Foot structure of walking robot, walking robot and method for operating walking robot

Abstract

The present invention provides a foot structure for a walking robot, comprising: a connecting rod configured to define a main body; a buffer unit connected to one end of the connecting rod and having an empty space formed in the buffer unit; and a pressure sensor arranged in the connecting rod and configured to detect pressure changes of air in the empty space in the buffer unit.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and the benefit of Korean Patent Application No. 10-2020-0128300, filed on October 5, 2020, which is hereby incorporated by reference in its entirety. Technical Field

[0003] The present invention relates to a foot structure for a walking robot, a walking robot including the foot structure, and a method for operating the walking robot. More specifically, it relates to a foot structure for a walking robot having a sensor capable of detecting ground pressure applied to the foot structure, a walking robot including the foot structure, and a method for operating the walking robot. Background Art

[0004] Various types of robots are used in the technical field, and examples of these robots may include walking robots. In particular, walking robots are specifically used to perform functions such as serving and conveying objects, and in recent years, various types of walking robots have been studied.

[0005] The structure of the walking robot varies depending on the function of the walking robot. The walking robot generally includes: a body configured to define the body of the walking robot; and a foot structure coupled to one side of the body and having a shape extending downward.

[0006] The foot structure provided in the walking robot is sometimes embedded with a pressure sensor for detecting contact between the foot structure and the ground or other objects.

[0007] However, in the prior art, during the process of the foot structure contacting the ground or an object, an impact is applied to the foot structure and the pressure sensor, thereby causing a problem of deterioration in the durability of the foot structure and the pressure sensor.

[0008] In addition, in the prior art, when there is a pressure difference between the internal pressure of the foot structure and the external pressure, the pressure sensor detects pressure changes with different values ​​even when the same external impact is applied. Therefore, continuous performance cannot be ensured. Summary of the invention

[0009] An object of the present invention is to protect a pressure sensor installed in a walking robot from external impact, thereby improving the durability of the pressure sensor.

[0010] Another object of the present invention is to quickly eliminate the pressure differential when it occurs between the internal pressure of the foot structure and the external pressure, thereby ensuring constant performance under pressure changes.

[0011] In order to achieve the above-mentioned objectives, a first aspect of the present invention provides a foot structure for a walking robot, the foot structure comprising: a connecting rod configured to define a main body; a buffer unit connected to one end of the connecting rod and having an empty space formed in the buffer unit; and a pressure sensor located in the connecting rod and configured to detect pressure changes of air in the empty space in the buffer unit.

[0012] The foot structure may further include: a first tube disposed in the link and communicating with an empty space in the buffer unit, wherein the pressure sensor is connected to one end of the first tube.

[0013] The foot structure may further include: a first valve provided in the link; and a second tube branched from the first tube and having one end connected to the first valve.

[0014] The foot structure may further include: a second valve provided in the link; and a third tube branched from the second tube and having one end connected to the second valve.

[0015] The foot structure may further include: a first connection unit provided in a region where the second tube branches from the first tube, wherein the first connection unit is provided to surround an outer surface portion of the first tube and an outer surface portion of the second tube.

[0016] The foot structure may further include: a second connection unit provided in a region where the third tube branches from the second tube, wherein the second connection unit is provided to surround an outer surface portion of the second tube and an outer surface portion of the third tube.

[0017] The first valve may be a check valve.

[0018] The second valve may be an openable / closable two-way valve.

[0019] A length of the first tube in a region between the first connecting unit and the pressure sensor may be shorter than a length of the second tube in a region between the first connecting unit and the first valve.

[0020] A length of the second tube in a region between the second connecting unit and the first valve may be shorter than a length of the third tube in a region between the second connecting unit and the second valve.

[0021] The check valve allows air to flow from the outside of the connecting rod into the connecting rod and prevents air from flowing from the inside of the connecting rod to the outside of the connecting rod.

[0022] The pressure sensor may be inserted into and coupled to the buffer unit.

[0023] The foot structure may further include: a first valve provided in the link; and a first tube provided in the link and having one end communicating with the empty space in the buffer unit and the other end connected to the first valve.

[0024] The foot structure may further include: a second valve provided in the link; and a second tube branched from the first tube and having one end connected to the second valve.

[0025] At least a portion of an outer surface of the buffer unit may include an elastic material.

[0026] At least a portion of an outer surface of the buffer unit may have a groove portion.

[0027] In order to achieve the above-mentioned purpose, the second aspect of the present invention provides a walking robot, comprising: a body part; and one or more foot structures connected to the lower part of the body part; wherein the foot structure comprises: a connecting rod configured to define the main body of the foot structure; a buffer unit connected to one end of the connecting rod and having a vacant space formed in the buffer unit and filled with air; and a pressure sensor arranged in the connecting rod and configured to detect the pressure change of the air in the vacant space in the buffer unit.

[0028] In order to achieve the above-mentioned purpose, the third aspect of the present invention provides a method for operating a walking robot, which includes: a body part and one or more foot structures connected to the lower part of the body part, and also includes: a buffer unit, which is arranged at one end of the foot structure and has an empty space formed in the buffer unit, the method including: an air pressure adjustment step, between a first time point when the foot structure contacts the ground and a second time point when the foot structure contacts the ground again after the first time point, by introducing air into the empty space in the buffer unit or exhausting air from the empty space.

[0029] In the gas pressure adjusting step, the gas pressure in the buffer unit may be adjusted to the atmospheric pressure.

[0030] According to the present invention, a pressure sensor installed in a walking robot can be protected from external impact, thereby improving the durability of the pressure sensor.

[0031] In addition, according to the present invention, when a pressure difference occurs between the internal pressure of the foot structure and the external pressure, the pressure difference can be quickly removed, thereby ensuring constant performance despite pressure changes. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a cross-sectional view showing the structure of a foot structure for a walking robot according to an exemplary embodiment of the present invention.

[0033] Figure 2 is a cross-sectional view illustrating the structure of a foot structure for a walking robot according to another exemplary embodiment of the present invention.

[0034] Reference numerals:

[0035] 10: Foot structure

[0036] 100: Connecting rod

[0037] 200: Buffer unit

[0038] 210: Groove

[0039] 300: Pressure sensor

[0040] 410: First tube

[0041] 420: Second tube

[0042] 430: The third tube

[0043] 510: First valve

[0044] 520: Second valve

[0045] 610: First connection unit

[0046] 620: Second connection unit DETAILED DESCRIPTION

[0047] Hereinafter, a foot structure for a walking robot, a walking robot, and a method of operating the walking robot according to the present invention will be described with reference to the accompanying drawings.

[0048] Foot structure for walking robot

[0049] Figure 1 1 is a structural cross-sectional view showing a foot structure for a walking robot according to an exemplary embodiment of the present invention. The foot structure for a walking robot according to the present invention can be installed in the walking robot to enable the walking robot to walk.

[0050] like Figure 1 As shown, a foot structure 10 for a walking robot according to the present invention (hereinafter referred to as “foot structure”) may include a link 100 configured to define a body of the foot structure and a buffer unit 200 coupled to one end of the link 100 . Figure 1 A state in which the buffer unit 200 is inserted into and coupled to the left end portion of the connecting rod 100 is shown.

[0051] The buffer unit 200 may be a component disposed at the lowermost side of the foot structure 10. Therefore, when the walking robot including the foot structure 10 walks, the buffer unit 200 may repeatedly contact the ground or an object. That is, the impact applied to the foot structure 10 may be transmitted through the buffer unit 200 from the outside.

[0052] Therefore, the cushioning unit 200 provided in the foot structure 10 according to the present invention may also include a means for reducing the impact applied to the foot structure 10 due to the contact between the cushioning unit 200 and the ground or an object.

[0053] In more detail, according to the present invention, an empty space may be formed in the buffer unit 200, and at least a portion of the outer surface of the buffer unit 200 may include an elastic material. Therefore, the inside of the buffer unit 200 may be filled with air, and when the buffer unit 200 contacts the ground or an object, the shape of the buffer unit 200 may be reversibly deformed. Therefore, the buffer unit 200 and the air in the buffer unit 200 may be used as a kind of buffer material.

[0054] Next, refer to Figure 1 The foot structure 10 according to the present invention may further include: a pressure sensor 300 disposed in the link 100 and configured to detect a pressure change of air in an empty space disposed in the cushioning unit 200 .

[0055] As described above, when the buffer unit 200 contacts the ground or an object, the shape of the buffer unit 200 may be deformed, and thus the air in the empty space provided in the buffer unit 200 may also be compressed or expanded. Therefore, when the buffer unit 200 contacts the ground or an object, the pressure of the air in the empty space in the buffer unit 200 changes. The pressure sensor 300 may be configured to detect a change in pressure to detect whether the buffer unit 200 contacts the ground or an object. The components in the connecting rod 100 will be described in detail below.

[0056] like Figure 1 As shown, the foot structure 10 according to the present invention may include a first tube 410 provided in the link 100 and communicating with the empty space in the cushioning unit 200. Therefore, the air in the empty space in the cushioning unit 200 may move to the first tube 410 according to the change in pressure. Conversely, the air in the first tube 410 may also move to the empty space in the cushioning unit 200.

[0057] In this case, according to an exemplary embodiment of the present invention, the pressure sensor 300 may be connected to one end of the first tube 410. In more detail, the pressure sensor 300 may be spaced apart from the buffer unit 200 in the length direction of the connecting rod 100, and the first tube 410 may communicate with the pressure sensor 300 and an empty space in the buffer unit 200. Therefore, according to an exemplary embodiment of the present invention, the pressure sensor 300 may measure the pressure in the empty space in the buffer unit 200 by the air introduced through the first tube 410, thereby determining not only whether the buffer unit 200 is in contact with the ground or an object, but also the strength of the contact of the buffer unit 200 with the ground or the object.

[0058] Next, refer to Figure 1 According to an exemplary embodiment of the present invention, the foot structure 10 may further include a valve provided in the link 100. The valve may be configured to provide a path through which air is supplied into the link 100 or to discharge air in the link 100 to the outside.

[0059] The pressure of the air in the link 100, more specifically, the pressure of the air in the empty space in the cushioning unit 200 may vary not only depending on whether the cushioning unit 200 is in contact with the ground or an object, but also depending on other factors. For example, when the temperature outside the foot structure 10 increases or decreases, or when air leaks, the air pressure in the link 100 and the empty space in the cushioning unit 200 may vary.

[0060] However, when the pressure of the air in the vacant space in the buffer unit 200 changes due to other factors, the change in pressure cannot be properly measured according to whether the buffer unit 200 is in contact with the ground or an object. Therefore, it is necessary to provide a device for preparing for the situation where the pressure in the buffer unit 200 changes due to other factors.

[0061] When the air pressure in the cushioning unit 200 changes due to other factors irrelevant to whether the cushioning unit 200 is in contact with the ground or an object, the valve provided in the foot structure 10 according to the present invention may be a device for offsetting the pressure change. In more detail, the valve may be a component that supplies air from the outside to the link 100 or discharges air from the link 100 to the outside to offset the pressure change caused by other factors.

[0062] For more details, see Figure 1 The foot structure 10 according to the exemplary embodiment of the present invention may further include: a first valve 510 provided in the link 100, and a second tube 420 branched from the first tube 410 and having one end connected to the first valve 510. In more detail, the second tube 420 communicates with the first tube 410.

[0063] Meanwhile, the foot structure 10 according to the present invention may include a plurality of different valves. Figure 1 As shown, according to an exemplary embodiment of the present invention, the foot structure 10 may further include: a second valve 520 provided in the link 100 , and a third tube 430 branched from the second tube 420 and having one end connected to the second valve 520 .

[0064] Meanwhile, according to the present invention, the first valve 510 may be a check valve, and the second valve 520 may be an openable / closable two-way valve. In this case, the check valve may refer to a valve that allows air to flow in only one direction, and the openable / closable two-way valve may refer to a valve that allows air to flow in both directions.

[0065] In more detail, according to the present invention, the check valve as the first valve 510 is configured to allow air to flow from the outside of the connecting rod 100 into the connecting rod 100 and prevent air from flowing from the inside of the connecting rod 100 to the outside of the connecting rod 100. However, conversely, the first valve 510 may be configured to allow air to flow from the inside of the connecting rod 100 to the outside of the connecting rod 100 and prevent air from flowing from the outside of the connecting rod 100 into the connecting rod 100.

[0066] Meanwhile, unlike the check valve, the openable / closable two-way valve as the second valve 520 may be configured to allow air to flow in two directions between the outside of the connecting rod 100 and the inside of the connecting rod 100 by a pressure difference between the inside and outside of the connecting rod 100 .

[0067] However, according to the present invention, the check valve can be configured to allow air to flow into the connecting rod 100 from the outside of the connecting rod 100 through the flow path in the valve without separate manipulation. In contrast, the openable / closable two-way valve can be configured to allow air to flow in both directions only when the flow path is opened by separate manipulation. That is, in the case of the openable / closable two-way valve, when the flow path in the valve is closed, the air flow between the inside and the outside of the connecting rod 100 can be blocked.

[0068] Meanwhile, as described above, the foot structure 10 according to the present invention may include a plurality of tubes, and wherein a region where any one tube branches from another tube may be formed in a region where the plurality of tubes meet. In this case, according to the present invention, a member for connecting the tubes may be provided in a region where any one tube branches from another tube.

[0069] In more detail, Figure 1As shown, according to an exemplary embodiment of the present invention, the foot structure 10 may further include: a first connection unit 610 disposed in an area where the second tube 420 branches from the first tube 410, and the first connection unit 610 is disposed to surround the outer portion of the first tube 410 and the outer portion of the second tube 420. In addition, according to an exemplary embodiment of the present invention, the foot structure 10 may further include: a second connection unit 620 disposed in an area where the third tube 430 branches from the second tube 420, and the second connection unit 620 is disposed to surround the outer portion of the second tube 420 and the outer portion of the third tube 430. The first connection unit 610 and the second connection unit 620 may be used to connect the tubes to guide the flow of air, and may also be used to protect the tubes. For example, the first connection unit 610 and the second connection unit 620 may be made of the same material as the tubes 410, 420, and 430. However, on the contrary, the first connection unit 610 and the second connection unit 620 may be made of a material different from the tubes 410, 420, and 430.

[0070] Next, refer to Figure 1 According to an exemplary embodiment of the present invention, the length of the first tube 410 in the region between the first connection unit 610 and the pressure sensor 300 may be shorter than the length of the second tube 420 in the region between the first connection unit 610 and the first valve 510. In this case, the pressure sensor 300 may detect a pressure change of air in an empty space in the buffer unit 200 more quickly.

[0071] In addition, according to an exemplary embodiment of the present invention, the length of the second tube 420 in the region between the second connection unit 620 and the first valve 510 may be shorter than the length of the third tube 430 in the region between the second connection unit 620 and the second valve 520. Therefore, when the pressure of the air in the vacant space in the buffer unit 200 changes due to factors other than the contact between the buffer unit 200 and the ground or an object, the first valve 510 may respond to the change in pressure faster than the second valve 520.

[0072] Figure 2 is a structural cross-sectional view showing a foot structure for a walking robot according to another exemplary embodiment of the present invention.

[0073] Reference Figure 2 , unlike the above-described exemplary embodiment of the present invention, the foot structure 10 according to another exemplary embodiment of the present invention is configured so that the pressure sensor 300 can be inserted and directly coupled to the cushioning unit 200. In this case, when the pressure in the vacant space in the cushioning unit 200 changes, the pressure sensor 300 can detect the pressure change more quickly.

[0074] In addition, the foot structure 10 may include: a first valve 510 provided in the link 100; and a first tube 410 provided in the link 100 and having one end communicating with the vacant space in the cushioning unit 200 and the other end connected to the first valve 510. Therefore, unlike the above-described exemplary embodiment of the present invention, the first tube 410 according to another exemplary embodiment of the present invention may be connected to the first valve 510 without being connected to the pressure sensor 300.

[0075] In addition, according to another exemplary embodiment of the present invention, the foot structure 10 may further include: a second valve 520 provided in the link 100, and a second tube 420 branched from the first tube 410 and having one end connected to the second valve 520. In this case, a first connection unit 610 provided to surround an outer portion of the first tube 410 and an outer portion of the second tube 420 may be provided in a region where the second tube 420 branches from the first tube 410.

[0076] Meanwhile, similar to the above exemplary embodiment according to the present invention, the first valve 510 may be a check valve, and the second valve 520 may be an openable / closable two-way valve.

[0077] In this case, if Figure 2 As shown, according to another exemplary embodiment of the present invention, the entire area of ​​the first tube 410 for connecting the buffer unit 200 and the first valve 510 may have a straight structure. In this case, the length of the first tube 410 can be minimized, and the first tube 410 has no curved area, so that when the pressure in the vacant space in the buffer unit 200 changes, the response speed of the first valve 410 can be improved. In addition, in the case where the entire area of ​​the first tube 410 has a straight structure, the first tube 410 can be made of a hard material instead of a flexible material, so that there is also an advantage in the durability of the first tube 410.

[0078] At the same time, refer to Figure 1 and Figure 2 , at least a portion of the outer surface of the cushioning unit 200 provided in the foot structure 10 according to the present invention may have a groove portion 210 having a concave shape. The groove portion 210 may be used not only to increase the friction force on the surface of the cushioning unit 200 to prevent the cushioning unit 200 from sliding from the ground, but also to enable the cushioning unit 200 to be smoothly inserted into the link 100. However, unlike Figure 1 and Figure 2 In the configuration shown, at least a portion of the outer surface of the buffer unit 200 may have a protrusion having a protruding shape. For example, a plurality of protrusions may be provided. For example, the plurality of protrusions may have a concentric circle structure of different sizes.

[0079] Walking robot

[0080] The walking robot according to the present invention may include: a body portion (not shown) configured to define the main body of the walking robot; and one or more foot structures 10 connected to the lower portion of the body portion and extending downward. In this case, the foot structure 10 may include: a link 100 configured to define the main body of the foot structure 10; a buffer unit 200 connected to one end of the link 100 and having an empty space formed in the buffer unit 200 and filled with air; and a pressure sensor 300 provided in the link 100 and configured to detect a pressure change of the air in the empty space in the buffer unit 200.

[0081] How to operate the walking robot

[0082] The method for operating a walking robot according to the present invention may be a method for operating the following walking robot, which includes: a body portion configured to define a main body of the walking robot; one or more foot structures 10 connected to the lower portion of the body portion and extending downward; and a buffer unit 200, which is arranged at one end of the foot structure 10 and has a vacant space formed in the buffer unit 200.

[0083] In this case, the method for operating a walking robot according to the present invention may include an air pressure adjustment step of adjusting the air pressure in the buffer unit 200 by introducing air into an empty space in the buffer unit 200 or exhausting air from the empty space between a first time point at which the foot structure 10 contacts the ground and a second time point at which the foot structure 10 contacts the ground again after the first time point. In this case, in the air pressure adjustment step, the air pressure in the buffer unit 200 may be adjusted to atmospheric pressure. In more detail, the air pressure adjustment step may be performed by opening a flow path of the second valve 520 which is an openable / closable two-way valve. The flow path of the second valve 520 may be opened automatically or manually.

[0084] The present invention has been described with reference to limited exemplary embodiments and drawings, but the present invention is not limited thereto. A person skilled in the art to which the present invention pertains may perform the described exemplary embodiments in various ways within the technical spirit of the present invention and within the scope equivalent to the appended claims.

Claims

1. A foot structure for a walking robot, the foot structure comprising: A connecting rod defining a main body; a buffer unit coupled to one end portion of the connecting rod and having an empty space formed inside; a pressure sensor configured to detect a pressure change of air in an empty space in the buffer unit; a first tube located in the connecting rod and communicating with an empty space in the buffer unit; and A second tube branches from the first tube.

2. The foot structure according to claim 1, wherein: The pressure sensor is located in the connecting rod and connected to one end of the first tube.

3. The foot structure according to claim 2, further comprising: a first valve located in the connecting rod; and The second tube has one end connected to the first valve.

4. The foot structure according to claim 3, further comprising: a second valve located in the connecting rod; as well as A third tube is branched from the second tube, the third tube having one end connected to the second valve.

5. The foot structure according to claim 3, further comprising: A first connection unit is located in a region where the second tube branches from the first tube, wherein the first connection unit is positioned to surround an outer surface portion of the first tube and an outer surface portion of the second tube.

6. The foot structure according to claim 4, further comprising: A second connection unit is located in a region where the third pipe branches from the second pipe, wherein The second connection unit is positioned to surround an outer surface portion of the second tube and an outer surface portion of the third tube.

7. The foot structure according to claim 3, wherein: The first valve is a check valve.

8. The foot structure according to claim 4, wherein: The second valve is a two-way valve.

9. The foot structure according to claim 5, wherein: A length of the first tube in a region between the first connecting unit and the pressure sensor is shorter than a length of the second tube in a region between the first connecting unit and the first valve.

10. The foot structure according to claim 6, wherein: A length of the second pipe in a region between the second connecting unit and the first valve is shorter than a length of the third pipe in a region between the second connecting unit and the second valve.

11. The foot structure according to claim 7, wherein: The check valve allows air to flow from the outside of the connecting rod into the connecting rod and prevents air from flowing from the inside of the connecting rod to the outside of the connecting rod.

12. The foot structure according to claim 1, wherein: The pressure sensor is inserted into and coupled to the buffer unit.

13. The foot structure according to claim 12, further comprising: a first valve located in the connecting rod; and in, The first pipe has one end communicating with the empty space in the buffer unit and the other end connected to the first valve.

14. The foot structure according to claim 13, further comprising: a second valve located in the connecting rod; and in, The second tube has one end connected to the second valve.

15. The foot structure according to claim 1, wherein: At least a portion of an outer surface of the buffer unit includes an elastic material.

16. The foot structure according to claim 1, wherein: At least a portion of an outer surface of the buffer unit has a groove.

17. A walking robot comprising: body part; as well as one or more foot structure body portions coupled to a lower portion of the body portion; Wherein, the foot structure comprises: a link defining a body of the foot structure; a buffer unit coupled to one end portion of the connecting rod and having an empty space formed therein and filled with air; a pressure sensor configured to detect a pressure change of air in an empty space in the buffer unit; a first tube located in the connecting rod and communicating with an empty space in the buffer unit; and A second tube branches from the first tube.

18. A method of operating the walking robot according to claim 17, the method comprising the following steps: The air pressure in the cushioning unit is adjusted by introducing air into the empty space in the cushioning unit or exhausting air from the empty space between a first time point and a second time point, wherein the first time point is the time point when the foot structure contacts the ground, and the second time point is the time point when the foot structure contacts the ground again after the first time point.

19. The method according to claim 18, wherein: The air pressure in the buffer unit is adjusted to atmospheric pressure.

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