Module, module assembly, and method for controlling said module assembly

Abstract

Provided are a module, a method for controlling the module, and an assembly using same. The present invention provides: a module that receives a large torque of a power source, uses a part of the torque for rotation, movement, etc., and transfers the remaining torque to the next module; a module assembly that offers excellent expandability and maintainability by connecting the module with multiple joints; and a method for controlling the module assembly in which inertia moments at an end section can be minimized by concentrating a high-weight driving source to a base part (main body) of a robot and transferring power through a lightweighted module, mechanical backlash can be eliminated using one-directional rotation force of a main power source, and the output speed and torque of a joint can be controlled precisely through a separate control input. Therefore, according to the present invention, dynamic stability may be ensured even during a high-speed operation of the robot, making it easy to maintain the balance, and energy required for acceleration and deceleration can be reduced.

Description

Module, module assembly, and control method of said module assembly

[0001] The present invention relates to a driving system for a robot, and more specifically, to a module that controls the rotation of a joint by distributing power transmitted from a main power source, a module assembly, and a method for controlling said module assembly.

[0002] Conventional humanoid robots or industrial articulated robots have adopted methods such as placing actuators combined with motors and reduction gears at each joint or using wire-based remote driving, but these have the following mechanical engineering limitations.

[0003] First, drive modules placed at each joint increase the weight of the robot's end section, drastically raising the moment of inertia. This causes a decrease in the robot's acceleration and deceleration performance and leads to unnecessary energy consumption, which is the primary cause of undermining dynamic stability. Second, precise control is difficult due to backlash between gears resulting from the repeated forward and reverse rotation of the motor. The use of expensive precision reducers to suppress this increases overall manufacturing costs. Third, due to the complex wiring structure of the wire drive system, on-site repairs are impossible in the event of a broken wire or reduced tension, making maintenance very difficult and increasing the robot's downtime. Fourth, conventional electric motors generate Joule heating due to excessive current during high-load, low-speed operation, posing a risk of reduced efficiency and coil burnout; consequently, there are limitations in implementing movements that support heavy objects while moving slowly.

[0004] To solve the above problems, the present invention provides a module that receives a large torque from a power source, uses a portion for implementation, and transmits the remainder. Furthermore, by connecting the modules with multiple joints, it provides a module assembly with excellent scalability and maintainability. Moreover, the invention aims to provide a module control method that minimizes the moment of inertia by concentrating a heavy drive source in the body and transmitting power to a lightweight module, and eliminates backlash and enables precise control by utilizing the unidirectional rotational force of the main power source.

[0005] To solve the above problem, a module according to the present invention comprises: an input switching unit that receives rotational power from an external power source; a power distribution unit that distributes the power received from the input switching unit to a first path and a second path; a power implementation unit that receives the power distributed from the first path of the power distribution unit and implements movement or rotation of another module; and an output switching unit that receives the power distributed from the second path of the power distribution unit and transmits it to another module. A module assembly and a control method according to the present invention comprises an assembly in which the modules are sequentially combined in series or in parallel, and a control method capable of controlling each of the modules.

[0006] According to the present invention, by concentrating a heavy drive source in the torso and transmitting power to a lightweight module, the moment of inertia of the joint is minimized, thereby ensuring the dynamic stability of the robot and increasing energy efficiency. Furthermore, since the unidirectional constant-speed rotation of the main power source is utilized, mechanical backlash is fundamentally eliminated, enabling precise control. Additionally, through the self-locking function of the worm gear, power-free holding is realized, allowing for the maintenance of a high-torque posture without power consumption. Moreover, the modular structure facilitates easy expansion and assembly into various robot forms, and maintenance convenience is maximized by simply replacing only the relevant module in the event of failure. Finally, through a differential control method, the main power source maintains high-speed rotation (high-efficiency range) even when the joint moves at low speeds, thereby preventing motor overheating and burnout issues during low-speed, high-torque driving and enabling the continuous generation of powerful force.

[0007] FIG. 1 is a schematic diagram illustrating a schematic view of a module according to an embodiment of the present invention. FIG. 2 is a drawing illustrating a differential gear unit, and FIG. 3 is a drawing illustrating a disassembled view of the differential gear unit.

[0008] FIGS. 4 and 5 are drawings illustrating a hinge rotation module according to the present invention viewed from various angles. FIG. 6 is a drawing illustrating an axis rotation module according to the present invention viewed from various angles.

[0009] FIG. 7 is a conceptual diagram illustrating various configurations of the first module, the second module, and the combination of the first module and the second module. FIG. 8 is a drawing illustrating a humanoid assembly (H100) according to an embodiment of the present invention, where FIG. 8 (a) shows the overall shape of the humanoid assembly (H100), FIG. 8 (b) shows the power transmission structure of the pelvic portion (H120), and FIG. 8 (c) shows the power transmission path between modules.

[0010] FIG. 9 is an exploded conceptual diagram showing a linear motion module, FIG. 9 (a) is a conceptual diagram showing a first module, a linear implementation unit, and a linear output unit, which are common modules of the linear motion module, and FIG. 9 (b) is a conceptual diagram showing a linear motion module assembly in which a plurality of first modules and linear output units are combined.

[0011] FIG. 10 is a conceptual diagram illustrating a foot module, FIG. 10 (a) is an exploded conceptual diagram illustrating a plurality of linear motion modules and a foot module, and FIG. 10 (b) is a conceptual diagram illustrating the combined appearance of the foot module and the linear motion module.

[0012] FIG. 11 is a schematic diagram of a first control method for controlling each joint in a state where multiple hinge rotation modules are connected.

[0013] FIG. 12 is a schematic diagram of a second control method that controls each joint in a unidirectional branch when the rotation of the main motor is constant, and FIG. 13 is a schematic diagram of a third control method that controls a bidirectional branch when the rotation of the main motor is constant. FIG. 14 is a schematic diagram of a fourth control method that performs multiple control in a unidirectional branch when the rotation of the main motor is constant.

[0014] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. However, detailed descriptions of known functions and configurations that may unnecessarily obscure the essence of the present invention are omitted.

[0015] First, the structure and operating principle of the module (100) of the present invention will be explained in detail with reference to FIG. 1. As shown in FIG. 1, the module (100) is largely composed of an input switching unit (110), a power distribution unit (120), a power control unit (130), a power implementation unit (140), and an output switching unit (150). The module (100) is provided with a housing (101) that forms an exterior, and the housing (101) includes a housing fastening unit (102) that is coupled to be fixed to a main motor or a housing fastening unit of another module.

[0016] The input switching unit (110) corresponds to the introduction part of the module and is equipped with an input coupling unit (111) that is physically coupled to a higher power source, such as a main motor or another module, to receive rotational power. The input switching unit (110) performs the function of transmitting the received input power to the power distribution unit (120). The rotational power of the input coupling unit (111), which rotates in the horizontal direction as the input shaft (IA), can be transmitted directly to the power distribution unit (120). The input switching unit (110) may convert the characteristics of the input power through shaft conversion, shaft position adjustment, reverse conversion, and gear ratio conversion using at least one gear (such as a bevel gear), or transmit optimized power to the power distribution unit (120) through unidirectional rotation control using a ratchet, etc.

[0017] The power distribution unit (120) performs the core function of distributing a single power received from the input conversion unit (110) into two paths, namely the power implementation unit (140) and the output conversion unit (150). As an example, the power distribution unit (120) may use a planetary gear, a differential gear, a torque splitter, a splitter gearbox, a multi-clutch system, a fluid coupling, a torque converter, a hydrostatic transmission, etc., and includes any mechanical configuration having the function of dividing and sending a single input power into two or more paths simultaneously.

[0018] The power control unit (130) has the function of reducing the rotational speed of the power implementation unit (140) or, conversely, reducing the rotational speed of the output conversion unit (150). When the power distribution unit (120) is composed of planetary gears, if the rotational speed transmitted to the power implementation unit (140) is controlled (braked) to a specific speed or lower due to the differential characteristics of the planetary gears, the remaining surplus power is concentrated in the output conversion unit (150), and its rotational speed increases. Conversely, if the rotation of the power implementation unit (140) increases, the speed of the output conversion unit (150) decreases. That is, the rotational speeds of the power implementation unit (140) and the output conversion unit (150) can be designed to have an opposite relationship to each other.

[0019] More specifically, the power control unit (130) may be connected to one side of the power implementation unit (140) or the output conversion unit (150) to precisely control the rotational speed, and may use a motor using a worm gear, a friction brake, a hydraulic brake, a regenerative braking motor, etc. Additionally, depending on the embodiment, a method of increasing reverse driving torque by combining a gearbox having a high gear ratio with the motor may be used, or an electromagnetic brake, a magnetic powder brake, a hysteresis brake, etc. may be used to perform smooth and precise deceleration control according to an electrical signal. Furthermore, mechanical braking devices such as friction brakes or hydraulic brakes may be applied.

[0020] The above power control unit (130) preferably uses a worm gear with a self-locking function so that it can mechanically reduce the speed of the power implementation unit (140) or output conversion unit (150) to prevent it from exceeding a specific rotational speed during operation. The worm gear has an irreversible characteristic in that, structurally, the worm (input) can rotate the worm wheel (output), but the worm wheel cannot rotate the worm in reverse. Therefore, if the module (100) is used in the joint of a humanoid, the current joint position can be maintained without a separate brake device. In addition, since the worm gear amplifies torque through a high reduction ratio, a very large load (output) can be precisely controlled even with a small capacity motor (input) equipped in the module (100), making it possible to miniaturize and lighten the module (100).

[0021] The power implementation unit (140) receives power distributed from the power distribution unit (120) and implements actual robot joint movements such as hinge rotation (Pitch), axis rotation (Roll), or linear motion (Linear). For example, as illustrated, the power implementation unit (140) can implement hinge rotation around a hinge axis (HA) provided on one side of the housing (101). A secondary module connection unit (142) is provided on one side of the power implementation unit (140), and when a secondary module is connected through the secondary module connection unit (142), the power implementation unit (140) hinge rotates around the hinge axis (HA) together with the secondary module.

[0022] The above power implementation unit (140) implements a different method depending on the type of module (100) to be described later. As shown in FIG. 1, when the module (100) is a hinge rotation module, the power implementation unit (140) rotates around the hinge axis (HA). In this case, the directions of the input axis (IA) and the output axis (OA) can be switched differently. Although not shown, when the module (100) is an axis rotation module, the power implementation unit (140) rotates along the axis rotation axis, and the directions of the axis rotation axis and the output axis (OA) can be maintained the same. When the module (100) is a linear motion module, the power implementation unit (140) implements linear motion in the longitudinal direction.

[0023] The power implementation unit (140) may include a direction control unit (141). The direction control unit (141) switches the rotational direction of the power received from the power distribution unit (120) to another direction. Depending on the type of module, it controls the direction of hinge rotation or axis rotation, or controls the forward / backward movement of linear motion. For example, in the case of a hinge rotation module, the direction control unit (141) enables the power implementation unit (140) to rotate clockwise / counterclockwise around the hinge axis (HA).

[0024] However, the direction control unit (141) may be excluded depending on the use or characteristics of the module. For example, in cases where there is no problem even if multiple joints (fingers) are driven in the same direction simultaneously, such as in a hand module, the direction control unit (141) can be removed to significantly reduce the size of the module.

[0025] The output switching unit (150) receives rotational power from the power distribution unit (120) and transmits rotational power controlled by the power control unit (130) to the output coupling unit (151) to transmit power to other modules. The output switching unit (150) can transmit the rotational power of the output coupling unit (151) rotating on the output shaft (OA) to other modules as is, or transmit the converted power through shaft conversion using at least one gear, shaft position adjustment, reverse direction conversion, gear ratio conversion, or rotation direction control using a ratchet, etc.

[0026] Meanwhile, the input conversion unit (110), power control unit (130), power implementation unit (140), and output conversion unit (150) may use bevel gears, zero bevel gears, miter gears, worm gears, hypoid gears, crown gears, etc. for shaft conversion, position adjustment, and gear ratio conversion, and are not limited to the type of gear to implement the function, and include cases where two or more components are directly or indirectly "connected," "coupled," "connected," or power is "transmitted."

[0027] In summary, when the module (100) receives power from a main motor or another module at the input coupling unit (111), it distributes power (rotational power) to the power implementation unit (140) and the output conversion unit (150) at the power distribution unit (120) equipped with a planetary gear system, and the power transmitted to the power implementation unit (140) or the output conversion unit (150) is controlled by the power control unit (130). The module (100) is characterized by a configuration in which it implements as much of the input power as necessary as hinge rotation, shaft rotation, or linear motion, and transmits the remaining surplus power to other modules. In addition, the power control unit (130) enables sufficient control for implementation even when using a worm gear and a relatively small capacity motor.

[0028] The module (100) may be manufactured by dividing it into a first module (A100) and a second module (B100). For example, the first module (A100) and the second module (B100) are produced on separate process lines and combined to form a single completed module (100). (See FIG. 7)

[0029] The first module (A100) is configured to include an input switching unit (110) and a power distribution unit (120), and receives power from an external power source and distributes it to supply the second module (B100). Meanwhile, the power control unit (130) may be included in or excluded from the first module (A100) depending on the design. The second module (B100) is a function implementation unit that combines with the first module (A100) to create specific movements of actual joints, and includes a power implementation unit (140) and an output switching unit (150). The second module (B100) can be manufactured in various ways to perform specific movements, such as vertical rotation, horizontal rotation, or linear motion, using the distributed power supplied from the first module (A100).

[0030] The first module (A100) is designed to have a structure with one input and two outputs via a power distribution unit (120), and the second module (B100) is designed to have a structure with two inputs and one output. The joint surfaces of the first module (A100) and the second module (B100) are firmly joined by mutual fastening, fixing, or coupling members (bolts, clamps, etc.), and are designed so that the power transmission interface is accurately engaged. Additionally, a separate fastening member may be provided on the other side of the second module (B100) to be joined to another module or the frame of a robot.

[0031] Hereinafter, the structure and operating principle of the differential gear unit (200) as a specific embodiment of the power distribution unit (120) will be explained in detail with reference to FIGS. 2 and FIGS. 3.

[0032] As illustrated in FIGS. 2 and 3, the differential gear unit (200) is configured to include an input end (210), a ring gear lower plate (220), a first carrier (230), a second carrier (240), and a cover (250). The differential gear unit (200) receives rotational power from an external power source at the input end (210) and distributes rotational power to a power implementation shaft (245) and an output shaft (242) according to the differential principle. That is, the differential gear unit (200) is an embodiment corresponding to the configuration of the power distribution unit (120) described above in FIG. 1, and performs the function of distributing input power to a power implementation unit (140) and an output conversion unit (150).

[0033] The input end (210) receives rotational power from a main motor or another module. The shape of the input end (210) may be a polyhedral shape for coupling with other ends, or a polyhedral fitting groove may be formed, and it performs the function of the input switching part (110) of FIG. 1.

[0034] [1st Differential Gear System]

[0035] The input end (210) is connected to the input shaft (231), and the input shaft (231) passes through the through hole (221) of the ring gear bottom plate (220) and is coupled to the input sun gear (232). A plurality of first planetary gears (233) are positioned and connected around the input sun gear (232), and the first planetary gears (233) are freely rotated through a first planetary gear shaft (235) provided on one side of the first carrier (230). The first planetary gear shaft (235) may be formed directly on the first carrier (230) or formed on a separate support, and a bearing or bushing may be interposed.

[0036] The first planetary gear (233) is connected to the first ring gear (223) fixedly formed on the ring gear bottom plate (220). As the input line gear (232) rotates, the first planetary gear (233) revolves and rotates along the inner surface of the first ring gear (223), which is fixed in rotation, and accordingly, the first carrier (230) rotates. Therefore, in the operation process of the first stage of the planetary gear in the differential gear section (200), the input line gear (232) is used as the input, the first ring gear (223) is fixed, and the first carrier (230) is used as the output, so the first carrier (230) rotates at a reduced speed in the forward direction compared to the rotation of the input end (210).

[0037] Meanwhile, in the general formula for planetary gears, the number of teeth on the ring gear follows the formula "number of teeth on the sun gear + number of teeth on the planetary gear × 2". In addition, the rotational speed of each gear of the planetary gear can be expressed by the following mathematical formula 1.

[0038] [Mathematical Formula 1]

[0039] - Nr: Number of teeth on the ring gear, Ns: Number of teeth on the sun gear, Wr: Rotational speed of the ring gear, Wc: Rotational speed of the carrier, Ws: Rotational speed of the sun gear

[0040] In the present invention, the number of teeth of the input line gear (232) used as an example is 18, the number of teeth of the first planetary gear (233) is 9, and the number of teeth of the first ring gear (223) is 36. In this case, since the first ring gear (223) is fixed to the lower surface (222), Wr = 0, and when rearranged, the operation process of the first stage is derived as Equation 2 below.

[0041] [Mathematical Formula 2]

[0042] Wc: Rotational speed of the first carrier, Ws: Rotational speed of the input line gear, Ns=18, Nr=36

[0043] If a rotational speed of 600 rpm is input to the input line gear (232), the rotational speed of the output first carrier (230) is reduced to 200 rpm. That is, the first-stage differential gear system has a forward reduction function.

[0044] However, according to an embodiment of the present invention, it is possible to exclude or change the configuration of the first-stage differential gear system depending on the use or characteristics of the module. For example, in the case where multiple joints (fingers) are implemented simultaneously at similar speeds, such as in a hand module, the first-stage differential gear system can be removed from the differential gear unit (200) to significantly reduce the size of the module. Alternatively, as needed, such as in an axle rotation module, the first-stage differential gear system can be modified to have a reverse deceleration function.

[0045] [2-speed differential gear system]

[0046] A second ring gear (234) is formed on the upper surface of the first carrier (230). As the first carrier (230) rotates, the second ring gear (234) rotates, and the second ring gear (234) acts as an input for the operation process of the second stage of the planetary gear.

[0047] The second carrier (240) is located above the first carrier (230) and has a power implementation shaft (245) formed thereon that extends from the body (246) and protrudes upward, and a through hole (247) is formed in the center of the power implementation shaft (245). That is, the second carrier (240) and the power implementation shaft (245) rotate together.

[0048] A plurality of second planetary gear shafts (248) are provided on the lower surface of the second carrier (240), and a second planetary gear (243) is coupled to the second planetary gear shaft (248) using a ball bearing, bushing, etc., and rotates freely. The second planetary gear (243) meshes with an output sun gear (241) located in the center thereof, and the output sun gear (241) is coupled with an output shaft (242). The output shaft (242) passes through the through hole (247) and is exposed on the upper side of the power implementation shaft (245).

[0049] The cover (250) has a through hole (251) formed in the center through which the output shaft (242) and the power implementation shaft (245) pass, and a fastening part (259) formed to be fastened to the fastening part (229) of the ring gear lower plate (220). Meanwhile, the first carrier (230) and the second carrier (240) may have a step formed on the outside so that a ball bearing can be fitted and coupled to allow free rotation inside the cover (250).

[0050] In the differential gear section (200), the operation process of the second stage involves using the second ring gear (234) as an input to distribute the power implementation shaft (245) and the output shaft (242) into two outputs. In the present invention, the number of teeth of the output sun gear (241) applied as an example is 12, and the number of teeth of the second ring gear (234) is 36.

[0051] In this case, if the second carrier (240) is fixed (Wc = 0), the rotational speed of the second ring gear (234) is used as input and the rotational speed of the output sun gear (241) is used as output, and reverse speed increase control is performed according to the following mathematical formula 3.

[0052] [Mathematical Formula 3] :

[0053] Ws: rotational speed of the output sun gear, Wr: rotational speed of the second ring gear, Nr=36, Ns=12

[0054] If the rotational speed of the second ring gear (234), which is the input speed, is 200 rpm, the rotational speed of the output sun gear (241) becomes -600 rpm. This is the same as the reverse rotational speed of 600 rpm, which is the input speed of the initial input end (210). That is, the two-stage differential gear system has a reverse speed increase function through the output shaft (242) when the power implementation shaft (245) is fixed, and if the module is not implemented by hinge rotation, shaft rotation, or linear motion, the output shaft (242) is output in the opposite direction at the same speed as the input end (210) (Pass-through).

[0055] Conversely, if the output sun gear (241) is fixed (Ws = 0), the rotational speed of the second ring gear (234) is used as the input, and the rotational speed of the second carrier (240) is used as the output, and the speed is reduced according to the following mathematical formula 4.

[0056] [Mathematical Formula 4] :

[0057] Ws: rotational speed of the output sun gear, Wr: rotational speed of the second ring gear, Nr=36, Ns=12

[0058] If the rotational speed of the second ring gear (234), which is the input speed, is 200 rpm, the rotational speed of the second carrier (240) is reduced to 150 rpm, which is the ratio of 36 / (36+12).

[0059] The table below shows the rotational speed of the second carrier (240), i.e., the rotational speed of the output sun gear (241) as the power implementation shaft (245) is controlled in 30 rpm increments from 0 rpm to 150 rpm, when the speed of the input end (210) is 600 rpm and the rotational speed of the second ring gear (234) converted during the first stage operation is 200 rpm. This follows the differential formula of Equation 5 below.

[0060] [Mathematical Formula 5] :

[0061] Ws: Output sun gear, rotational speed of output shaft, Wc: Second carrier, rotational speed of power implementation shaft, Wi: Rotational speed of input end (600 rpm)

[0062] Wc : Power implementation shaft (245) Ws : Output shaft (242) Remarks 0 rpm - 600 rpm Implementation Stop / Transmission Max (Pass-through) 30 rpm - 480 rpm 60 rpm - 360 rpm 90 rpm - 240 rpm 120 rpm - 120 rpm 150 rpm 0 rpm Implementation Max / Transmission Stop

[0063] The power implementation shaft (245) can be provided with a power that is precisely controlled by a worm gear motor equipped in the power control unit (130) and is increased or decreased in speed to provide power necessary for implementing hinge rotation, shaft rotation, or linear motion of various modules to be described later.

[0064] For example, if the power of the power implementation shaft (245) is implemented with a fourfold increase in speed, and a rotational speed of 120 rpm is required for the vertical rotation of the module, the power control unit (130) controls (brakes) the power implementation shaft (245) to rotate at 30 rpm, and then the power implementation unit (140) switches the speed increase at a ratio of 1:4 so that it can finally rotate vertically at 120 rpm. In this case, since the power implementation shaft (245) rotates at 30 rpm, the output shaft (242) rotates at -480 rpm according to the table above, and then the direction is switched at the output switching unit (150) of the module so that rotational power of 480 rpm can be transmitted to another module. Therefore, when 600 rpm is input to the module (100), 120 rpm of 'work' is performed, and the remaining 480 rpm after deducting this is output to the next module, thereby achieving an energy-conserving distribution.

[0065] If a large amount of torque is required to generate power (high load), the control rotational speed of the power generation shaft (245) may not reach the target rotational speed. In this case, due to the differential characteristics of the planetary gear, the rotational speed of the output sun gear (241) will attempt to increase by the amount that the rotational speed of the power generation shaft (245) has decreased. Therefore, if the rotational speed of the output sun gear (241), i.e., the output shaft (242), is controlled so that it does not increase abnormally, the strong torque of the main motor is concentrated and transmitted to the power generation shaft (245), thereby enabling the power generation shaft (245) to achieve the target rotational speed and torque.

[0066] Hereinafter, the specific configuration and operating principle of a hinge rotation module (1000) according to an embodiment of the present invention will be explained with reference to FIGS. 4 and 5. As illustrated, the hinge rotation module (1000) of the present invention is configured to include a differential gear unit (200), a speed control unit (300), a direction change unit (400), a hinge implementation unit (500), and a hinge output unit (600). Functionally, the differential gear unit (200) corresponds to the power distribution unit (120), the speed control unit (300) corresponds to the power control unit (130), the direction change unit (400) corresponds to the direction control unit (141), the hinge implementation unit (500) corresponds to the power implementation unit (140), and the hinge output unit (600) corresponds to the output change unit (150).

[0067] The hinge rotation module (1000) receives power from an external power source through an input end (210) provided on the lower side of the differential gear unit (200). The received power is distributed into two paths, an implementation gear (249) and an output shaft (242), by the differential principle of the differential gear unit (200). At this time, the implementation gear (249) is configured to be fitted and coupled to the power implementation shaft (245) and rotate together with it.

[0068] The speed control unit (300) is provided on one side of the implementation gear (249) and performs the function of reducing or controlling the rotational speed of the implementation gear (249). The speed control unit (300) includes an actuator (320) equipped with a worm gear. For example, the actuator (320) may be connected to the implementation gear (249) by meshing with it via a gear (310). Resistance is applied to the implementation gear (249) or rotation is controlled by utilizing the self-locking characteristics of the worm gear of the actuator (320).

[0069] The direction changer (400) is provided on one side of the implementation gear (249) and is configured to change the rotational direction (clockwise / counterclockwise) of the power transmitted to the hinge implementation unit (500). That is, the implementation power, whose speed is controlled by the speed control unit (300), passes through the direction changer (400) and is converted to a rotational direction that matches the user's intention and transmitted to the hinge implementation unit (500).

[0070] For example, the direction changer (400) includes: a first bevel gear (411) that rotates in conjunction with a gear (410) that meshes with the implementation gear (249); a third bevel gear (430) that is positioned facing the first bevel gear (411) at a certain distance apart; and a second bevel gear (420) that meshes with and connects the first and third bevel gears (411, 430). Accordingly, the first bevel gear (411) and the third bevel gear (430) rotate in opposite directions.

[0071] The above direction change unit (400) is located between the first and third implementation bevel gears and includes a rotational transmission unit (440) capable of sliding up and down by an actuator (460) through a rotational coupling (450). The rotational transmission unit (440) moves up and down and selectively connects to the first implementation bevel gear (411) or the third implementation bevel gear (430) to receive rotational power, and is finally transmitted to the hinge implementation unit (500) through the implementation unit (470).

[0072] A coupling unit (441) is formed on the upper and lower sides of the rotational transmission unit (440), and correspondingly, a coupling unit (412, 431) is also formed on the first and third implementing bevel gears (411, 430). When the actuator (460) operates to push or pull the rotational coupling body (450) up and down, the rotational transmission unit (440) moves up and down, and the corresponding coupling units are physically engaged with each other.

[0073] In this embodiment, the coupling unit (441, 412, 431) is illustrated as a dog clutch type, but is not limited thereto. Various mechanical engagement methods such as a hiss coupling, friction methods such as a disc clutch or centrifugal clutch, fluid methods such as a torque converter, or electromagnetic methods such as an electromagnetic clutch or magnetic powder clutch may be applied. Additionally, a one-way clutch type such as a one-way clutch or a sprag clutch may also be used. Furthermore, although the actuator (460) is illustrated as being implemented as a pull-push solenoid, various driving methods such as a worm gear motor with a self-locking function or a linear actuator may be applied.

[0074] Meanwhile, although the direction changer (400) is shown as being provided on one side of the implementation gear (249), it can be formed in a shape that encloses the output shaft (242).

[0075] The hinge implementation unit (500) implements the rotational movement of the actual hinge joint using power received from the implementation unit (470). The hinge implementation unit (500) includes a hinge rotation shaft (530) that is supported at the opening of both flanges (B) and rotates axially, and a secondary module connection unit (540) coupled to one side of the hinge rotation shaft (530). The secondary module connection unit (540) is coupled to a secondary module and rotates the coupled secondary module as the hinge rotation shaft (530) rotates.

[0076] The above hinge rotation axis (530) has a second hinge bevel gear (531) formed on one side and rotates together with it. The second hinge bevel gear (531) receives power through the illustrated power transmission path (implementation unit (470) -> gear (510) -> gear (520) -> first hinge bevel gear (521)).

[0077] As a result, the rotational speed of the hinge rotation axis (530) is controlled by the worm gear of the actuator (320), and the rotational direction is controlled according to the clutch switching operation of the actuator (460).

[0078] Meanwhile, the second hinge bevel gear (531) can be redesigned to be directly connected to the implementation unit (470) without passing through intermediate gears (510, 520) in order to minimize backlash that may occur when changing the rotation direction and to increase responsiveness.

[0079] The hinge output unit (600) is configured to transmit power distributed from the differential gear unit (200) to the next module. This transmits power sequentially through a first output bevel gear (610) that extends from and is coupled to the output shaft (242) of the differential gear unit (200), a second output bevel gear (620) that is coupled to the hinge rotation axis (530) so as to be freely rotatable via a bearing, and a third output bevel gear (630) provided on one side of the other module coupling unit (540), and then through the other module transmission member (642).

[0080] In this case, the rotation direction of the output shaft (242) and the rotation direction of the other module transmission member (642) are opposite, and consequently, the rotation direction of the initial input of the hinge rotation module (1000) and the rotation direction of the other module transmission member (642) remain the same. Additionally, an adapter (611) capable of fine vertical movement may be provided between the first output bevel gear (610) and the output shaft (242) to compensate for vertical play or assembly tolerance and to absorb shock.

[0081] Hereinafter, the specific configuration and operating principle of the shaft rotation module (2000) according to one embodiment of the present invention will be explained with reference to FIG. 6. As illustrated, the shaft rotation module (2000) of the present invention is configured to include a differential gear unit (200), a speed control unit (300), a direction change unit (400), a shaft steering unit (700), and a shaft output unit (800). The differential gear unit (200) corresponds to the power distribution unit (120), the speed control unit (300) corresponds to the power control unit (130), the direction change unit (400) corresponds to the direction control unit (141), the shaft steering unit (700) corresponds to the power implementation unit (140), and the shaft output unit (800) corresponds to the output conversion unit (150).

[0082] When compared to the hinge rotation module (1000) described above, the shaft rotation module (2000) shares the same configuration as the differential gear unit (200), speed control unit (300), and direction change unit (400). That is, the first module (A100) described in FIG. 1 can be defined as a common drive unit including the differential gear unit (200), speed control unit (300), and direction change unit (400).

[0083] On the other hand, the second module (B100) is a part that varies according to the function of each module, and in the hinge rotation module (1000), the hinge implementation part (500) and the hinge output part (600) correspond to the second module (B100), and in the shaft rotation module (2000), the shaft implementation part (700) and the shaft output part (800) correspond to the second module (B100). This is a specific embodiment showing that robot joints with various functions can be efficiently produced by using the first module (A100) as a common module and replacing only the second module (B100).

[0084] In this embodiment, a detailed description of the differential gear unit (200), speed control unit (300), and direction change unit (400) is omitted. The output power of the direction change unit (400) is finally transmitted to the shaft chord unit (700) through the implementation unit (470). The shaft chord unit (700) implements the actual joint axis rotation using the power received from the implementation unit (470).

[0085] The shaft assembly (700) includes a shaft rotation part (720) that is rotatably supported on a flange (C) and a secondary module connection part (740) that extends from the shaft rotation part (720). The secondary module connection part (740) is coupled with a secondary module, and as the shaft rotation part (720) rotates, the entire coupled secondary module is rotated in the axial direction. A bearing seating part (721) is formed on one side of the shaft rotation part (720) and is supported to rotate smoothly within the flange (C).

[0086] Additionally, a ring gear portion (710) is formed on the lower surface of the shaft rotation portion (720). This ring gear portion (710) is engaged with the implementation unit (470), and the shaft rotation portion (720) rotates according to the rotation of the implementation unit (470).

[0087] The shaft output section (800) is configured to transmit power distributed from the differential gear section (200) to the next module. The transmission shaft (810) extends from the output shaft (242) of the differential gear section (200), passes through the through hole (730) of the shaft section (700), and is exposed toward the other module connection section (740). The exposed end of the transmission shaft (810) is coupled with the other module transmission member (821) to transmit power to the next module.

[0088] In this embodiment, the rotational direction of the output shaft (242) and the rotational direction of the other module transmission member (821) are the same. Meanwhile, since the output shaft (242) rotates in the opposite direction to the input end (210), consequently, the rotational direction of the input and the rotational direction of the output of the shaft rotation module (2000) are opposite. In order to make the rotational direction of the input and output of the shaft rotation module (2000) in this embodiment the same, a separate reverse switching gear configuration may be added to the front or rear end, or the differential gear unit (200) may be modified.

[0089] The differential gear section (200) of the above-mentioned shaft rotation module (2000) can control the direction of rotation by changing the driving method of the first-stage differential gear system. Specifically, the first-stage differential gear system within the differential gear section (200) uses the sun gear as input, fixes the orbital axis (or carrier) of the planetary gear, and uses the ring gear as output. In this case, as the rotation of the sun gear is transmitted to the ring gear, a reverse reduction output with the opposite direction of rotation is generated. When this reverse output is input to the second-stage differential gear system, the direction of rotation of the final output other module transmission member (821) is reversed again and has the same direction as the input end (210).

[0090] An adapter (811) capable of fine vertical movement may be provided between the transmission shaft (810) and the output shaft (242) to compensate for vertical play or assembly tolerance and to absorb shock.

[0091] Hereinafter, as an embodiment of the present invention, the process of forming a hinge rotation module (1000) or an axis rotation module (2000) through the combination of a common module, a first module (A100), and a second module (B100) of various forms is explained with reference to FIG. 7.

[0092] The module system of the present invention is designed and manufactured by dividing it into a first module (A100) and a second module (B100) according to function. First, as shown in FIG. 7 (b), the first module (A100) is a driving unit responsible for the transmission and distribution of power, and is equipped with an input end (210) that receives power, and is equipped with an output shaft (242) and an implementation unit (470) to output the distributed power. Here, the implementation unit (470) transmits the implementation power output through the differential gear unit, power control unit, and direction change unit described above, and the output shaft (242) transmits surplus power to be transmitted to the next module. Depending on the design specifications, the power control unit or the direction change unit may be included as an integral part within the first module (A100) or excluded.

[0093] As illustrated in FIG. 7 (a), the second module (B100) is a functional unit that implements the movement of an actual joint. The second module (B100) can be configured in various forms depending on the purpose of use. For example, the second module (B100) may be in a form in which a hinge implementation part (500) and a hinge output part (600) are combined, and combined with the first module (A100) to form a hinge rotation module (1000) illustrated in FIG. 7 (c). Alternatively, the second module (B100) may be in a form in which an axis implementation part (700) and an axis output part (800) are combined, and in this case, combined with the first module (A100) to form an axis rotation module (2000).

[0094] The second module (B100) is coupled to the first module (A100) and receives two outputs from the first module (A100). That is, the second module (B100) transmits the power received from the output shaft (242) of the first module (A100) to the next module in sequence through the other module transmission member (642, 821), and uses the implementation power received through the implementation unit (470) to drive the hinge implementation part (500) or the shaft implementation part (700), thereby implementing the joint movement unique to the module.

[0095] Through this separate production structure, users can easily configure various types of modules (100) by selectively combining a second module having the necessary functions based on a first module (A100). This is a key technical feature for securing production flexibility in the robot industry, which requires multi-product, small-batch production.

[0096] The present invention adopts a manufacturing method in which a first module (A100) and a second module (B100) are produced independently on separate process lines and then combined at the final stage to form a single completed module (100). This means that the first module (A100), which contains concentrated core drive components, can be standardized for mass production, and flexibility for multi-product, small-batch production can be secured by selectively combining the second module (B100) with various functions (such as hinge rotation, axis rotation, or a linear motion module described later). Consequently, this modular manufacturing method provides the effect of significantly reducing the manufacturing cost of the robot and maximizing the convenience of maintenance.

[0097] Hereinafter, as an embodiment of the present invention, the configuration of a humanoid assembly (H100) composed of a plurality of hinge rotation modules (1000) and axis rotation modules (2000) described above will be explained with reference to FIG. 8.

[0098] As illustrated in FIG. 8 (a), the humanoid assembly (H100) of the present invention is equipped with two main motors (M) positioned in the torso. The first main motor (M1) is connected to the arm module (H110) to generate and transmit rotational power required for both arms, and the second main motor (M2) is connected to the pelvis module (H120) to generate and transmit rotational power required for the spine and both legs.

[0099] While most industrial machines operate while anchored to the floor or workbench, the humanoid assembly (H100) is a 'mobile robot' or mechanically a 'free body' that must balance and move on its own. Due to these structural characteristics, a bulky and heavy high-output main motor (M) is placed in the center of the torso, where movement is relatively minimal, while lightweight joint modules are placed in the limbs, where movement is frequent and rapid responsiveness is required. This drastically reduces the moment of inertia of the robot limbs, enabling agile and free movement with minimal power. Additionally, since the main motor is located in the torso, where spatial constraints are less severe, large motors that are relatively inexpensive and readily available can be used instead of expensive small high-output motors, thereby significantly lowering the overall manufacturing cost of the robot. Generally, the price of a motor increases exponentially as it becomes smaller relative to its output.

[0100] Referring to FIG. 8 (b), power generated by the second main motor (M2) rotates the main bevel gear (H121) provided inside the pelvic module (H120). This main bevel gear (H121) is engaged simultaneously with the spine bevel gear (H122) and the two leg connecting parts (H123, H124). That is, rotational power generated from a single main motor (M2) is simultaneously distributed and transmitted in a total of three directions—the spine direction (upward) and both leg directions (left / right)—through the main bevel gear (H121). Unlike conventional technology, which required placing a motor at each joint to drive multiple joints, this implements a high-efficiency power transmission system capable of supplying energy to the major joints of the entire body with a single centralized power source.

[0101] As illustrated in FIG. 8 (c), the shaft rotation module (2000), which receives power from the pelvic module (H120), controls a portion of the received power through the differential gear unit (200) and the speed control unit (300) to implement the shaft rotation movement of the corresponding joint. The remaining surplus power is then transmitted to the next stage module, the hinge rotation module (1000), through the shaft output unit (800). Similarly, the hinge rotation module (1000) extracts a portion of the received power to implement the hinge rotation movement, and transmits the remaining power to the next module.

[0102] Through this serial connection type power transmission method, a plurality of hinge rotation modules (1000) and axis rotation modules (2000) can be combined to form the shape of the limb joints of a humanoid assembly (H100). The module system according to the present invention is connected by inserting an extension rod (L) between the modules. Therefore, by freely adjusting the length of the extension rod (L), the length of the humanoid's limbs or its overall body shape (height, proportions, etc.) can be easily changed or adjusted. This modular assembly structure provides high expandability, which can be applied not only to humanoid robots but also to the production of various types of robots.

[0103] In addition, the present invention allows for repairs in the event that a specific module fails during the operation of a sculpture or robot by simply separating only the faulty module and immediately replacing it with a normal module. Unlike conventional repair methods that required dismantling all complex wiring or disassembling the entire robot, this can drastically reduce repair time and costs.

[0104] Hereinafter, as an embodiment of the present invention, the specific configuration of a linear motion module (3000) and the operating principle of an ankle module to which the module is applied will be explained with reference to FIGS. 9 and 10. As shown in FIG. 9, the linear motion module (3000) includes a first module (A100), which is a common module, a linear motion implementation unit (850), and an output conversion unit (900). Here, the first module (A100) is a common module responsible for the transmission and distribution of power, and the linear motion implementation unit (850) and the output conversion unit (900) correspond to a second module (B100) that performs linear motion functions. The linear motion module (3000) can be assembled into at least two or more units and coupled to the foot module (F) of a humanoid. The output conversion unit (900) is configured to transmit power received from the output shaft (242) to the next module through a module transmission member (920).

[0105] The above linear motion implementation unit (850) includes a driving unit (880) coupled with an implementation unit (470). The implementation unit (470) and the driving unit (880) may be connected via a belt drive system. In this case, the implementation unit (470) may be a driving pulley, and the driving unit (880) may be a driven pulley. The belt is formed from an elastic material such as rubber or synthetic resin, and even if the horizontal alignment of the two pulleys is very slightly off or the shaft vibrates slightly, the belt bends to absorb the error to some extent.

[0106] A roller screw is provided inside the linear motion implementation unit (850), and the driving unit (880) rotates according to the rotation of the implementation unit (470), and the screw shaft moves linearly due to the rotation of the roller. The rod (860) is connected to the screw shaft and moves linearly. In addition, the linear motion implementation unit (850) can be designed to operate by fitting a roller screw, a ball screw, or a lead screw to implement linear motion.

[0107] A fastening part (870) is formed at the end of the rod (860), and a fastening part (F100) is formed on the foot module (F). The fastening part (F100) can be formed as a ball joint, a spherical rod end, etc., to prevent the angle from changing as linear motion changes into rotational motion, and can absorb the angle change that occurs when the rod (860) pushes and pulls.

[0108] In this embodiment, the linear motion module (3000) is exemplified as being applied to the foot module (F), but it can be widely applied to various fields requiring linear motion, such as wrists, shoulders, or industrial machinery.

[0109] Hereinafter, various control methods of a module assembly according to an embodiment of the present invention will be described with reference to FIGS. 11 to 14. The plurality of modules described in this embodiment are not limited to hinge rotation modules, and can be commonly applied to module assemblies including various physical driving methods such as axis rotation modules and linear motion modules.

[0110] As shown in FIG. 11, the first hinge rotation module (15), the second hinge rotation module (16), and the third hinge rotation module (17) are connected sequentially to form a predetermined angle, and a terminal module (18) is connected to the last end.

[0111] The first module (15) receives rotational power of 600 rpm from a main motor (not shown). This power is distributed to the power implementation unit (140) and the output conversion unit (150) by the power distribution unit (120) inside the first module (15). At this time, the power control unit (130) controls the rotational speed of the power implementation unit (140) by limiting it to a maximum of 50 rpm. As described above, the power implementation unit (140) can achieve a hinge rotation of 200 rpm by increasing the speed through an internal gear ratio (e.g., 1:4).

[0112] In this case, when the power output unit (140) of the first module (15) consumes power to produce an output of 200 rpm, the remaining 400 rpm of rotational power is transferred to the next stage, the second module (16), through the output conversion unit (150).

[0113] Likewise, the second module (16) uses part of the received 400 rpm to implement a hinge rotation of 200 rpm and transmits the remaining 200 rpm to the third module (17). The third module (17) also uses all of the received 200 rpm to implement a hinge rotation of 200 rpm. As a result, all power is consumed in driving each module, and a speed of 0 rpm is transmitted to the last connected terminal module (18).

[0114] In the first control method, the terminal module (18) performs the role of fixing (0 rpm) the output switching section of the third module (17), which is the previous stage module. That is, by the terminal module (18) performing the fixing role, the speed balance of the entire system is balanced. Therefore, the control system can calculate the total input speed that the main motor must generate by summing the driving speeds required from each module (15, 16, 17). For example, if each module needs to rotate at 200 rpm, the main motor only needs to be input with a total of 600 rpm. When the total speed calculated in this way is input to the main motor, each module uses the power as needed, and the speed of the final stage naturally becomes 0 rpm, thereby achieving balance at the terminal module (18).

[0115] In this case, if you want to increase the speed of the main motor from 600 rpm to 1200 rpm, you just need to rotate the terminal module (18) to 600 rpm. Then, due to the differential principle of the entire system, (main motor 1200 rpm) - (terminal module 600 rpm) = 600 rpm, so that the required driving speed (total 600 rpm) can be accurately supplied to each module.

[0116] To this end, the terminal module (18) may use a motor with a worm gear, a friction brake, a hydraulic brake, a regenerative braking motor, etc., to precisely control the rotational speed. In addition, depending on the embodiment, a method of increasing reverse driving torque by combining a gearbox with a high gear ratio with the motor may be used, or smooth and precise deceleration control may be performed according to an electrical signal by using an electromagnetic brake, a magnetic powder brake, a hysteresis brake, etc. Furthermore, it is possible to secure strong braking force by applying a mechanical braking device such as a friction brake or a hydraulic brake.

[0117] In addition, the terminal module (18) may be configured to have a rotating part (D) so that the user can intuitively check the operating status or rotation status of the system with the naked eye.

[0118] FIG. 12 is a schematic diagram illustrating the second control method of the present invention. The control method represents a method of individually controlling each joint module connected sequentially in an environment where the main motor always rotates at a constant speed (constant speed). In this embodiment, it is assumed that the main motor rotates at a constant speed of 1200 RPM.

[0119] The power of the main motor is sequentially transmitted to the modules (21 to 26) corresponding to each joint on the left leg side of the humanoid through the pelvic module (H120). As an example, the first and second joint modules (21, 22) represent an axis rotation module (2000) and a hinge rotation module (1000) combined with the pelvic module (H100), and the third and fourth joint modules (23, 24) represent an axis rotation module (2000) and a hinge rotation module (1000) such as a knee joint that follows therefrom. The fifth and sixth joints (25, 26) are modules constituting the ankle and may be a combination of an axis rotation module (2000) and a hinge rotation module (1000), or a plurality of linear motion modules (3000). The driving speed of the modules (21 to 26) corresponding to each joint is determined through the following steps.

[0120] 1. Command Speed ​​setting step (S8-1): First, a higher-level control unit (not shown) including physical artificial intelligence (Physical AI) calculates a command speed, which is the ideal target speed of each joint required for the current robot's operation (walking, work, etc.).

[0121] 2. Actual Speed ​​Acquisition Step (S8-2): The actual speed of each joint module (21 to 26) is acquired by measuring the motor encoder, etc., provided in each joint module (21 to 26).

[0122] 3. Control Speed ​​Calculation Step (S8-3): Compare the actual speed and the set speed. That is, to reduce the difference between the target value and the current value, a control speed, which is a corrected speed value to be applied to the driving motor (worm gear motor, etc.) of each module, can be calculated using a PID controller, etc.

[0123] As described, in this step (S8-3), if the set speed of the first joint (21) is 132 RPM and the actual speed is 60 RPM, the error is large at 72 RPM. To ensure fast tracking, the control speed can be set to 65 RPM by correcting within the acceleration limit allowed by the control system (e.g., +5 RPM). Additionally, if the set speed of the second joint (22) is 11 RPM and the actual speed is 10 RPM, the error is small at 1 RPM, so it can be set to 11 RPM by correcting by +1 RPM.

[0124] 4. Terminal module speed determination step (S8-4): A total control speed is obtained, which is the sum of the control speeds required at each joint module (21 to 26). Then, by subtracting this total control speed from the fixed main motor speed (1200 RPM), the final speed at which the terminal module (27) must rotate to achieve energy balance in the system is calculated using Equation 6.

[0125] [Mathematical Formula 6] :

[0126] In this embodiment, for the sake of convenience of explanation, the maximum correction range is shown as being limited to 5 RPM, etc., by considering the sum of the control speeds of each joint in a constant rotational speed (constant speed) environment of the main motor; however, in actual application, a more precise and faster response speed can be achieved through tuning of the PID controller. In addition, depending on the situation, the set speed calculated by the upper controller (physical AI) can be used as the control speed without separate correction.

[0127] In addition, in this embodiment, the rotational speed was calculated in the terminal module as the total control speed of each joint, but conversely, the difference between the input rotational speed of the main motor and the end rotational speed of the terminal module can be controlled to be distributed to the rotational speeds implemented by each joint module.

[0128] Meanwhile, in situations where the movement of a joint must stop while under a certain load or move at extremely low RPM (e.g., holding and bracing a heavy object, or gripping a tool tightly), there is a high risk that excessive current will flow through the motor and cause burnout in a typical humanoid equipped with motors in its joints.

[0129] However, according to the second control method of the present invention, even if the joint stops or moves at extremely low speed, the main motor rotates at high speed (high efficiency range) at 1200 RPM, and the terminal module (27) rotates at 1199 RPM, etc. according to the differential principle to offset the speed difference. Therefore, since the main motor always continues to rotate at the rated RPM with the best efficiency, the battery efficiency is very excellent, and there is an advantage that the motor does not burn out and can maintain strong torque even in low-speed high-load situations.

[0130] FIG. 13 is a schematic diagram illustrating the third control method of the present invention. The control method is a method for controlling joint modules that branch into at least two directions from a chest module (H110) or a pelvic module (H120) connected to the main motor in an environment where the main motor always rotates at a constant speed (constant speed).

[0131] As described, the main motor located in the torso of the humanoid rotates at a constant speed of 1200 RPM and transmits power to the pelvic module (H120). The pelvic module (H120) then branches the received power into three directions (left leg, right leg, spine, etc.) and transmits it.

[0132] Power is sequentially transmitted to the modules (21 to 26) corresponding to each joint on the left leg side of the humanoid. At this time, assuming that the total sum of the control speeds required by each joint module is 576 RPM, the terminal module (27) at the left end is rotated at 624 RPM according to the differential principle to balance the system.

[0133] Likewise, power from the main motor is transmitted to the modules (31 to 36) corresponding to each joint on the right leg side of the humanoid. If the movement of the right leg is small and the total control speed of each joint module is only 10 RPM, the terminal module (27) at the right end is controlled to rotate at 1190 RPM to absorb excess power.

[0134] The third control method demonstrates that multiple branch joint groups can be controlled simultaneously and independently using only a powerful main motor. Although a configuration using two main motors (for the upper body and for the lower body) has been illustrated, it is also possible to drive the entire body by transmitting power to both the chest module (H110) and the pelvis module (H120) with a single main motor. Furthermore, power can be transmitted by additionally providing a shoulder module or a head module within the range of the main power source equipped in the torso via a belt drive method. Additionally, the main power source does not necessarily have to be an electric motor; even if it is a chemically operated power source such as a small engine or a gas turbine, the mechanism of the present invention can be applied in the same way as long as it is controlled and provided at a constant rotational speed, thus providing scalability.

[0135] FIG. 14 is a schematic diagram illustrating the fourth control method of the present invention. The control method represents a complex method of continuously transmitting and controlling power received from the chest module (H110) through the shoulder, elbow, and wrist to the fingertips of the hand module (H) in a constant speed environment where the main motor always rotates at a constant speed (e.g., 1200 RPM). This can be described as a form in which the concepts of the second control method (constant speed main motor + terminal balancing) and the first control method (differential distribution) described above are combined.

[0136] Specifically, as illustrated, main power is sequentially transmitted to the modules (41 to 46) corresponding to each joint on the left arm side of the humanoid. At this time, it is assumed that the total sum of the control speeds of each joint module (41 to 46) calculated by the upper control unit (not shown) is 576 RPM. In this case, to balance the energy of the entire system, the terminal module (47) located at the end of the arm is controlled to rotate at 624 RPM according to the differential principle.

[0137] Up to this point, it is identical to the second control method, but the terminal module (47) acts as a balancer that absorbs excess speed of the arm joint system, and at the same time serves as a new input power source for the next stage, the hand module (H). That is, the rotational speed of the terminal module (47), 624 RPM, acts as the input for the hand module (H). This input power is transmitted through distribution paths connected in parallel according to the number of fingers. Each finger is equipped with a module (H1 to H5) corresponding to each joint, and these are equipped with a differential gear system. Due to spatial constraints, the last finger module (H6) does not have a separate actuator and fixes the input. That is, the last finger module (H6) located at the end of the power transmission or the end of the corresponding line is fixed.

[0138] However, a separate differential module is provided in the preceding stage of the first joint module (H1), and the differential module is equipped with a differential gear system and a self-locking worm gear motor, and through the control of these, only the amount of power required for each finger movement at the input 624 RPM is extracted (blocked) and transmitted to the module (H1).

[0139] For example, if the total speed required for driving each joint module (H1 to H5) constituting the finger is 5 RPM, the differential module can be designed to control 5 RPM from the input 624 RPM to be transmitted to the first joint module (H1), and the remaining 619 RPM can be discharged or recovered as surplus power.

[0140] In this way, the fourth control method has a multi-stage control structure that first uses the powerful rotational force of the main motor for the large joint (arm) and then controls the remaining rotational force to recycle it as a driving source for the small joint (finger), thereby enabling the power of the main motor to be transmitted to the fingertips and thus generating strong force. In this case, the terminal module (47) serves as an intermediate checkpoint between the arm and the hand, and acts as a link that finishes the movement of the arm while simultaneously supplying power for the delicate control of the finger.

[0141] The module and module assembly according to the present invention can be widely applied to various industrial fields requiring joint actuation, such as not only humanoid robots but also pet dog robots, industrial machinery, and animatronics for theme parks. In particular, the design structure separated into a common module (first module) and a functional module (second module) enables cost reduction through mass production, thereby contributing to securing price competitiveness for the robot. Since the module assembly allows for the simple separation and replacement of only the problematic module without the need to disassemble or replace the entire robot in the event of a failure, the convenience of maintenance is maximized, and the time and cost required for fault diagnosis and repair can be drastically reduced. These advantages demonstrate that the present invention possesses industrial applicability that allows for widespread use in actual industrial settings.

Claims

1. Input switching unit (110) that receives rotational power from an external power source; A power distribution unit (120) that distributes power received from the input conversion unit (110) to a first path and a second path; A power implementation unit (140) that receives power distributed from the first path of the power distribution unit (120) and implements movement or rotation of other modules, and A module comprising an output switching unit (150) that receives power distributed from the second path of the power distribution unit (120) and transmits it to another module.

2. In Paragraph 1, The above power distribution unit (120) includes a differential gear system, and The above output switching unit (150) is a module characterized by transferring the remaining surplus power to another module after subtracting the power consumed in driving the power implementation unit (140) from the total power input to the input switching unit (110).

3. In Paragraph 1, The above power distribution unit (120) includes a planetary gear system, and One of the sun gear, carrier, and ring gear of the above planetary gear system is connected to the input switching unit (110) to receive input power, and One of the remaining two components is connected to the power implementation unit (140), and The other one is a module characterized by being connected to the output switching unit (150) above to distribute power.

4. In Paragraph 1, The system further includes a power control unit (130) provided on at least one side of the power implementation unit (140) or the output conversion unit (150) to limit or control the rotational speed of the configuration to a speed lower than or equal to a set speed. The above power control unit (130) is a module characterized by including a worm gear having a self-locking function.

5. In Paragraph 1, The above power implementation unit (140) is, A module further comprising a direction control unit (141) that controls the direction of movement or rotation of other modules by switching the direction of rotational power received from the power distribution unit (120).

6. A main motor that generates rotational power; A multi-joint link section connected to the main motor to receive power, wherein a plurality of modules according to claim 1 are sequentially combined in series or parallel; A terminal module coupled to the outermost end of the above-mentioned multi-joint link portion and It includes a control unit that controls the operation of the plurality of modules and terminal modules mentioned above, A module assembly characterized by the above-described control unit controlling the power generated by the main motor to be transmitted sequentially through the plurality of modules.

7. In Paragraph 6, The above multi-joint link includes a branching module configured such that power transmitted from the main motor is branched and transmitted in at least two different directions. A module assembly characterized by the above-described control unit controlling the main motor or the terminal module at each branch end based on the sum of the driving speeds of the modules connected to each branched direction.

8. In Paragraph 6, The control unit calculates the total sum of the control speeds required for each of the plurality of modules while keeping the rotational speed of the main motor fixed at a constant level, and A module assembly characterized by rotating the terminal module at a speed obtained by subtracting the total sum of the control speeds from the fixed speed of the main motor.

9. In Paragraph 8, The above terminal module is located at the end of the multi-joint link portion and is connected to a hand module that performs hand functions, and A module assembly characterized in that the rotational speed of the terminal module is transmitted as input power to the hand module and is reused to drive a plurality of finger joints provided in the hand module.

10. In Paragraph 6, A module assembly characterized by the above-described control unit controlling the difference between the input rotational speed of the main motor and the end rotational speed of the terminal module to be distributed to the rotational speeds implemented by all serially connected implementation modules.

11. In Paragraph 6, It further includes a body frame on which the above main motor is installed, and A modular assembly characterized in that the above-described body frame is composed of a free body capable of moving in space without being fixed to a specific location or the ground.

12. A setting speed setting step (S8-1) in which the upper control unit calculates a setting speed, which is the target speed of each joint required for the operation of the robot; Actual velocity acquisition step (S8-2) for acquiring the actual velocity of each joint; A control speed calculation step (S8-3) that compares the above-mentioned set speed with the above-mentioned actual speed, corrects the error, and calculates the control speed to be applied to the drive motor of each module, and A control method for a module assembly comprising a terminal module speed determination step (S8-4) for determining the final rotational speed of a terminal module by calculating the total control speed, which is the sum of the control speeds required in each of the above modules, and subtracting the total control speed from the speed of the main motor.

Images