included in the hip joint become unnecessarily large. To solve this problem, there is a method in which the knee actuator is positioned adjacent to the hip actuator and the power of the knee actuator is transmitted to the knee joint through a separate power transmission mechanism. However, in this method as well, the knee actuator is located outside the hip actuator, so the hip actuator is forced to bear the load of the knee actuator. For example, referring to FIG. 12 of Patent Document 1 as prior art, if the motor (402) that moves the knee joint (404) is located outside the hip joint (403), the motor or actuator that moves the hip joint (403) must bear the load of the motor (402) that moves the knee joint (404). In addition, among the structures for transmitting power to the knee actuator, the four-bar linkage offers relatively high stability, but because multiple links are combined, it is heavy and structurally complex, making assembly and maintenance difficult. Furthermore, belt pulleys have a chronic problem regarding belt tension, and belt detachment often occurs in high-load, high-impact environments. Even if a tension pulley is added, belt detachment cannot be fundamentally prevented, and the addition of gears increases the overall weight and size of the robot, leading to structural complexity. The information described above disclosed in the background technology of this invention is intended only to enhance understanding of the background of the present invention and may therefore include information that does not constitute prior art. The following drawings attached to this specification illustrate embodiments of the present invention and serve to facilitate an understanding of the technical concept of the present invention in conjunction with the description of the invention provided below. The present invention is not to be interpreted as being limited to the matters described in the drawings. Figure 1 schematically shows a robot including a leg assembly. Figure 2 shows a perspective view of the leg assembly. Figure 3 shows an exploded perspective view of Figure 2. Figure 4 shows a plan view of Figure 2. Figure 5 shows an enlarged view of a part of the leg assembly. FIGS. 6 to 8 show the operation of the leg assembly. Embodiments of the present disclosure may be understood by referring to the description of the invention and the drawings. The described embodiments may have various modifications and may be implemented in other forms and are not limited to the embodiments described herein. Furthermore, the features of each of the various embodiments of the present disclosure may be combined with one another in whole or in part. Each embodiment may be implemented independently of one another or in relation to one another. The described embodiments are provided as examples to ensure that the present disclosure is complete and complete, and are intended to fully convey the spirit of the present disclosure to those skilled in the art to which the present disclosure pertains. The present disclosure is subject to all modifications, equivalents, and substitutions within the spirit and technical scope of the present invention. Accordingly, processes, elements, and technologies that are not necessary to a person skilled in the art for a complete understanding of the embodiments of the present disclosure may not be described. Throughout the attached drawings and specifications, unless otherwise noted, the same reference numerals, letters, or combinations thereof denote the same components, so redundant descriptions are omitted. Additionally, parts unrelated to the explanation have been omitted to clearly explain the present invention. In the drawings, the relative sizes of elements, layers, and regions may be exaggerated for clarity. The use of hatching and/or shading in the attached drawings is generally provided to clarify the boundaries between adjacent elements. Therefore, the presence or absence of hatching or shading does not indicate the preferred form or requirements for specific materials, material properties, dimensions, proportions, commonalities between figure elements, and/or other characteristics, attributes, properties, etc., of the elements unless otherwise specified. Various embodiments are des