KR101661153B1

KR101661153B1 - Tracked moving apparatus

Info

Publication number: KR101661153B1
Application number: KR1020160036105A
Authority: KR
Inventors: 이명천; 이영우; 최병훈; 장명언; 홍성일
Original assignee: 국방과학연구소
Priority date: 2016-03-25
Filing date: 2016-03-25
Publication date: 2016-09-29

Abstract

According to one embodiment of the present invention, provided is a caterpillar type moving apparatus comprising: a main body; a left and a right rotation joint connected to a left and a right side of the main body to be able to rotate, respectively; a left and a right caterpillar unit connected to the left and the right rotation joint to be able to rotate, respectively, so as to move or turn the main body; and a control unit controlling the left and the right rotation joint to tilt the left or right caterpillar unit when the main body is turned. According to the present invention, when a structure of the caterpillar type moving apparatus is applied, friction generated during rapid steering or pivoting is reduced, so a loss of turning force can be minimized. Thus, rapid steering or pivoting is smoothly performed.

Description

[0001] TRACKED MOVING APPARATUS [0002]

The present invention relates to a track-type moving device, and more particularly, to a track-type moving device having excellent turning performance and steering performance in place.

Rescue robots are robots that rescue human lives in disaster or disaster areas. They are mainly used for harsh terrain such as rainstorms, ridges, stairs, and slopes.

In general, a rescue robot is made using a track-like moving device having a track. The trajectory-type mobile device has the advantage that it can perform tasks easily in rough terrain such as hills, ovals, stairs and slopes, as opposed to a vehicle equipped with wheels made of wheels.

Particularly, among various kinds of track-type moving devices, a track type platform having a multi-joint variable shape is widely used because it can be adjusted in height.

The multi-joint variable track platform has a structure in which the main body is in the center and the upper tracks are connected to the left and right sides, respectively, and the lower tracks are connected to the left and right sides.

However, the multi-joint variable track platform has a very complicated structure, that is, a double track connection structure, which has a very unfavorable condition for turning.

In order for the turning to be smoothly performed, first of all, the left and right upper and lower tracks must be bound to the rigid main body, and there should be no twisting at the time of steep steering or turning in place.

The variable joint platform of the multi-joint, in which one side of the upper track is connected to one side of the lower track and the main body is connected to the other side of the lower track, has a large twisting moment in each joint at the time of sudden steering or turning, A structural deformation may occur. In addition, there is a structural problem that makes it difficult to rotate due to loss of rotational force.

Particularly, as the road surface having a high friction coefficient, such as cement or ascon pavement, the loss of the above rotational force is inevitably increased.

In addition, it is advantageous in turning when the length of the trajectory is as short as possible. However, due to its structural characteristics, there is a limit in reducing the length of the orbit, and the above-mentioned problem of loss of torque must be overcome by increasing the rotational torque and decreasing the frictional force.

Figure 1 is a perspective view of a conventional multi-joint variable geometry platform (M).

2 is a front view of a conventional multi-joint variable shape platform M;

3 is a left side view of a conventional multi-joint variable shape platform M;

Fig. 4 is a plan view of a conventional multi-joint variable shape platform M. Fig.

Hereinafter, the configuration of the conventional articulated variable shape platform M will be briefly described with reference to FIGS. 1 to 4. FIG.

The conventional articulated variable platform M includes a main body 10 positioned at the center, a left upper track 20 connected to the left and right sides of the main body 10, a right upper track 30, A left lower track portion 40 connected to the left side of the upper left track portion 20 and a lower right track portion 50 connected to the right side of the upper right track portion 30.

An upper end of the main body 10 is provided with a mission device (not shown), typically comprising a monitoring device, a manipulator, and a gripper.

However, Figs. 1 to 4 only show the platform of the lower maneuvering section from which the mission device is removed.

Fig. 5 is a perspective view showing a power transmission path according to the structure of a conventional multi-joint variable shape platform M. Fig.

Fig. 6 is a plan view showing a power transmission path according to the structure of a conventional multi-joint variable shape platform M. Fig.

Hereinafter, the power transmission path of the conventional articulated variable platform M will be described with reference to FIGS. 5 and 6. FIG.

Referring to FIGS. 5 and 6, the conventional articulated variable platform M is constructed such that power generated first in the main body 10 is distributed to the left and right upper track portions 20 and 30, The distributed power is transmitted to the left and right lower track portions 40 and 50, respectively.

According to the structure of the conventional articulated variable platform M, the power first generated in the main body 10 is transmitted between the main body 10 and the left and right upper track portions 20 and 30 The left and right upper joint parts 60 and 70 and the left and right upper track parts 20 and 30 and the left and right lower track parts 40 and 50 are connected to each other via left and right lower joints 80 and 90, It can be seen that it is transmitted to the ground through a very long path.

Due to such a structure, when the conventional multifunction variable platform M is steered or turned, friction occurs in the entire area of the left and right lower track portions 40 and 50 which is in contact with the ground, The right and left upper rotary joints 60 and 70 and the left and right lower joints 80 and 90 are twisted due to the above friction and consequently the left and right upper rotary joints 60 and 70 and the left and right lower joints 80 and 90, Is damaged.

Due to various factors mentioned above, the conventional multi-joint variable shape platform M has been difficult to steer or turn.

The object of the present invention is to control the frictional force and the grounding pressure of the track which makes it difficult to turn and steer in order to solve the problem that the trajectory-like moving device is suddenly steered or the rotation force is lost when the track- .

According to an aspect of the present invention, there is provided a method of manufacturing a plasma display panel including a main body; A left rotating joint and a right rotating joint rotatably connected to both left and right sides of the main body; A left track portion and a right track portion rotatably connected to the left rotary joint and the right rotary joint, respectively, for moving or pivoting the main body; And a control unit controlling the left rotary joint or the right rotary joint to tilt the left track unit or the right track unit when the main body is turning.

According to another embodiment of the present invention, the control unit tilts the rear end of the track portion located outside the turning direction of the main body among the left track portion and the right track portion such that the rear end portion of the track portion is lowered in the paper surface direction than the front end portion Shaped moving device can be provided.

According to another embodiment of the present invention, the control unit may be configured such that a front end portion of a track portion located inside the turning direction of the main body among the left track portion and the right track portion is tilted so as to descend in the paper surface direction more than the rear end portion A trajectory-like moving device can be provided.

According to another embodiment of the present invention, the control unit includes: a receiving unit that receives a command relating to a turning direction from a user; And a command section for controlling the left rotary joint or the right rotary joint so as to tilt the left track section or the right track section according to the command.

According to another embodiment of the present invention, A left rotating joint and a right rotating joint rotatably connected to left and right sides of the main body, respectively, and each having a worm gear and a motor to tilt the left track portion or the right track portion, respectively; A left track portion and a right track portion rotatably connected to the left rotary joint and the right rotary joint, respectively, for moving or pivoting the main body, and each having a worm wheel gear connected to the worm gear; And a control unit controlling the motor to rotate the worm gear so that the worm wheel gear connected to the worm gear rotates together to tilt the left track unit or the right track unit. .

According to another embodiment of the present invention, the control unit tilts the rear end portion of the track portion located outwardly of the turning direction of the main body among the left track portion and the right track portion to descend in the paper surface direction more than the front end portion, Wherein a front end portion of a track portion located inside the turning direction of the main body among the left track portion and the right track portion is tilted so as to be lowered in the paper surface direction than the rear end portion.

According to another embodiment of the present invention, the control unit includes: a receiving unit that receives a command relating to a turning direction from a user; And a command portion for controlling the motor in accordance with the command to rotate the worm gear and rotate the worm wheel gear connected to the worm gear so as to tilt the left track portion or the right track portion. Type mobile device can be provided.

According to another embodiment of the present invention, each of the left track portion and the right track portion includes: a front-end pulley unit; A rear end pulley unit; A power transmission belt wound around the outer periphery of the front end pulley unit and the rear end pulley unit; A plurality of support roller units provided between the front-end pulley unit and the rear-end pulley unit along the front-rear direction; And a track portion frame connected to the front end pulley unit, the rear end pulley unit, and the plurality of support roller units, wherein each of the plurality of support roller units includes: a support roller; And a spring having one end connected to the track subframe and the other end rotatably connected to the support roller, wherein at least one support roller unit among the plurality of support roller units has more And a large earth pressure is applied to the track-type moving device.

According to another embodiment of the present invention, the plurality of support roller units apply a greater ground pressure to the ground as the distance from the front-end pulley unit and the rear-end pulley unit increases, have.

According to another embodiment of the present invention, each of the left track portion and the right track portion includes: a front-end pulley unit; A rear end pulley unit; A power transmission belt wound around the outer periphery of the front end pulley unit and the rear end pulley unit; A plurality of support roller units provided between the front-end pulley unit and the rear-end pulley unit along the front-rear direction; And a track portion frame connected to the front end pulley unit, the rear end pulley unit, and the plurality of support roller units, wherein each of the plurality of support roller units includes: a support roller; And at least one supporting roller unit among the plurality of supporting roller units applies a greater ground pressure to the ground than the other supporting roller unit, and the front end pulley unit and the rear end pulley unit Wherein the support roller of the support roller unit located farther away is larger in diameter than the support roller of the support roller unit located close to the support roller unit.

By applying the trajectory-type moving device structure of the present invention, it is possible to minimize the loss of rotational force by reducing the frictional force generated in the sudden steering or in-situ turning.

This has an excellent effect of facilitating a sudden steering or a turning motion.

1 is a perspective view of a conventional multi-joint variable geometry platform.
2 is a front view of a conventional articulated variable shape platform.
3 is a left side view of a conventional articulated variable shape platform;
4 is a plan view of a conventional multi-joint variable geometry platform.
5 is a perspective view showing a power transmission path according to the structure of a conventional articulated variable shape platform.
6 is a plan view showing a power transmission path according to the structure of a conventional multi-joint variable shape platform.
7 is a perspective view of the multi-joint variable-shaped platform according to the embodiment of the present invention as viewed from the direction of the ground when the multi-jointed platform is left-handed and emphasizing a portion where the grounding pressure is concentrated among the left track portion and the right track portion .
8 is a left side view showing a state in which the grounding pressure is concentrated on a part of the left track part and the right track part when the multi-joint variable-shaped platform according to the embodiment of the present invention is rotated leftward.
9 is a front view showing a state in which the grounding pressure is concentrated on a part of the left track part and the right track part when the multi-joint variable-shaped platform according to the embodiment of the present invention is rotated leftward.
10 is a perspective view of the multi-joint variable-shaped platform according to the embodiment of the present invention, as viewed from the direction of the ground when it first lands, and emphasizing a portion where the earth pressure is concentrated among the left track portion and the right track portion .
11 is a left side view showing a state in which the grounding pressure is concentrated on a part of the left track part and the right track part when the multi-joint variable-shaped platform according to an embodiment of the present invention is rotated in priority.
12 is a front view showing a state in which the grounding pressure is concentrated on a part of the left track part and the right track part when the multi-joint variable-shaped platform according to the embodiment of the present invention is rotated first.
FIG. 13 is a conceptual view schematically showing a state in which support rollers constituting left and right track portions of a conventional multi-joint variable shape platform are arranged in a line.
14 is a schematic view schematically showing the arrangement structure of the support rollers constituting the left and right track portions of the track-type moving device according to the present invention.
FIG. 15 is a conceptual view showing a state in which a plurality of support rollers constituting left and right track portions of a track-type moving device according to an embodiment of the present invention gradually descend downward toward the center.
16 is a view showing a structure in which a plurality of support rollers constituting left and right track portions of a track-type moving device according to another embodiment of the present invention are structured so as to have a convex structure Fig.
FIG. 17 is an enlarged side view of a left rotary joint portion of a left track portion of a track-type moving device according to an embodiment of the present invention.
FIG. 18 is an enlarged plan view showing a left rotational joint portion of a left track portion of a track-type moving device according to an embodiment of the present invention; FIG.

Hereinafter, the orbital mobile device M of the present invention will be described in more detail with reference to the drawings attached hereto.

It should be noted that the suffix "part" and "unit" for constituent elements used in the following description are to be given or mixed in consideration only of ease of specification, and do not have their own meaning or role .

In the present specification, the same or similar reference numerals are given to different embodiments in the same or similar configurations, and the description thereof is replaced with the first explanation.

As used herein, the singular forms " a " and " an " are to be construed as including plural referents unless the context clearly dictates otherwise.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary meanings and should be construed in accordance with the meaning and concept of the technical subject matter of the present invention.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Variations and modifications are intended to fall within the scope of the appended claims.

As described above, in order to reduce the frictional force when the multi-joint variable shape platform M is steered or rotated, the ground pressure distributed equally to the entire left and right track parts 200, It is necessary to concentrate on the central part or any part of the base 200 or 300.

Particularly, in a structure such as a rescue robot which is elongated by the upper and lower tracks of the joints, it is advantageous to bring the grounding pressure to the rear of the outer side in the rotating direction and bring it to the inside in the rotating direction. The higher the friction coefficient, such as soft ground or cement, is more needed.

In the figure, the main body 100, left and right upper joints 101 and 102, left and right upper tracks 110 and 120, left and right lower joints 200 and 400, and left and right lower tracks 300 and 500 And shows a joint variable shape platform M.

Hereinafter, for the sake of convenience of explanation, a track-type moving device M having only the main body 100, left and right turning joints 200 and 400, and left and right track parts 300 and 500 will be described as an example.

The left and right upper joints 60 and 70 are provided on both sides of the main body 100 and the left and right joints 200 and 400 are provided on the left and right track joints 200 and 400, (300, 500) or adjusts the inclination of each of the left and right track parts (300, 500).

That is, it should be noted that the configurations of the embodiments of all the track type moving devices M of the present invention described below can be similarly applied to the multi-joint variable shape platform M.

FIG. 7 is a view of the track-type moving device M according to an embodiment of the present invention as viewed from the ground when the left-handed track is rotated, in which the ground pressure among the left track part 300 and the right track part 500 is concentrated Which is a perspective view emphasizing a part.

8 shows a state in which the grounding pressure is concentrated on a part of the left track part 300 and the right track part 500 when the track-like moving device M according to the embodiment of the present invention is rotated leftward. It is a shave.

9 is a front view showing a state in which a grounding pressure is concentrated on a part of the left track part 300 and the right track part 500 when the track-like moving device M according to the embodiment of the present invention is turned left- to be.

Hereinafter, referring to FIGS. 7 to 9, when the track-type moving device M of the present invention performs a left turn, the ground pressure may be concentrated on a part of the left track part 300 and the right track part 500 The configuration will be described in detail.

7 to 9, the track type moving device M according to an embodiment of the present invention includes a main body 100, left and right rotational joints 200 and 400, left and right track parts 300 and 500, Not shown).

The left and right rotary joints 200 and 400 are connected to the left and right sides of the main body 100, respectively. The left and right rotary joints 200 and 400 may receive the power from the main body 100 and transfer the power from the main body 100 to the left and right track parts 300 and 500, And to tilt along any arbitrary direction intersecting with the ground surface.

The control unit controls the left track part 300 and the right track part 500 such that the rear end of the track part located outside the turning direction of the main body 100 is lowered in the paper surface direction than the front end part, The right track part 300 and the right track part 500 can be tilted.

For example, when the track-type moving device M is in a left-turn or sudden left-turn position, the trajectory-type moving device M can be easily rotated by reducing the frictional force from the ground. The right track part 500 can be tilted in a predetermined direction.

More preferably, the right track part 500 may be inclined so that the rear part of the right track part 500, which is the outer track at the time of left turning, is lowered in the paper surface direction than the front part or the front part is raised from the ground surface will be.

As described above, the operation of tilting the right track part 500 can be performed by the control part controlling the right rotation joint 400.

FIG. 10 is a view of the track-type moving device M according to an embodiment of the present invention viewed from the direction of the paper surface. FIG. 10 is a side view of the left track part 300 and the right track part 500, As shown in FIG.

11 is a left side view showing a state in which a grounding pressure is concentrated on a part of the left track part 300 and the right track part 500 when the tracked mobile device M according to the embodiment of the present invention is rotated to be.

12 is a front view showing a state in which the grounding pressure is concentrated on a part of the left track part 300 and the right track part 500 when the orbital mobile device M according to the embodiment of the present invention is first rotated .

Referring to FIGS. 10 to 12, when the track type mobile device M according to an embodiment of the present invention has priority in place or makes a right turn suddenly, the frictional force from the ground is reduced, The left track part 300 may be inclined in a predetermined direction so as to be able to turn.

More preferably, the left track portion 300 can be inclined so that the rear portion of the left track portion 300, which is the outer track at the time of the right turn, is lowered in the paper surface direction than the front portion or the front portion is raised from the paper surface than the rear portion will be.

In this case, since the folding force is concentrated on the rear portion of the outer track portion requiring a strong thrust, the frictional force generated when the front portion of the track portion is grounded with the bottom surface can be reduced.

Accordingly, the orbital-type mobile device M can be turned or rotated in a more stable and efficient manner without using a method of excessively increasing the output in order to overcome the frictional force from the ground.

As described above, the operation of tilting the left track part 300 can be performed by the control part controlling the left rotary joint 200.

The track type moving device M according to another embodiment of the present invention may be configured such that the left track part 300 and the right track part 500 of the main body 100 The left track part 300 or the right track part 500 may be inclined so that the front end of the track part located inside the turning direction is lowered in the plane direction than the rear end part.

For example, when the track-type moving device M according to another embodiment of the present invention performs left-to-right rotation or sudden left rotation, it is possible to reduce the frictional force from the ground, The left track portion 300 may be inclined in a predetermined direction.

More preferably, the left track portion 300 may be inclined such that the front portion of the left track portion 300, which is an inner track at the time of left turning, is lowered in the paper surface direction than the rear portion or the rear portion is raised from the ground surface than the front portion .

In addition, in order to rotate in place, the inner track portion in the turning direction needs to rotate in the backward direction. In other words, when the leftward rotation is performed in the above-described manner, the left track part 300, which is an inner track, must be rotated in the reverse direction. Therefore, the ground pressure of the left track part 300 is concentrated on the rear side in the rotational direction, thereby minimizing the friction coefficient during rotation, thereby enabling smooth turning.

On the other hand, when the track-type moving device M according to another embodiment of the present invention performs a priority rotation or a sudden right rotation in order to reduce the frictional force from the ground, The track unit 500 can be inclined in a predetermined direction.

More preferably, the right track portion 500 can be inclined such that the front portion of the right track portion 500, which is an inner track at the time of the right turn, is lowered in the paper surface direction than the rear portion or the rear portion is raised from the ground surface than the front portion .

In this case, the grounding force is concentrated on the front portion of the inner track portion, so that the frictional force generated when the rear portion of the track portion is grounded with the floor surface can be reduced.

In addition, when priority is given in place, the right track part 500, which is an inner track, must be rotated in the reverse direction. Accordingly, the grounding pressure of the right track part 500 is concentrated in the rear of the rotation direction, thereby minimizing the friction coefficient during rotation, thereby enabling smooth turning.

The control unit of the track-type mobile device M according to another embodiment of the present invention may include a receiving unit (not shown) and a command unit (not shown).

Here, the receiving unit may be configured to perform a function of receiving a command regarding a turning direction from a user. That is, it may be configured to receive a command such as a user's direction in which direction the tracked mobile device M is desired to be driven or in which direction it is desired to be turned.

The command unit may control the left rotary joint 200 or the right rotary joint 400 so as to appropriately tilt the left track unit 300 or the right track unit 500 according to a command received by the receiving unit Or the like. That is, the command unit may be connected to the left rotation joint 200 and the right rotation joint 400 to tilt the left track unit 300 or the right track unit 500 at predetermined angles.

The receiving unit and the command unit constituting the control unit may be provided in the main body 100, but the present invention is not limited thereto and may be provided in any component of the orbital mobile device M.

FIG. 17 is an enlarged side view of a left rotary joint 200 of a left track part 300 of a track-type moving device M according to an embodiment of the present invention.

FIG. 18 is an enlarged plan view of a portion of a left rotary joint 200 of a left track part 300 of a track-type moving device M according to an embodiment of the present invention.

The track type mobile device M according to another embodiment of the present invention includes a main body 100, left and right rotation joints 200 and 400, left and right track parts 300 and 500, and a control unit can do.

The left rotary joint 200 and the right rotary joint 400 are rotatably connected to both the left and right sides of the main body 100 and the left track 300 or the right track 500 A motor 351 and a worm gear 352 may be provided so as to be inclined.

The left track part 300 and the right track part 500 are rotatably connected to the left rotation joint 200 and the right rotation joint 400 to move or rotate the main body 100, And a worm wheel gear 311 connected to the worm gear 352, respectively.

The worm wheel gear 311 may be provided to rotate independently of the left and right track units 300 and the front end pulley unit 310 constituting the right track unit 500.

With this structure, when the control unit controls the motor 351 to rotate the worm gear 352, the worm wheel gear 311 connected to the worm gear 352 rotates together and is fixed together therewith The left track part 300 or the right track part 500 is inclined.

A bearing 353 is additionally provided between the motor 351 and the worm gear 352 of the track type mobile device M according to another embodiment of the present invention so that the worm gear 352, The friction that may occur with other components can be prevented due to the rotational force transmitted to the first shaft 352.

As described above, according to the track-type moving device M according to another embodiment of the present invention, the control unit controls the motor 351 so that the left track part 300 and the right track part 500 of the main body 100 are tilted so that the rear end of the track portion located outside the turning direction of the main body 100 is lowered in the paper surface direction than the front end portion of the main body 100. In the left track portion 300 and the right track portion 500, The front end portion of the track portion located inside the turning direction of the main body 100 may be tilted so as to descend in the paper surface direction more than the rear end portion.

As described above, according to the track-type mobile device M according to another embodiment of the present invention, the control unit includes a receiving unit (not shown) performing a function of receiving a command regarding the turning direction from the user; And a command unit (not shown) for controlling the motor according to the command to rotate the worm gear and rotate the worm wheel gear connected to the worm gear so as to tilt the left track part or the right track part Lt; / RTI >

13 is a conceptual view schematically showing a state in which a plurality of support rollers 43 constituting the left track portion 40 of the conventional track type moving device M are arranged in a line.

14 is a schematic view schematically showing an arrangement structure of a plurality of support roller units 330 constituting a left track part 300 of a track-like moving device M according to the present invention.

15 shows a state in which a plurality of support rollers 331 constituting the left track part 300 of the track type moving device M according to the embodiment of the present invention are disposed so as to gradually descend downward toward the center Fig.

The left track portion 40 of the conventional track type moving device M includes a front end pulley 41, a rear end pulley 42, a power transmission belt 44, a support roller 43 and a track sub frame 45 I will. The support rollers 43 are arranged in a line in parallel with the ground surface.

Due to the arrangement structure of the plurality of support rollers 43, the track portions of the conventional track-like moving device M are rotated in a swiveled state or a full rotation of the track portion receives the frictional force from the ground, Or rotation is difficult.

The left track portion 300 of the track type moving device M according to an embodiment of the present invention includes a front end pulley unit 310, a rear end pulley unit 320, a support roller unit 330, a power transmission belt 340, And a track subframe 350.

The front-end pulley unit 310 may be provided on the front end side of the main body, and the rear end pulley unit 320 may be provided on the rear end side of the main body.

The power transmission belt 340 may be wound around the outer circumference of the front-end pulley unit 310 and the rear-end pulley unit 320.

The support roller unit 330 may be provided between the front-end pulley unit 310 and the rear-end pulley unit 320 along the front-rear direction. The plurality of support roller units 330 need not necessarily be provided in a row in a conventional manner.

The track subframe 350 may be connected to the front end pulley unit 310, the rear end pulley unit 320, the plurality of support roller units 330,

Each of the plurality of support roller units (330) includes: a support roller (331); And a spring 332. One end of the spring 332 may be connected to the track subframe 350 and the support roller 331 may be rotatably connected to the other end.

In addition, at least one of the plurality of support roller units 330 may be configured to apply a greater ground pressure to the ground than the other support roller unit 330. [ To this end, the plurality of support rollers 331 constituting the plurality of support roller units 330 may be arranged to have different heights.

Through this structure, the entire lower surface of the track portion made to contact the ground surface can be brought into contact with a part of the lower surface rather than receiving uniform ground pressure from the ground surface. If the grounding pressure is concentrated on a portion, it is possible to reduce the frictional force from the ground, which is received when the ground pressure is uniformly distributed throughout the ground, or when the ground is turned or steered. Therefore, it is possible to improve the turning ability or the steering ability of the track-type mobile device M of the present invention.

The plurality of support roller units 330 of the track type moving device M according to another embodiment of the present invention is configured such that the farther from the front end pulley unit 310 and the rear end pulley unit 320, It can be arranged to apply a grounding pressure.

That is, the plurality of support roller units 330 may be arranged so that the support roller units 330 arranged at the center are further downwardly arranged in the paper surface direction.

For this purpose, the lengths of the springs 332 constituting the plurality of support roller units 330 are made different from each other, so that they are arranged distant from the front-end pulley unit 310 and the rear-end pulley unit 320, The support roller 331 may be lowered in the direction of the paper surface.

The lengths of the springs 332 constituting the plurality of support roller units 330 are equal to each other, but the tension of the springs 332 arranged at the center is made larger or the spring constant of the springs 332 arranged at the center the spring constant may be applied to a larger number or the number of overlapping springs may be different.

In this case, the bottom surface of the track 332 is convexly projected in the direction of the ground, but the spring 332 is compressed by the weight of the track-like moving device M so that the lower portion of the track portion can be evenly grounded .

As a result, if the plurality of support roller units 330 are disposed so as to be farther from the front-end pulley unit 310 and the rear-end pulley unit 320 so as to apply a larger ground pressure to the ground, It is possible to reduce the frictional force from the floor surface when the vehicle is turned in a swivel or steeply steerable manner.

16 is a view showing a state where a plurality of support roller units 330 constituting the left track portion of the track-like moving device M according to another embodiment of the present invention gradually uses a support roller 331 of a larger shape progressively toward the center FIG. 3 is a conceptual view showing a state in which a central portion is formed into a convex structure.

According to another embodiment of the present invention, the plurality of support roller units 330 may be composed of the support roller 331 and the elastic part 333.

The elastic portion 333 is configured to surround the outer periphery of the support roller 331 and may be made of an elastic material.

The supporting roller 331 of the supporting roller unit 330 located far away from the front end pulley unit 310 and the rear end pulley unit 320 is supported by the supporting roller unit 330 331).

In this case, the bottom surface is convexly protruded in the center direction, but the elastic portion 333 is pressed by the weight of the track-like moving device M so that the lower portion of the track portion can be evenly grounded do.

It will be apparent to those skilled in the art that various modifications, substitutions and alterations can be made hereto without departing from the spirit and scope of the invention as defined by the appended claims. will be.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. .

The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be interpreted as being included in the scope of the present invention.

M: Orbit-type mobile device (multi-joint variable shape platform)
10: Main body
20: Upper left track part
30: right upper track part
40: Lower left track part
41: shear pulley 42: rear end pulley
43: Support roller 44: Power transmission belt
45: track subframe
50: right lower track portion
60: Upper left rotational joint
70: upper right turning joint
80: left lower joint
90: Right lower joint
100: Main body
101: Left upper joint
102: Upper right turning joint
110: Upper left track
120: upper right track
200: left lower rotary joint
300: left lower track part
310: Shearing pulley unit
320: rear end pulley unit
330: Support roller unit
331: Support roller 332: Spring
333:
340: Power transmission belt
350: track subframe
351: motor 352: worm gear
353: Bearings
400: Right lower joint
500: right lower track portion

Claims

Main body;
A left rotating joint and a right rotating joint rotatably connected to both left and right sides of the main body;
A left track portion and a right track portion rotatably connected to the left rotary joint and the right rotary joint, respectively, for moving or pivoting the main body; And
And a control unit controlling the left rotary joint or the right rotary joint to tilt the left track part or the right track part when the main body turns,
Each of the left track portion and the right track portion includes:
Shear pulley unit;
A rear end pulley unit;
A power transmission belt wound around the outer periphery of the front end pulley unit and the rear end pulley unit;
A plurality of support roller units disposed along the front-rear direction between the front-end pulley unit and the rear-end pulley unit; And
A rear end pulley unit, and a track part frame to which a plurality of support roller units are connected,
Wherein each of the plurality of support roller units comprises:
A support roller; And
And a spring having one end connected to the track subframe and the other end rotatably connected to the support roller,
Wherein at least one of the plurality of support roller units applies a greater ground pressure to the ground than the other support roller unit.

Main body;
A left rotating joint and a right rotating joint rotatably connected to both left and right sides of the main body;
A left track portion and a right track portion rotatably connected to the left rotary joint and the right rotary joint, respectively, for moving or pivoting the main body; And
And a control unit controlling the left rotary joint or the right rotary joint to tilt the left track part or the right track part when the main body turns,
Each of the left track portion and the right track portion includes:
A front end pulley unit provided on a side surface of a front end of the main body;
A rear end pulley unit provided at a rear end side of the main body;
A power transmission belt wound around the outer periphery of the front end pulley unit and the rear end pulley unit;
A plurality of support roller units connected between the front end pulley unit and the rear end pulley unit to the side surface of the main body along the front and rear direction; And
A rear end pulley unit, and a track part frame to which a plurality of support roller units are connected,
Wherein each of the plurality of support roller units comprises:
A support roller; And
And an elastic portion surrounding the outer periphery of the support roller,
At least one of the plurality of support roller units applies a greater ground pressure to the ground than the other support roller unit,
Wherein the support roller of the support roller unit located away from the front-end pulley unit and the rear-end pulley unit is larger in diameter than the support roller of the support roller unit located close to the support roller unit.

3. The method according to claim 1 or 2,
Wherein,
Wherein the rear portion of the track portion located outward of the turning direction of the main body among the left track portion and the right track portion is tilted so as to be lower in the paper surface direction than the front end portion.

The method of claim 3,
Wherein,
A receiving unit for receiving a command relating to a turning direction from a user;
And a command section for controlling the left rotary joint or the right rotary joint so as to tilt the left track section or the right track section according to the command.

3. The method according to claim 1 or 2,
Wherein,
Wherein a front end portion of a track portion located inside a turning direction of the main body among the left track portion and the right track portion is tilted so as to be lowered in a plane direction than the rear end portion.

6. The method of claim 5,
Wherein,
A receiving unit for receiving a command relating to a turning direction from a user;
And a command section for controlling the left rotary joint or the right rotary joint so as to tilt the left track section or the right track section according to the command.

Main body;
A left rotating joint and a right rotating joint rotatably connected to left and right sides of the main body, respectively, and each having a worm gear and a motor to tilt the left track portion or the right track portion, respectively;
A left track portion and a right track portion rotatably connected to the left rotary joint and the right rotary joint, respectively, for moving or pivoting the main body, and each having a worm wheel gear connected to the worm gear; And
And a control unit for controlling the motor to rotate the worm gear so that the worm wheel gear connected to the worm gear rotates together to tilt the left track part or the right track part,
Each of the left track portion and the right track portion includes:
Shear pulley unit;
A rear end pulley unit;
A power transmission belt wound around the outer periphery of the front end pulley unit and the rear end pulley unit;
A plurality of support roller units disposed along the front-rear direction between the front-end pulley unit and the rear-end pulley unit; And
A rear end pulley unit, and a track part frame to which a plurality of support roller units are connected,
Wherein each of the plurality of support roller units comprises:
A support roller; And
And a spring having one end connected to the track subframe and the other end rotatably connected to the support roller,
Wherein at least one of the plurality of support roller units applies a greater ground pressure to the ground than the other support roller unit.

Main body;
A left rotating joint and a right rotating joint rotatably connected to left and right sides of the main body, respectively, and each having a worm gear and a motor to tilt the left track portion or the right track portion, respectively;
A left track portion and a right track portion rotatably connected to the left rotary joint and the right rotary joint, respectively, for moving or pivoting the main body, and each having a worm wheel gear connected to the worm gear; And
And a control unit for controlling the motor to rotate the worm gear so that the worm wheel gear connected to the worm gear rotates together to tilt the left track part or the right track part,
Each of the left track portion and the right track portion includes:
A front end pulley unit provided on a side surface of a front end of the main body;
A rear end pulley unit provided at a rear end side of the main body;
A power transmission belt wound around the outer periphery of the front end pulley unit and the rear end pulley unit;
A plurality of support roller units connected between the front end pulley unit and the rear end pulley unit to the side surface of the main body along the front and rear direction; And
A rear end pulley unit, and a track part frame to which a plurality of support roller units are connected,
Wherein each of the plurality of support roller units comprises:
A support roller; And
And an elastic portion surrounding the outer periphery of the support roller,
At least one of the plurality of support roller units applies a greater ground pressure to the ground than the other support roller unit,
Wherein the support roller of the support roller unit located away from the front-end pulley unit and the rear-end pulley unit is larger in diameter than the support roller of the support roller unit located close to the support roller unit.

9. The method according to claim 7 or 8,
Wherein,
Wherein a rear end portion of a track portion located outwardly of a turning direction of the main body among the left track portion and the right track portion is tilted so as to be lower in a paper surface direction than the front end portion,
Wherein a front end portion of a track portion located inside a turning direction of the main body among the left track portion and the right track portion is tilted so as to be lowered in a plane direction than the rear end portion.

10. The method of claim 9,
Wherein,
A receiving unit for receiving a command relating to a turning direction from a user;
And a command portion for controlling the motor in accordance with the command to rotate the worm gear and rotate the worm wheel gear connected to the worm gear so as to tilt the left track portion or the right track portion. Type moving device.

9. The method according to claim 7 or 8,
Wherein the plurality of support roller units comprise:
And a greater ground pressure is applied to the ground as the distance from the front-end pulley unit and the rear-end pulley unit increases.