Variable grouser track modules and robots that use them
Patent Information
- Application Number
- KR1020250026449
- Authority / Receiving Office
- KR · KR
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2025-02-28
- Publication Date
- 2026-09-04
Smart Images
Figure PAT00001_ABST
Abstract
Description
Technology Field
[0001] The present invention relates to a variable grouser track module and a robot using the same, and more specifically, to a variable grouser track module capable of improving terrain adaptability by adjusting the ground contact area of the track and a robot using the same. Background Technology
[0002] Grousers are attached to the surface of track links on vehicles such as tanks, bulldozers, robots, and off-road vehicles to improve traction with the ground. This enhances traction on rough terrain, increases ground penetration, and distributes weight to maximize propulsion through the tracks. In particular, they possess characteristics that are advantageous for improving performance in low-grip environments.
[0003] However, track systems utilizing grousers can damage the road surface due to excessive friction on specific surfaces such as roads and asphalt. Furthermore, problems such as track slipping or spinning may occur in environments with insufficient traction, like sand, snow, or rocks, or in environments with discontinuous elevation changes, such as slopes, stairs, or ladder structures. These phenomena can reduce propulsion and limit driving performance.
[0004] In particular, in the case of a one-track structure, it is difficult to effectively disperse impact with the ground, and when driving on uneven terrain, it cannot sufficiently absorb vibrations and shocks, so there is a high possibility of large drops occurring.
[0005] Korean registered patent 10-0920939 discloses a technology that improves propulsion and fuel efficiency by configuring a fixed propulsion plate, which enables the movement of a ship, to push water, thereby converting the direction of motion of the screw to the direction of motion of the ship. However, this technology has limitations in that it is only applicable to underwater environments and is not suitable for track systems that travel on various terrains on land.
[0006] Meanwhile, the study by Masataku Sutoh et al. (EVALUATION OF INFLUENCE OF WHEEL SURFACE SHAPES ON TRACTIVE EFFICIENCIES OF PLANETARY ROVERS IN VARIOUS SOIL ENVIRONMENTS, ADVANCED ROBOTICS, 2012) evaluated the performance of planetary rovers by adjusting the number and height of grousers in various soil environments and confirmed that the design of the grousers can be optimized according to the pressure-subsidence characteristics of specific soils. However, this method has limitations in that it does not provide a universal solution for all terrains and has the problem that it is difficult to apply immediately in response to environmental changes.
[0007] The study by Viduranga Landers and Samitha Ranasinghe (A Self Adapting Wheel System For Space Exploration Rovers, 2021, International Astronautical Congress (IAC)) designed a Spoke Adjustable Wheel System (SAWS) to adapt to various terrains by adjusting the height of grousers attached to the wheels. However, this is limited to wheel-based systems, and performance may be restricted on slippery surfaces such as slopes at specific angles, deep sand, and snow. Additionally, there are mechanical limitations to the ability to overcome obstacles, and it has the disadvantage of requiring time to adapt to changes in the environment.
[0008] Accordingly, research is required to solve the aforementioned problems. The problem to be solved
[0009] The present invention provides a variable grouser track module capable of adapting to various terrains and a robot using the same.
[0010] In addition, the present invention provides a variable grouser track module capable of immediately responding to changes in terrain and a robot using the same.
[0011] In addition, the present invention provides a variable grouser track module that improves obstacle overcoming ability and enables stable driving even in low-ground-level environments, and a robot using the same. means of solving the problem
[0012] A variable grouser track module according to the present invention may include: a support frame having a receiving space formed therein; a sprocket disposed within the receiving space and rotating by power; a chain provided along the circumference of the support frame and rotating in engagement with the sprocket; a plurality of grousers arranged in a line along the chain, each pin-coupled to the chain; a guide frame supporting the grousers on the movement track of the grousers; and a frame moving part that moves the guide frame to change the alignment angle of the grousers.
[0013] Additionally, the grouser may include a first region coupled with the pin; and a second region having a larger cross-sectional area than the first region, with at least a portion of the area supported by the guide frame.
[0014] In addition, the cross-sectional area may gradually increase from the first region to the second region.
[0015] Additionally, the grouser comprises a first surface; a second surface provided at a predetermined angle with respect to the first surface; and a third surface provided as a curved surface connecting the first surface and the second surface, wherein the grouser can be pin-coupled in the area between the first surface and the second surface.
[0016] Additionally, the frame moving part may include a connecting bracket that is provided with a predetermined length, one end of which is coupled to the rotation axis of the sprocket and the other end of which is axially coupled to the guide frame and is rotatable together with the rotation axis of the sprocket.
[0017] Additionally, the frame moving part moves the guide frame such that the path in which the guide frame supports the plurality of grousers varies between a first path and a second path, wherein the second path can surround the first path.
[0018] Additionally, the guide frame may include a plurality of first curved frames located in a first area of the receiving space and combined to form a half-arc shape; a plurality of second curved frames located in a second area of the receiving space and combined to form a half-arc shape; and a pair of horizontal frames located between the first area and the second area and arranged parallel to each other, wherein in the first path, the first curved frames and the second curved frames are arranged on a first radius and the pair of horizontal frames are arranged at a first interval, and in the second path, the first curved frames and the second curved frames are arranged on a second radius larger than the first radius and the pair of horizontal frames are arranged at a second interval larger than the first interval.
[0019] Additionally, the frame moving part comprises: a body located on the inner side of the first curved frames and having a plurality of guide holes formed radially with respect to the center thereof; a rack gear inserted into each of the guide holes, with its tip protruding outward from the body and individually connected to the first curved frames or a horizontal frame; a pinion gear meshing with the rack gear; and a gear driving part that rotates the pinion gear, wherein the rack gear can move linearly along the guide holes by the rotation of the second pinion gear.
[0020] Additionally, the gear drive unit may include a ring gear having gear teeth formed along an inner surface and said gear teeth meshing with said pinion gears; and a drive gear that rotates by meshing with the gear teeth of said ring gear.
[0021] In addition, the pinion gear meshes with the gear teeth of the ring gear and can rotate together with the rotation of the ring gear.
[0022] Additionally, the frame moving part comprises: a fixed bracket into which the rotation axis of the sprocket is inserted and whose rotation is separated from the rotation axis of the sprocket; a movable bracket into which the rotation axis of the sprocket is inserted and which is movable along the longitudinal direction of the rotation axis of the sprocket; a first link, one end of which is connected to the fixed bracket and the other end of which is connected to the first curved frame; and a second link, one end of which is connected to the movable bracket, which is pin-coupled by crossing the first link, and the other end of which is connected to the first curved frame, wherein the movable bracket may be movable along the rotation axis of the sprocket so as to adjust the distance between it and the fixed bracket.
[0023] A robot using a variable grouser track module according to the present invention comprises a main body; and a pair of track modules provided on each side of the main body and moving the main body, wherein each of the track modules may include: a support frame having a receiving space; a sprocket disposed within the receiving space and rotating by power; a chain provided along the circumference of the support frame and rotating in engagement with the sprocket; a plurality of grousers arranged in a line along the chain, each pin-coupled to the chain; a guide frame supporting the grouser on the movement trajectory of the grouser; a frame moving part that moves the guide frame to change the alignment angle of the grouser; and a main driving part that rotates the sprocket.
[0024] Additionally, the grouser may include a first region coupled with the pin; and a second region having a larger cross-sectional area than the first region, with at least a portion of the area supported by the guide frame.
[0025] Additionally, the frame moving part may include a connecting bracket that is provided with a predetermined length, one end of which is coupled to the rotation axis of the sprocket and the other end of which is axially coupled to the guide frame and is rotatable together with the rotation axis of the sprocket.
[0026] Additionally, the frame moving part moves the guide frame such that the path in which the guide frame supports the plurality of grousers varies between a first path and a second path, wherein the second path can surround the first path. Effects of the invention
[0027] According to the present invention, the angle of the grouser can be flexibly adjusted using a frame moving part and a guide frame according to changes in terrain.
[0028] In addition, according to the present invention, it is possible to immediately respond to obstacles, low-ground environments, and changes in terrain by adjusting the angle of the grouser.
[0029] In addition, according to the present invention, stable driving is possible on unstable terrain due to the shape of the grouser, and energy efficiency can be improved. Brief explanation of the drawing
[0030] FIG. 1 is a perspective view of a robot according to one embodiment of the present invention. FIG. 2 is a perspective view of the track module of FIG. 1 viewed from the inside. FIG. 3 is a perspective view of the track module viewed from the outside. Figure 4 is a side view of the inner side of the track module. Figure 5 is an exploded perspective view of the track module of Figure 2. Figure 6 is a drawing showing the grouser viewed from below. FIG. 7 is a diagram showing the alignment state of the grousers when the track module according to one embodiment of the present invention is driven on flat ground. Figure 8 is a drawing showing the process of moving the guide frame through the frame moving part of Figure 7. Figure 9 is a diagram showing the grousers of the track module transformed to the maximum angle through the process of Figure 8. Figure 10 is a drawing showing the movement of the connecting bracket when the track module's grouser collides with the guide frame. FIG. 11 is a side view of a track module according to another embodiment of the present invention. FIG. 12 is a partially enlarged perspective view of the track module of FIG. 11. FIG. 13 is a perspective view showing the track module arranged along the first path. FIG. 14 is a cross-sectional view showing the guide frame arranged along the first path. FIG. 15 is a perspective view showing the track module arranged in a second path. FIG. 16 is a cross-sectional view showing the guide frame arranged in the second path. FIG. 17 is a front view of a track module according to another embodiment of the present invention. FIG. 18 is a partially enlarged view of the frame moving part and guide frame of FIG. 17. FIG. 19 is a disassembled perspective view of the drive gear of the guide frame of FIG. 18. FIG. 20 is a front view of a track module in which a guide frame is arranged along a first path. FIG. 21 is a front view of a track module in which a guide frame is arranged along a second path. Specific details for implementing the invention
[0031] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. However, the technical concept of the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided to ensure that the disclosed content is thorough and complete and to ensure that the concept of the present invention is sufficiently conveyed to those skilled in the art.
[0032] In this specification, when a component is described as being on another component, it means that it may be formed directly on the other component or that a third component may be interposed between them. Additionally, in the drawings, the thicknesses of the films and regions are exaggerated for the effective description of the technical content.
[0033] Additionally, although terms such as first, second, third, etc., have been used to describe various components in the various embodiments of this specification, these components should not be limited by such terms. These terms are used merely to distinguish one component from another. Accordingly, what is referred to as the first component in one embodiment may be referred to as the second component in another embodiment. Each embodiment described and illustrated herein also includes its complementary embodiment. Furthermore, in this specification, "and / or" is used to mean including at least one of the components listed before and after it.
[0034] In the specification, singular expressions include plural expressions unless the context clearly indicates otherwise. Furthermore, terms such as "include" or "have" are intended to specify the existence of the features, numbers, steps, components, or combinations thereof described in the specification, and should not be understood as excluding the existence or addition of one or more other features, numbers, steps, components, or combinations thereof. Additionally, in this specification, "connection" is used to include both indirectly connecting multiple components and directly connecting them.
[0035] In addition, in describing the present invention below, if it is determined that a detailed description of related known functions or configurations could unnecessarily obscure the essence of the invention, such detailed description will be omitted.
[0037] FIG. 1 is a perspective view of a robot (10) according to an embodiment of the present invention, FIG. 2 is a perspective view of the track module (100) of FIG. 1 viewed from the inside direction, FIG. 3 is a perspective view of the track module (100) viewed from the outside direction, FIG. 4 is a view of the track module (100) viewed from the side, FIG. 5 is an exploded perspective view of the track module (100) of FIG. 2, and FIG. 6 is a view showing the grouser (140) viewed from below.
[0038] Referring to FIGS. 1 to 6, a robot (10) according to one embodiment of the present invention can respond to various terrains and / or changes in terrain by adjusting the contact area through a track module (100) according to terrain characteristics. Hereinafter, for convenience of explanation, the driving direction of the robot (10) is referred to as the first direction (11), the direction perpendicular to the first direction (11) when viewed from above is referred to as the second direction (12), and the up-and-down direction is referred to as the third direction (13).
[0039] A robot (10) according to one embodiment of the present invention includes a main body (50), a track module (100), and a main drive unit (not shown).
[0040] The main body (50) is provided as the body of the robot (10) and is located at a predetermined height from the ground. The main body (50) has a predetermined size and shape, and an internal space of a predetermined area is formed. The internal space accommodates a main drive unit for driving and controlling the robot (10).
[0041] A pair of track modules (100) are provided and are positioned on each side of the main body (50). The track modules (100) move the main body (50) to enable the robot (10) to drive. A pair of track modules (100) have the same structure. For convenience of explanation, one of the track modules (100) will be described below as an example.
[0042] The track module (100) includes a support frame (110), a sprocket (130), a chain (120), a grouser (140), a guide frame (150), and a frame moving part (160).
[0043] The support frame (110) is a structure that supports and / or connects the components of the track module (100) and is positioned at a predetermined distance from the ground.
[0044] The support frame (110) has an outer surface of a circular track and is provided in a form where at least a portion of the front and rear surfaces are open. According to an embodiment, the top and bottom surfaces of the support frame (110) are formed flat, and both ends are formed as curved surfaces with a predetermined curvature. Both ends of the support frame (110) each have a semicircular shape.
[0045] A guide groove is formed along the perimeter of the edge area of the support frame (110). The guide groove is formed in the shape of a circular track. The guide groove is formed to a predetermined depth in the second direction (12).
[0046] A receiving space (111) is formed on the inner side of the support frame (110). According to an embodiment, the receiving space (111) is formed on one side inside the support frame (110). The receiving space (111) is a circular space with a predetermined radius. The receiving space (111) has the same radius as the semicircular area of the guide groove, and a portion of the area overlaps with a portion of the guide groove. A through hole is formed in the center of the receiving space (111) and penetrates in a second direction (12). The driving shaft of the main driving unit is inserted into the through hole.
[0047] A support member (112) is formed in the support frame (110) at a predetermined distance from the receiving space (111). The support member (112) is positioned in a third direction (13) in its length direction and connects the upper and lower ends of the support frame (110). A through hole is formed in the support member (112) that penetrates in a second direction (12). The through hole formed in the support member (112) and the through hole formed in the receiving space (111) are located on the same straight line in the first direction (11).
[0048] The chain (120) is positioned within the guide groove and forms a closed path along the perimeter of the support frame (110). The chain (120) is provided in a structure in which a plurality of links are connected. According to an embodiment, the thickness of the chain (120) is provided to correspond to or less than the depth of the guide groove. The length of the chain (120) is provided to correspond to the track length of the guide groove.
[0049] The sprocket (130) has a predetermined diameter and is placed within the receiving space (111). According to an embodiment, the sprocket (130) has a diameter corresponding to or smaller than the diameter of the receiving space (111). The sprocket (130) has teeth formed along its circumference, and the teeth engage with the chain (120).
[0050] According to an embodiment, the teeth of the sprocket (130) engage with the chain (120) in the overlapping area of the guide groove and the receiving space (111). A through hole is formed in the center of the sprocket (130). The through hole is located at the same point as the through hole in the receiving space (111). A drive shaft is inserted into the through hole of the sprocket (130) and the through hole of the receiving space (111). The sprocket (130) rotates integrally with the drive shaft. When the sprocket (130) rotates, the chain (120) rotates together with the teeth of the sprocket (130).
[0051] The grouser (140) contacts the ground and provides traction to the track module (100). Multiple grousers (140) are provided and arranged in a line along the entire circumference of the chain (120). Multiple grousers (140) are individually connected to the chain (120). According to an embodiment, multiple grousers (140) are pin-connected to the chain (120).
[0052] The grousers (140) have the same shape and size. For convenience of explanation, one grouser (140) will be described below as an example.
[0053] The grouser (140) has a shape in which the weight of one end pin-connected to the chain (120) and the other end spaced apart from it are different. According to an embodiment, the grouser (140) has a shape in which the cross-sectional area of the one end pin-connected to the chain (120) is smaller than the cross-sectional area of the other end spaced apart from it. According to one example, the grouser (140) may have a fan shape.
[0054] Specifically, the grouser (140) includes a first surface (141), a second surface (142), and a third surface (143).
[0055] The first surface (141) is provided as one side of the grouser (140) for a predetermined length, and is positioned so that its length direction is inclined at a predetermined angle with respect to the first direction (11).
[0056] The second surface (142) is another side of the grouser (140) and extends from one end of the first surface (141) at a predetermined angle. The angle between the first surface (141) and the second surface (142) is acute. The second surface (142) is provided with the same area as the first surface (141).
[0057] The third surface (143) is another side of the grouser (140) and is provided as a curved surface having a predetermined curvature. The third surface (143) connects the other end of the first surface (141) and the other end of the second surface (142).
[0058] The grouser (140) having the shape described above may include a first region and a second region.
[0059] The first region is the region where the first surface (141) and the second surface (142) meet, and the second region is the region that extends from the first region and is enclosed by the third surface (143). The cross-sectional area gradually increases from the first region to the second region.
[0060] With the shape of the grouser (140) described above, the second region is provided to be heavier than the first region.
[0061] A connecting pin (144) is formed on the grouser (140). The connecting pin (144) is formed in a first region of the grouser (140). The connecting pin (144) protrudes a predetermined length from the upper surface and the lower surface of the grouser (140), respectively. The connecting pin (144) is connected to the chain (120). The grouser (140) can rotate relative to the chain (120) around the connecting pin (144).
[0062] A guide space is formed in the grouser (140). The guide space is formed at the bottom of the first surface (141) and is formed to a predetermined depth inside the grouser (140). A pair of connecting protrusions (145) are formed on the inner surface of the guide space. The pair of connecting protrusions (145) protrude from the inner surface of the guide space in a central direction for a predetermined length, and their ends maintain a predetermined distance apart.
[0063] The guide frame (150) is positioned facing the support frame (110) with the sprocket (130) in between, and supports the grouser (140) on the movement path of the grouser (140). According to an embodiment, the guide frame (150) is located on the inner side of the support frame (110).
[0064] The guide frame (150) has an outer surface of a circular track and is provided in a form where at least a portion of the front and rear surfaces are open. According to an embodiment, the top and bottom surfaces of the guide frame (150) are formed flat, and both ends are formed as curved surfaces with a predetermined curvature. Both ends of the guide frame (150) each have a semicircular shape. The guide frame (150) is provided in a reduced size while maintaining a shape corresponding to the outer surface of the support frame (110).
[0065] A coupling groove (151) is formed along the circumference of the outer surface of the guide frame (150). The coupling groove (151) is formed on the front and rear surfaces of the guide frame (150). The coupling groove (151) is formed to a predetermined depth in the second direction (12). A coupling projection (145) of the grouser (140) is inserted into the interior of each coupling groove (151).
[0066] A first support member (152) and a second support member (153) are formed on the inner side of the guide frame (150). The first support member (152) and the second support member (153) are spaced apart by a predetermined distance in the first direction (11) and each connect the upper and lower ends of the guide frame (150). A through hole is formed in each of the first support member (152) and the second support member (153) and penetrates in the second direction (12). The through hole formed in the first support member (152) is aligned with the through hole of the sprocket (130) and the through hole of the receiving space (111). The through hole formed in the second support member (153) is aligned with the through hole formed in the support member of the support frame (110).
[0067] The frame moving part (160) moves the guide frame (150) so that the alignment angle of the grousers (140) is changed. The frame moving part (160) includes a first connecting bracket (161), a second connecting bracket (162), and a bracket rotating part.
[0068] The first connecting bracket (161) has a predetermined length. The first connecting bracket (161) has fastening holes formed at each end in the longitudinal direction. The fastening holes are formed by penetrating in the second direction (12).
[0069] The first connecting bracket (161) is positioned between the guide frame (150) and the sprocket (130). The first connecting bracket (161) has a fastening hole formed at one end that is aligned with the insertion hole and the fastening hole formed in the receiving space (111) of the sprocket (130).
[0070] A drive shaft is inserted into a fastening hole formed at one end of the first connecting bracket (161). A bearing is provided between the drive shaft and the first connecting bracket (161), and the first connecting bracket (161) can rotate relative to the drive shaft by means of the bearing. A connecting shaft is inserted into a fastening hole formed at the other end of the first connecting bracket (161) and a fastening hole of the first support (152), and the first connecting bracket (161) can rotate around the connecting shaft as an axis.
[0071] The second connecting bracket (162) has the same shape as the first connecting bracket (161), one end is axially connected to the support (112), and the other end is axially connected to the second support (153) of the guide frame (150).
[0072] The bracket rotation unit rotates the second connecting bracket (162). Specifically, the second connecting bracket (162) is rotated around the connection axis between the second connecting bracket (162) and the second support (153). Due to the rotation of the second connecting bracket (162), the guide frame (150) moves, and the first connecting bracket (161) rotates around the drive shaft. Due to this movement of the guide frame (150), the grousers (140) rotate around the coupling pin (144) as an axis, thereby adjusting the alignment angle of the grousers (140).
[0073] The main drive unit is positioned within the internal space of the main body (50) and rotates the drive shaft. When the drive shaft rotates, the sprocket (130) rotates together with it, and the chain (120) rotates by engaging with the teeth of the sprocket (130). As the chain (120) rotates, the robot (10) moves as the grousers (140) move along the track.
[0075] Hereinafter, the process of adjusting the ground contact area of a robot (10) through a track module (100) according to one embodiment of the present invention will be explained in detail.
[0076] FIG. 7 is a drawing showing the alignment state of the grousers (140) when the track module (100) according to one embodiment of the present invention is driven on flat ground, FIG. 8 is a drawing showing the process of moving the guide frame (150) through the frame moving part (160) of FIG. 7, and FIG. 9 is a drawing showing the appearance of the grousers (140) of the track module (100) converted to a maximum angle through the process of FIG. 8.
[0077] First, referring to FIG. 7, when the robot (10) travels on a flat surface, the second connecting bracket (162) rotates by driving the bracket pivot part so that its length direction is positioned in the length direction of the second support (153). With the rotation of the second connecting bracket (162), the guide frame (150) moves and the first connecting bracket (161) is positioned in the length direction of the first support (152).
[0078] As the guide frame (150) moves, the grousers (140) rotate around the coupling pin (144) as an axis, thereby adjusting the angle of the grousers (140). The grousers (140) in contact with the ground have their second surface (142) positioned parallel to the ground and come into contact with the ground. In this state, the sprocket (130) rotates, and as the chain (120) rotates in engagement with the teeth of the sprocket (130), the grousers (140) move along the track. While the grousers (140) are in contact with the ground, the entire area of the second surface (142) is in contact with the ground, so the ground contact force can be maintained stably.
[0079] Referring to FIGS. 8 and 9, when the robot (10) moves over a slippery surface or rough terrain or obstacle such as stairs, deep sand or snow, the bracket pivot rotates the second connecting bracket (162).
[0080] By driving the bracket rotation part, the second connecting bracket (162) rotates at a predetermined angle relative to the second support (153). Due to the rotation of the second connecting bracket (162), the guide frame (150) moves, and the first connecting bracket (161) is positioned at a predetermined angle relative to the first support (152). During this process, the relative position of the guide frame (150) with respect to the support frame (110) is changed.
[0081] As the guide frame (150) moves, the grousers (140) rotate around the connecting pin (144) as an axis, thereby adjusting the angle of the grousers (140). The grousers (140) in contact with the ground are positioned so that the second surface (142) and the third surface (143) are inclined at a predetermined angle with respect to the ground.
[0082] In this state, the sprocket (130) rotates, and as the chain (120) rotates in engagement with the teeth of the sprocket (130), the grousers (140) move along the track. While the grousers (140) are in contact with the ground, the second surface (142) and the third surface (143) are positioned at a predetermined angle with respect to the ground, so they dig into surfaces such as deep sand or snow, thereby increasing traction. Additionally, at the angle between the second surface (142) and the third surface (143) of the grouser (140), they can climb obstacles such as stairs.
[0084] In this way, the frame moving part (160) can adjust the rotation angle of the first and second connecting brackets (161, 162) according to the characteristics of the terrain. When the first and second connecting brackets (161, 162) rotate to the maximum range, the guide frame (150) is positioned adjacent to the bottom of the support frame (110), and the second surface (142) and third surface (143) of the grouser (140) in contact with the ground can be positioned at the maximum angle of inclination.
[0086] FIG. 10 is a drawing showing the movement of the connecting bracket when the grouser (140) of the track module (100) collides with the guide frame (150).
[0087] Referring to FIG. 10, when the track module (100) moves over rough terrain, obstacles, or slopes or changes direction, the first connecting bracket (161) and the second connecting bracket (162) rotate at independent angles to adjust the angle of the guide frame (150). When rough terrain, obstacles, or slopes are positioned in front, the front grouser (140) and the guide frame (150) collide, causing the first connecting bracket (161) to rotate at a predetermined angle. In this case, the second connecting bracket (162) rotates at a different angle relative to the first connecting bracket (161), and the rear area of the guide frame (150) is positioned at an angle relative to the front area. As a result, collision and damage between the rear grousers (140) and the guide frame (150) are prevented, and stable operation can be maintained.
[0089] FIG. 11 is a side view of a track module (200) according to another embodiment of the present invention, and FIG. 12 is a partially enlarged perspective view of the track module (200) of FIG. 11.
[0090] Referring to FIGS. 11 and 12, a track module (200) according to another embodiment of the present invention includes a support frame (110), a sprocket (130), a chain (120), a grouser (140), a guide frame (250), and a frame moving part (260, 270).
[0091] The support frame (110), sprocket (130), and chain (120) are provided in the same manner as the structure described above, so a detailed description is omitted.
[0092] The side of the grouser (140) includes a first surface (141), a second surface (142), and a third surface (143). The first surface (141) is provided as one side of the grouser (140) for a predetermined length and is positioned so that its length direction is inclined at a predetermined angle with respect to the first direction (11). The second surface (142) is as the other side of the grouser (140) and extends from one end of the first surface (141) at a predetermined angle. The angle between the first surface (141) and the second surface (142) is acute. The second surface (142) is provided with the same area as the first surface (141). The third surface (143) is as yet another side of the grouser (140) and is provided as a curved surface with a predetermined curvature. The third side (143) connects the other end of the first side (141) and the other end of the second side (142). A connecting pin (144) protrudes from the front and rear of the grouser (140) for a predetermined length.
[0093] The guide frame (250) supports the grousers (140) on the movement path of the grousers (140). The grousers (140) are arranged in a line along the circumference of the guide frame (250).
[0094] The guide frame (250) includes a first curved frame (251), a second curved frame (252), and a horizontal frame.
[0095] A first curved frame (251) is located in a first area of the receiving space (111) and is provided in multiple numbers. The first area of the receiving space (111) is an area corresponding to a semi-circular shape formed on one side of the support frame (110). Each first curved frame (251) is provided as a thin plate. The first curved frames (251) have the same structure and are combined to form a semi-circular shape. According to an embodiment, three first curved frames (251) are provided.
[0096] A pair of link fasteners is formed on each first curved frame (251). The link fasteners are spaced apart by a predetermined distance along the second direction (12) and are formed on the inner surface of the first curved frame (251). The link fasteners formed on the inner side of the first curved frame (251) are provided with a predetermined length, and a guide hole is formed along the length direction. The guide hole guides the movement of the link.
[0097] A second curved frame (252) is located in a second region of the receiving space (111) of the support frame (110) and is provided in multiple numbers. The second region of the receiving space (111) is a region corresponding to a semi-circular shape formed on the other side of the support frame (110). The second curved frames (252) have the same shape as the first curved frame (251) and are combined to form a semi-circular shape. The second curved frames (252) and the first curved frames (251) are symmetrical to each other. According to an embodiment, the second curved frames (252) are provided in the same number as the first curved frames (251).
[0098] A pair of link fasteners is formed on each second curved frame (252). The link fasteners are spaced apart by a predetermined distance along the second direction (12) and are formed on the inner surface of the second curved frame (252). The link fasteners formed on the inner side of the second curved frame (252) are provided with a predetermined length, and a guide hole is formed along the length direction. The guide hole guides the movement of the link.
[0099] The horizontal frames (253, 254) are located between the first and second regions of the receiving space (111). The horizontal frames (253, 254) include a first horizontal frame (253) located at the bottom and a second horizontal frame (254) located at the top. The first horizontal frame (253) and the second horizontal frame (254) are arranged side by side at a predetermined distance from each other in the third direction (13). The first horizontal frame (253) and the second horizontal frame (254) are provided with the same length.
[0100] The first horizontal frame (253) connects the lower end of the semi-circular shape of the first curved frame (251) and the lower end of the semi-circular shape of the second curved frame (252). The second horizontal frame (254) connects the upper end of the semi-circular shape of the first curved frame (251) and the upper end of the semi-circular shape of the second curved frame (252).
[0101] A first link connecting part and a second link connecting part are formed in each horizontal frame (253, 254).
[0102] The first link connecting portion is formed at one end of each of the first and second horizontal frames (253, 254). A pair of the first link connecting portions are provided and are spaced apart by a predetermined distance in the second direction (12).
[0103] A first link fastening portion formed on the inner side of the first and second horizontal frames (253, 254) is provided with a predetermined length, and a guide hole is formed along the length direction. The guide hole guides the movement of the link.
[0104] The second link connecting portion is formed at the other end of the first and second horizontal frames (253, 254), respectively. A pair of the second link connecting portions are provided and are spaced apart by a predetermined distance in the second direction (12).
[0105] A second link fastening portion formed on the inner side of the first and second horizontal frames (253, 254) is provided with a predetermined length, and a guide hole is formed along the length direction. The guide hole guides the movement of the link.
[0106] The frame moving part (260, 270) is located on the inner side of the guide frame (250). The frame moving part (260, 270) moves the guide frame (250) so that the path along which the guide frame (250) supports a plurality of grousers (140) varies between a first path and a second path. The second path surrounds the first path and forms a path longer than the first path.
[0107] The frame moving part (260, 270) includes a first frame moving part (260) and a second frame moving part (270). According to an embodiment, the first frame moving part (260) is located inside the first curved frame (251), and the second frame moving part (270) is located inside the second curved frame (252).
[0108] The first frame moving part (260) includes a first fixed bracket (261), a first moving bracket (262), a first link (263), a second link (264), and a first bracket moving part.
[0109] The first fixed bracket (261) has a predetermined shape and size and is positioned coaxially with the rotation axis of the sprocket (130). The drive shaft (131) is inserted into the first fixed bracket (261). A bearing may be provided between the first fixed bracket (261) and the drive shaft (131). The first fixed bracket (261) is separated from the rotation of the drive shaft (131) by the bearing.
[0110] The first movable bracket (262) has a predetermined shape and size, and a drive shaft (131) is inserted into it. The first movable bracket (262) is positioned at a predetermined distance from the first fixed bracket (261) and is provided to be movable along the longitudinal direction of the drive shaft (131).
[0111] The first link (263) has a predetermined length. Multiple first links (263) are provided. The first links (263) are combined in pairs to connect each first curved frame (251), the first fixed bracket (261), and the first movable bracket (262). A pair of first links (263) are arranged to intersect in an X shape and are pin-connected at the intersection. One end of one first link (263) is pin-connected to the outer surface of the first fixed bracket (261), and the other end is pin-connected to one of the link connecting parts of the first curved frame (251). Another first link (263) is pin-connected to the outer surface of the first movable bracket (262) at one end, and the other end is pin-connected to another of the link connecting parts of the first curved frame (251). According to an embodiment, six first links (263) are provided and connected to three first curved frames (251) in pairs of two.
[0112] The second link (264) is provided with the same length as the first link (263). Multiple second links (264) are provided and are combined in pairs to connect the horizontal frames (253, 254), the first fixed bracket (261), and the second movable bracket (272).
[0113] According to an embodiment, a pair of second links (264) connect one end of the first horizontal frame (253), the first fixed bracket (261), and the first movable bracket (262). The pair of second links (264) are arranged to intersect in an X shape and are pin-connected at the intersection area. One end of each pair of second links (264) is pin-connected to the fastening part of the first link (263) of the first horizontal frame. Then, the other end of one second link (264) is pin-connected to the outer surface of the first fixed bracket (261), and the other end of the other second link (264) is pin-connected to the outer surface of the second movable bracket (272).
[0114] Another pair of second links (264) connect one end of the second horizontal frame (254), the first fixed bracket (261), and the second movable bracket (272). The pair of second links (264) are arranged to intersect in an X shape and are pin-connected at the intersection. One end of each pair of second links (264) is pin-connected to the second link fastening part of the second horizontal frame (254). Then, the other end of one second link (264) is pin-connected to the outer surface of the first fixed bracket (261), and the other end of the other second link (264) is pin-connected to the outer surface of the first movable bracket (262).
[0115] The first bracket moving part moves the first moving bracket (262). Specifically, it moves the first moving bracket (262) in the forward and backward direction along the longitudinal direction of the drive shaft (131). Due to the movement of the first moving bracket (262), the first links (263) and the second links (264) rotate around the pin connection of the intersection area as an axis.
[0116] Specifically, when the first moving bracket (262) moves away from the first fixed bracket (261), the first links (263) and the second links (264) are folded so that the first curved frames (251) form a semi-circular shape of the first radius, and the distance between the first horizontal frame (253) and the second horizontal frame (254) becomes closer. As a result, the frame moving part (260, 270) forms a first path.
[0117] And when the first moving bracket (262) moves in a direction that approaches the first fixed bracket (261), the first links (263) and the second links (264) spread out so that the first curved frames (251) form a semi-circular shape with a second radius larger than the first radius, and the distance between the first horizontal frame (253) and the second horizontal frame (254) increases. As a result, the frame moving part (260, 270) forms a second path.
[0118] The second frame moving part (270) includes a second fixed bracket (271), a second moving bracket (272), a third link (273), a fourth link (274), and a second bracket moving part.
[0119] The second fixed bracket (271) has a predetermined shape and size, and a guide shaft (141) is inserted into it.
[0120] The second movable bracket (272) has a predetermined shape and size, and a guide shaft (141) is inserted into it. The second movable bracket (272) is positioned at a predetermined distance from the second fixed bracket (271) and is provided to be movable along the longitudinal direction of the guide shaft (141).
[0121] The third link (273) is provided with a predetermined length and is provided in multiple numbers. The third links (273) are combined in pairs to connect each second curved frame (252), the second fixed bracket (271), and the second movable bracket (272). A pair of third links (273) are arranged to intersect in an X shape and are pin-connected at the intersection area. One end of one third link (273) is pin-connected to the outer surface of the second fixed bracket (271), and the other end is pin-connected to one of the link connecting parts of the second curved frame (252). Another third link (273) is pin-connected to the outer surface of the second movable bracket (272) at one end, and the other end is pin-connected to another of the link connecting parts of the second curved frame (252). According to an embodiment, six third links (273) are provided and are connected to three second curved frames (252) in pairs of two.
[0122] The fourth link (274) is provided with the same length as the third link (273). Multiple fourth links (274) are provided and are combined in pairs to connect the horizontal frame (253, 254), the second fixed bracket (271), and the second movable bracket (272).
[0123] According to an embodiment, a pair of fourth links (274) connect the other end of the first horizontal frame (253), the second fixed bracket (271), and the second movable bracket (272). The pair of fourth links (274) are arranged to intersect in an X shape and are pin-connected at the intersection. One end of each of the pair of fourth links (274) is pin-connected to the fastening part of the second link (264) of the first horizontal frame (253). Then, the other end of one fourth link (274) is pin-connected to the outer surface of the second fixed bracket (271), and the other end of the other fourth link (274) is pin-connected to the outer surface of the second movable bracket (272).
[0124] The second bracket moving part moves the second moving bracket (272). Specifically, it moves the second moving bracket (272) in the forward and backward direction along the length direction of the guide shaft (141) (141).
[0125] With the movement of the second moving bracket (272), the third links (273) and the fourth links (274) rotate around the pin connection of the intersection area as an axis.
[0126] Specifically, when the second moving bracket (272) moves away from the second fixed bracket (271), the third links (273) and the fourth links (274) are folded so that the second curved frames (252) form a semi-circular shape of the first radius, and the gap between the first horizontal frame (253) and the second horizontal frame (254) becomes closer. As a result, the frame moving part (260, 270) forms a first path.
[0127] And when the second moving bracket (272) moves in a direction that approaches the second fixed bracket (271), the third links (273) and the fourth links (274) spread out so that the second curved frames (252) form a semi-circular shape with a second radius larger than the first radius, and the distance between the first horizontal frame (253) and the second horizontal frame (254) increases. As a result, the frame moving part (260, 270) forms a second path.
[0129] Hereinafter, the process of adjusting the alignment angle of the grousers (140) by adjusting the spacing between the guide frames (250) through the frame moving part of the above-described track module (200) is explained in detail. For convenience of explanation, the path in which the spacing between the guide frames (250) is reduced is called the first path, and the path in which the spacing between the guide frames (250) is expanded is called the second path.
[0131] FIG. 13 is a side view of the track module (200) arranged along the first path, and FIG. 14 is a cross-sectional view showing the guide frame (250) arranged along the first path.
[0132] Referring to FIGS. 13 and 14, when the robot (10) travels on flat ground, the guide frame (250) is placed on the first path.
[0133] Specifically, by driving the first bracket moving part, the first moving bracket (262) moves along the longitudinal direction of the driving shaft (131) away from the first fixed bracket (261) and is positioned at the end of the driving shaft (131). By driving the second bracket moving part, the second moving bracket (272) moves along the longitudinal direction of the guide shaft (141) and is positioned at the end of the guide shaft (141). By moving the first moving bracket (262), the first link (263) and the second link (264) pin-coupled with the first moving bracket (262) are folded. By moving the second moving bracket, the third link (273) and the fourth link (274) pin-coupled with the second moving bracket (272) are folded. In this process, the first curved frame (251) and the second curved frame (252) move along an arc of the first radius, and the distance between the pair of horizontal frames becomes closer.
[0134] To explain in more detail, the first curved frame (251) and a pair of horizontal frames (253, 254) move linearly inward, and at the same time, the other end of the first and second links (264) rotates counterclockwise. The first curved frame (251) gradually becomes closer in distance, and the pair of horizontal frames (253, 254) gradually become closer in distance. Then, driven by the second bracket moving part, the second moving bracket (272) moves backward along the longitudinal direction of the guide shaft (141) and is positioned at the end of the guide shaft (141). Due to the movement of the second moving bracket (272), one end of the second links (264) pin-coupled with the second moving bracket (272) moves backward, and the other end rotates clockwise. Due to the rotation of the other end, the other end of the second curved frame (252) and the other end of the pair of horizontal frames (253, 254) that are pin-connected with the other end move linearly inward, and at the same time, the other end of the first link (263) rotates counterclockwise. The spacing between the second curved frames (252) gradually becomes closer, and the spacing between the pair of horizontal frames (253, 254) gradually becomes closer. In the first path, the first curved frame (251) and the second curved frame are positioned on the first radius with the spacing between them minimized, and the pair of horizontal frames (253, 254) are positioned at the first spacing.
[0135] In this process, the grousers (140) rotate around the connecting pin (144) as an axis so that the second surface (142) is positioned parallel to the ground.
[0137] FIG. 15 is a side view of the track module (200) arranged along the second path, and FIG. 16 is a cross-sectional view showing the guide frame (250) arranged along the second path.
[0138] Referring to FIGS. 15 and 16, when the robot (10) moves over a slippery surface or rough terrain or obstacle such as stairs, deep sand or snow, the guide frame (250) is placed on the second path.
[0139] By driving the first bracket moving part, the first moving bracket (262) moves along the longitudinal direction of the driving shaft (131) in a direction approaching the first fixed bracket (261). By driving the second bracket moving part, the second moving bracket (272) moves along the longitudinal direction of the guide shaft (141) and is positioned inside the guide shaft (141). By moving the first moving bracket (262), the first link (263) and the second link (264) pin-coupled with the first moving bracket (262) are unfolded. By moving the second moving bracket, the third link (273) and the fourth link (274) pin-coupled with the second moving bracket (272) are unfolded. In this process, the first curved frame (251) and the second curved frame (252) move along an arc of the second radius, and the distance between the pair of horizontal frames (253, 254) increases.
[0140] To explain in more detail, the first moving bracket (262) moves forward along the longitudinal direction of the driving shaft by driving the first bracket moving part. Due to the movement of the first moving bracket (262), one end of the first and second links (264) pin-coupled with the first moving bracket (262) moves forward, and the other end rotates counterclockwise. Due to the rotation of the other end, one end of the first curved frame (251) and a pair of horizontal frames (253, 254) pin-coupled with the other end moves linearly outward, and at the same time, the other end of the first and second links (263, 264) rotates clockwise. The spacing between the first curved frames (251) gradually increases, and the spacing between the pair of horizontal frames (253, 254) gradually increases. Then, driven by the second bracket moving part, the second moving bracket (272) moves forward along the longitudinal direction of the guide shaft (141), and by the movement of the second moving part, one end of the second links (264) pin-coupled with the second moving bracket (272) moves forward, and the other end rotates counterclockwise. Due to the rotation of the other end, the second curved frames (252) pin-coupled with the other end and the other end of a pair of horizontal frames (253, 254) move linearly outward, and at the same time, the other ends of the first and second links (263, 264) rotate clockwise. The spacing between the second curved frames (252) gradually increases, and the spacing between the pair of horizontal frames (253, 254) gradually increases. In the second path, the first curved frame (251) and the second curved frame (252) are placed on a second radius larger than the first radius, and a pair of horizontal frames (253, 254) are placed at a second interval larger than the first interval.
[0141] In this process, the grousers (140) rotate around the connecting pin (144) as an axis so that the second surface (142) is positioned at a predetermined angle relative to the ground.
[0143] FIG. 17 is a front view of a track module (300) according to another embodiment of the present invention, FIG. 18 is a partially enlarged view of the frame moving part and guide frame (350) of FIG. 17, and FIG. 19 is a disassembled perspective view of the driving gear (376) of the guide frame (350) of FIG. 18.
[0144] Referring to FIGS. 17 to 19, a track module (300) according to another embodiment of the present invention includes a support frame (110), a sprocket (130), a chain (120), a grouser (140), a guide frame (350), and a frame moving part.
[0145] The support frame (110), sprocket (130), and chain (120) are provided in the same manner as the structure described above, so a detailed description is omitted.
[0146] The grouser (140) is provided with a curved surface having a predetermined curvature in the connecting area between the first surface (141) and the second surface (142). According to an embodiment, when viewed from the second direction (12), the curved surface is formed concavely inwardly toward the grouser (140). Through this shape, the grouser (140) can efficiently move across a narrow contact area.
[0147] The guide frame (350) includes a first curved frame (351), a second curved frame (352), and horizontal frames (353, 354).
[0148] The first curved frame (351) is a thin plate having a predetermined curvature and has a predetermined width in the second direction (12). Multiple first curved frames are provided. The first curved frames (351) have the same structure and are combined to form a semi-circular shape. According to an embodiment, five first curved frames (351) are provided.
[0149] The second curved frame (352) has the same shape as the first curved frame (351) and, when combined with it, forms a semi-circular shape. The second curved frames (352) and the first curved frames (351) are symmetrical with respect to the horizontal frame.
[0150] A horizontal frame (353, 354) is provided between the first curved frame (351) and the second curved frame (352). The horizontal frame (353, 354) includes a first horizontal frame (353) located at the bottom and a second horizontal frame (354) located at the top. The first horizontal frame (353) and the second horizontal frame (354) have the same structure. The first horizontal frame (353) and the second horizontal frame (354) are arranged side by side at a predetermined distance from each other in the third direction (13).
[0151] Each horizontal frame (353, 354) has a greater width in the second direction (12) than the first curved frame (351) and a longer length in the first direction (11).
[0152] The frame moving part (360, 370) includes a first frame moving part (360) and a second frame moving part (370). The first frame moving part (360) includes a body (361), a rack gear (362), a pinion gear (363), and a gear drive part.
[0153] The body (361) is provided in the shape of a disc and has a predetermined diameter. The body (361) is located inside the first curved frame (351), and its center axis is aligned with the center axis of the sprocket (130).
[0154] A receiving space is formed on the inside of the body (361). The receiving space includes a plurality of guide holes (361a). The guide holes (361a) are formed radially with respect to the center of the body (361). According to an embodiment, seven guide holes (361a) are formed.
[0155] The rack gear (362) has a predetermined length and gear teeth are formed on one side in the longitudinal direction. Multiple rack gears (362) are provided. According to an embodiment, the rack gears (362) are provided in the same number as the guide holes (361a). Each of the rack gears (362) is inserted into the guide holes (361a) and its tip is individually connected to one end of the first curved frames (351) or horizontal frames. The rack gear (362) is provided to be movable linearly along the guide holes (361a).
[0156] The pinion gear (363) has a predetermined size, and gear teeth are formed along its outer surface. Multiple pinion gears (363) are provided. According to an embodiment, the pinion gears (363) are provided in the same number as the rack gears (362). The pinion gears (363) are placed within the receiving space (111) and are positioned adjacent to each of the guide holes (361a). The gear teeth of the pinion gears (363) mesh with the gear teeth of the rack gears (362).
[0157] The gear drive unit rotates the pinion gears (363) around their center as an axis. The gear drive unit includes a ring gear (365) and a drive gear (376).
[0158] The ring gear (365) has a smaller diameter than the body (361) and is located within the receiving space (111). According to an embodiment, the ring gear (365) is positioned along the inner surface of the body (361). Gear teeth are formed along the inner surface of the ring gear (365). The gear teeth of the ring gear (365) mesh with the gear teeth of the pinion gears (363).
[0159] The drive gear (376) rotates about its central axis. One region of the drive gear (376) is located within the receiving space, and the other region is located outside the cover. In one region of the drive gear (376), gear teeth are formed along the outer surface. The gear teeth of the drive gear (376) mesh with the gear teeth of the ring gear (365).
[0160] When the drive gear (376) rotates along its central axis, the ring gear (365) engaged with the gear teeth of the drive gear (376) rotates, and the pinion gears (363) engaged with the gear teeth of the ring gear rotate. Then, the rack gears (362) engaged with the gear teeth of the pinion gears (363) move in a straight line, and their ends protrude from the guide holes (361a). By the straight movement of the rack gears (362), the first curved frames (351), the second curved frames (352), the first horizontal frame (353), and the second horizontal frame (354) are arranged in a first path or a second path.
[0161] The second frame moving part (370) includes a body (361), a rack gear (372), a pinion gear (373), and a gear drive part. Since the body (361), rack gear (372), pinion gear (373), and gear drive part (375, 376) are provided in the same as the structure described above, a detailed description is omitted.
[0163] Below, the process of adjusting the alignment angle of the grousers (140) by adjusting the spacing between the guide frames (350) through the frame moving parts (360, 370) of the above-described track module (300) is explained in detail.
[0165] FIG. 20 is a front view of a track module (300) with a guide frame (350) arranged in a first path, and FIG. 21 is a front view of a track module (300) with a guide frame (350) arranged in a second path.
[0166] First, referring to FIG. 20, when the robot (10) travels on flat ground, the guide frame (350) is placed on the first path.
[0167] Specifically, the drive gear (366, 376) rotates in the reverse direction by the drive of the gear drive unit. As the drive gear (366, 376) rotates in the reverse direction, the ring gear (365, 375) meshed with the gear teeth of the drive gear (366, 376) rotates in the reverse direction, and the pinion gear (363, 373) meshed with the gear teeth of the ring gear (365, 375) rotates. Due to the rotation of the pinion gears (363, 373), the rack gear (362, 372) moves linearly inward along the guide holes (361a). As the rack gears (362, 372) move linearly, the spacing between the first curved frames (351) gradually narrows and is positioned on the first radius. Then, the spacing between the pair of horizontal frames (353, 354) is minimized and is positioned at the first spacing.
[0168] By moving the first curved frames (351) and horizontal frames (353, 354) described above, the grousers (140) rotate around the connecting pin (144) as an axis, and the second surface (142) is positioned parallel to the ground.
[0169] Referring to FIG. 21, when the robot (10) moves over a slippery surface or rough terrain or obstacle such as stairs, deep sand or snow, the guide frame (350) is placed on the second path.
[0170] Specifically, the drive gear (366, 376) is rotated in the forward direction through the gear drive unit. As the drive gear (366, 376) rotates in the forward direction, the ring gear (365, 375) meshed with the gear teeth of the drive gear (366, 376) rotates in the forward direction, and the pinion gear (363, 373) meshed with the gear teeth of the ring gear (365, 375) rotates. Due to the rotation of the pinion gears (363, 373), the rack gears (362, 372) move linearly outward. The front ends of the rack gears (362, 372) protrude from the guide holes (361a).
[0171] As the rack gears (362, 372) move in a straight line, the spacing between the first curved frames (351) gradually widens and is positioned on a second radius larger than the first radius. And a pair of horizontal frames (353, 354) are positioned with a spacing between them at a maximum and a second spacing larger than the first spacing.
[0172] By moving the first curved frames (351) and horizontal frames (353, 354) described above, the grousers (140) rotate around the connecting pin (144) as an axis, and the second surface (142) is positioned at an angle inclined with respect to the ground.
[0174] Although the present invention has been described in detail using preferred embodiments, the scope of the invention is not limited to specific embodiments and should be interpreted by the appended claims. Furthermore, those skilled in the art will understand that many modifications and variations are possible without departing from the scope of the invention. Explanation of the symbols
[0175] 10: Robot 100, 200, 300: Track Module 110: Support frame 120: Chain 130: Sprocket 140: Grouser 150: Guide Frame 160: Frame Moving Part
Claims
Claim 1 A track module comprising: a support frame having a receiving space; a sprocket disposed within the receiving space and rotating by power; a chain provided along the circumference of the support frame and rotating in engagement with the sprocket; a plurality of grousers arranged in a line along the chain, each pin-coupled to the chain; a guide frame supporting the grousers on the movement trajectory of the grousers; and a frame moving part that moves the guide frame to change the alignment angle of the grousers. Claim 2 In claim 1, the track module comprises: a first region coupled to the pin; and a second region having a cross-sectional area larger than the first region, with at least a portion of the area supported by the guide frame. Claim 3 In claim 2, a track module in which the cross-sectional area gradually increases from the first region to the second region. Claim 4 In claim 1, the grouser comprises a first surface; a second surface provided at a predetermined angle with respect to the first surface; and a third surface provided as a curved surface connecting the first surface and the second surface, wherein the grouser is a track module that is pin-coupled in the area between the first surface and the second surface. Claim 5 A track module according to claim 1, wherein the frame moving part is provided with a predetermined length and includes a connecting bracket, one end of which is coupled to the rotation axis of the sprocket and the other end of which is axially coupled to the guide frame and is rotatable together with the rotation axis of the sprocket. Claim 6 In claim 1, the frame moving part moves the guide frame such that the path in which the guide frame supports the plurality of grousers is variable between a first path and a second path, wherein the second path is a track module surrounding the first path. Claim 7 A track module according to claim 1, wherein the guide frame comprises: a plurality of first curved frames located in a first area of the receiving space and combined to form a half-arc shape; a plurality of second curved frames located in a second area of the receiving space and combined to form a half-arc shape; and a pair of horizontal frames located between the first area and the second area and arranged parallel to each other, wherein in the first path, the first curved frames and the second curved frames are arranged on a first radius and the pair of horizontal frames are arranged at a first interval, and in the second path, the first curved frames and the second curved frames are arranged on a second radius larger than the first radius and the pair of horizontal frames are arranged at a second interval larger than the first interval. Claim 8 In claim 7, the frame moving part comprises: a body having a plurality of guide holes formed radially with respect to the center thereof, which is located inside the first curved frames; a rack gear inserted into each of the guide holes, the tip of which protrudes outward from the body, and individually connected to the first curved frames or a horizontal frame; a pinion gear meshing with the rack gear; and a gear driving part that rotates the pinion gear, and a track module in which the rack gear moves linearly along the guide holes by the rotation of the pinion gear. Claim 9 In claim 8, the gear drive unit comprises a ring gear having gear teeth formed along an inner surface and said gear teeth meshing with said pinion gears; and a track module comprising a drive gear that rotates by meshing with the gear teeth of said ring gear. Claim 10 In claim 9, the pinion gear meshes with the gear teeth of the ring gear and is a track module that rotates together with the rotation of the ring gear. Claim 11 In claim 7, the frame moving part comprises: a fixed bracket into which the rotation axis of the sprocket is inserted and whose rotation is separated from the rotation axis of the sprocket; a moving bracket into which the rotation axis of the sprocket is inserted and which is movable along the longitudinal direction of the rotation axis of the sprocket; a first link, one end of which is connected to the fixed bracket and the other end of which is connected to the first curved frame; and a second link, one end of which is connected to the moving bracket, which is pin-coupled by crossing the first link, and the other end of which is connected to the first curved frame, wherein the moving bracket is a track module movable along the rotation axis of the sprocket so as to adjust the distance between it and the fixed bracket. Claim 12 A robot comprising: a main body; and a pair of track modules provided on each side of the main body and moving the main body, wherein each of the track modules comprises: a support frame having a receiving space formed therein; a sprocket disposed within the receiving space and rotating by power; a chain provided along the circumference of the support frame and rotating in engagement with the sprocket; a plurality of grousers arranged in a line along the chain, each pin-coupled to the chain; a guide frame supporting the grousers on the movement trajectory of the grousers; a frame moving part that moves the guide frame to change the alignment angle of the grousers; and a main driving part that rotates the sprocket. Claim 13 A robot according to claim 12, wherein the grouser comprises a first region coupled to the pin; and a second region having a cross-sectional area larger than the first region, at least a portion of which is supported by the guide frame. Claim 14 A robot according to claim 12, wherein the frame moving part is provided with a predetermined length and includes a connecting bracket, one end of which is coupled to the rotation axis of the sprocket and the other end of which is axially coupled to the guide frame and is rotatable together with the rotation axis of the sprocket. Claim 15 In claim 12, the frame moving part moves the guide frame such that the path in which the guide frame supports the plurality of grousers is variable between a first path and a second path, wherein the second path is a robot surrounding the first path.