4-axis wheel robot platform for enhancing vibration reduction effect

Abstract

The present invention relates to a 4-axis wheel robot platform in which the rear suspension, which is a shock absorber coupled to each rear wheel and the vehicle body frame, is installed at an angle such that it faces outward as it faces upward, and tire wiper devices are installed at the front and rear of each wheel's tire, thereby maximizing the vibration and shock mitigation effect while minimizing the increase in vehicle body size (ride height, vehicle width, etc.), and also effectively cushioning and mitigating vehicle body vibration and shaking using the rear suspension to improve driving stability, and effectively removing foreign matter and dust from the tires by means of tire wiper devices installed elastically at the front and rear of each wheel.

Description

Technology Field

[0001] The present invention relates to a 4-axis wheel robot platform with improved vibration reduction effects. More specifically, the invention relates to a 4-axis wheel robot platform in which the rear suspension, which is a shock absorber coupled to each rear wheel and the vehicle body frame, is installed at an angle such that it faces outward as it faces upward, and by installing tire wiper devices at the front and rear of each wheel's tire, the vibration and shock mitigation effects can be maximized while minimizing the increase in vehicle body size (ride height, vehicle width, etc.). Furthermore, by utilizing the rear suspension, vehicle body vibration and shaking can be effectively cushioned and mitigated to improve driving stability, and foreign matter and dust on the tires can be effectively removed by tire wiper devices installed elastically at the front and rear of each wheel. Background Technology

[0002] Recently, with the advancement of robotics technology, there has been a growing variety of cases where robots are deployed to hazardous locations, such as construction sites, accident sites, and sites with explosion risks, to perform pre-set tasks. In such instances, the sites where robots are deployed are characterized by irregular environments.

[0003] Accordingly, various studies are being conducted to improve the driving performance of robots in irregular environments.

[0004] However, unlike robots that operate in structured environments such as paved roads, robots operating in irregular environments such as unpaved roads are significantly affected by various obstacles, vibrations, shaking, and dust; therefore, extensive preliminary research is required to improve driving performance.

[0005] For example, robots deployed in environments with high vibration may be subject to shock and fatigue failure of modules due to vibration and shock, so it is necessary to apply suspensions with high shrinkage rates or to manufacture robot platforms with large sizes to ensure durability, and robots deployed in environments with high dust may be subject to oil film coating to prevent dust from entering or to install devices to remove foreign substances from the tires of each wheel.

[0006] FIG. 1 is a perspective view showing Korean Patent Publication No. 10-2024-0094379 (Title of Invention: 4-axis-wheel independent drive robot with improved applicability to irregular environments) filed by the applicant.

[0007] The 4-axis-wheel independent drive robot of FIG. 1 (hereinafter referred to as the prior art) (100) consists of a body frame (103) that forms the skeleton of the robot platform, 4-axis wheels (105) that are rotatably coupled to the lower part of the body frame (103), and shock absorbers (104) installed between the body frame (103) and the 4-axis wheels (105).

[0008] At this time, the front and rear of the vehicle body frame (103) are combined with shock absorbers (104), and a space for installing parts such as a controller is formed at a midpoint in the longitudinal direction.

[0009] In addition, the shock absorbers (104) have their lower ends connected to the four axle wheels (105) respectively, their upper ends connected to the vehicle body frame (103), and are installed at an angle so as to face inward as they go from the lower end to the upper end.

[0010] This conventional technology (100) has the advantage of effectively reducing damage and failure of the vehicle body frame and parts caused by vibration and shock during driving by absorbing and mitigating vibration and shock transmitted from the 4-axis wheel (105) by the shock absorber (104).

[0011] However, the conventional technology (100) has a disadvantage that the length of the vehicle body increases as a space for installing components such as a controller is formed at a midpoint in the longitudinal direction of the vehicle body frame, and this increase in the length of the vehicle body reduces maneuverability and mobility and is not suitable for narrow environments.

[0012] To solve these problems, the space for installing components such as controllers must be placed at the front or rear; however, while this structure can reduce the length of the vehicle body, it results in an increase in the vehicle body height (ground clearance).

[0013] In addition, the prior art (100) has a structural limitation in that it does not disclose any technology or method for removing foreign substances and dust from the tires of the 4-axis wheel (105), and thus cannot solve the conventional problems caused by foreign substances and dust from the tires. The problem to be solved

[0014] The present invention aims to solve these problems, and the objective of the present invention is to provide a 4-axis wheel robot that can increase driving safety by effectively reducing external shocks and vibrations while minimizing the height of the vehicle by changing the installation angle of the rear suspension, that is, by installing it so that it is tilted outward as it faces upward, thereby increasing the loading area of ​​the parts loaded in the upper installation space.

[0015] In addition, another objective of the present invention is to provide a 4-axis wheel robot that can drastically solve problems such as driving failure or vehicle body tilting caused by foreign matter and dust on the tires by installing tire wiper devices at the front and rear of each wheel's tire, and by installing a movable contact body that contacts the tire of each tire wiper device elastically toward the tire to increase the speed and accuracy of removing foreign matter and dust on the tires.

[0016] In addition, another problem of the present invention is to provide a 4-axis wheel robot that can effectively block the inflow of foreign substances or dust into the vehicle body by further including a protective cover formed of a plate and installed on the upper part of a moving contact body. means of solving the problem

[0017] The solution means of the present invention for solving the above problem comprises a vehicle body frame in which a plurality of frames are assembled to form the skeleton of a vehicle body, front wheels rotatably coupled to both front sides of the vehicle body frame, rear wheels rotatably coupled to both rear sides of the vehicle body frame, shock absorbers installed between the vehicle body frame and the four-axis wheels, a case sealing the outer side of the vehicle body frame, and a manipulator coupled to the case to perform a preset task, wherein: the vehicle body frame forms an installation space for loading a housing of the manipulator controller on the upper part of the rear wheels, and when the shock absorbers coupled to the rear wheels are referred to as rear suspensions, the rear suspensions are vertically installed at an angle such that they face outward as they face upward.

[0018] In addition, in the present invention, the vehicle body frame comprises floor frames; vertical frames vertically connected to the floor frames; horizontal frames connected to the upper portions of the vertical frames; second vertical frames vertically connected to the horizontal frames in the area corresponding to the upper portions of the rear wheels among the horizontal frames; and second horizontal frames horizontally connecting the second vertical frames, and the housing of the manipulator controller is loaded in the installation space formed by the horizontal frames, the second vertical frames, and the second horizontal frames, and the rear wheel suspensions preferably have their lower portions attached to the rear wheels and their upper portions connected to one of the second horizontal frames.

[0019] In addition, in the present invention, the 4-axis-wheel robot platform preferably further includes tire wiper devices positioned at the front and rear of each wheel to remove foreign substances and dust adhering to the tires of each wheel through physical contact.

[0020] In addition, in the present invention, the tire wiper devices preferably comprise: a body formed of a plate and coupled to an external structure, with mounting holes formed inwardly on one surface at intervals in the width direction; a movable shaft including a small diameter portion formed in a cylindrical shape with an outer diameter smaller than the inner diameter of the mounting hole of the body and inserted into the mounting hole of the body, and a large diameter portion formed in a cylindrical shape with an outer diameter larger than the inner diameter of the mounting hole of the body and connected to the small diameter portion by a step and disposed on the outside of the body; springs installed inside the mounting hole of the body and disposed on the outside of the small diameter portion, elastically supporting the movable shaft; and a movable contact body formed in a rod shape coupled to the end of the movable shaft, with its outer surface in contact with the tire of the corresponding wheel.

[0021] In addition, in the present invention, it is preferable that the tire wiper devices further include a protective cover formed from a plate and coupled to the upper part of the movable contact body. Effects of the invention

[0022] According to the present invention having the above problem and solution means, by changing the installation angle of the rear suspension, that is, by installing it so that it is tilted outward as it faces upward, the loading area of ​​the parts loaded in the upper installation space is increased, thereby effectively reducing external shocks and vibrations while minimizing the height of the garage.

[0023] In addition, according to the present invention, tire wiper devices are installed at the front and rear of the tires of each wheel, and a movable contact body that contacts the tire of each tire wiper device is installed elastically toward the tire, thereby increasing the speed and accuracy of removing foreign substances and dust adhering to the tires, and thus enabling a groundbreaking solution to problems such as driving failure or vehicle body tilting caused by foreign substances and dust adhering to the tires.

[0024] In addition, according to the present invention, the tire wiper device can effectively block the inflow of foreign substances or dust into the vehicle body by further including a protective cover formed of a plate and installed on the upper part of a moving contact body. Brief explanation of the drawing

[0025] FIG. 1 is a perspective view showing Korean Patent Publication No. 10-2024-0094379 (Title of Invention: 4-axis-wheel independent drive robot with improved applicability to irregular environments) filed by the applicant. FIG. 2 is a perspective view showing a 4-axis-wheel robot platform, which is an embodiment of the present invention. Figure 3 is a perspective view showing the state with the manipulator of Figure 2 removed. Fig. 4 is a side view of Fig. 3. Fig. 5 is a rear view of Fig. 3. Figure 6 is a side view showing the state with the case of Figure 2 removed. Fig. 7 is a rear view of Fig. 6. Fig. 8 is an enlarged perspective view of A in Fig. 7. Figure 9 (a) is an example diagram showing the installation space of the vehicle body frame when the manipulator controller housing is installed vertically, and (b) is an example diagram showing the installation space of the vehicle body frame when the manipulator controller housing is installed horizontally. FIG. 10 is a bottom view of a 4-axis-wheel robot platform viewed from below to illustrate the fixed frames of the present invention. Fig. 11 is a perspective view of Fig. 10. FIG. 12 is an assembly diagram illustrating the process of attaching wiper brackets to the fixed frames of the present invention. FIG. 13 is a bottom view showing the state in which wiper brackets are coupled to the fixed frames of the present invention. FIG. 14 is a perspective view showing the tire wiper device of FIG. 2. Fig. 15 is an exploded perspective view of Fig. 14. Fig. 16 is a side cross-sectional view of Fig. 14. Specific details for implementing the invention

[0026] Hereinafter, an embodiment of the present invention will be described with reference to the attached drawings.

[0027] FIG. 2 is a perspective view showing a 4-axis-wheel robot platform which is an embodiment of the present invention, FIG. 3 is a perspective view showing the state with the manipulator of FIG. 2 removed, FIG. 4 is a side view of FIG. 3, and FIG. 5 is a rear view of FIG. 3.

[0028] A 4-axis wheel robot platform (1), which is an embodiment of the present invention, is designed so that the rear suspension, which is a shock absorber coupled to each rear wheel and the vehicle body frame, is installed at an angle so that it faces outward as it faces upward, and by installing a tire wiper device at the front and rear of each wheel's tire, it is possible to maximize the vibration and shock mitigation effect while minimizing the increase in vehicle body size (vehicle height, vehicle width, etc.), and also to increase driving stability by effectively cushioning and mitigating vehicle body vibration and shaking using the rear suspension, and to effectively remove foreign matter and dust from the tires by means of a tire wiper device installed elastically at the front and rear of each wheel.

[0029] In addition, as illustrated in FIGS. 2 to 5, the 4-axis-wheel robot platform (1) of the present invention comprises a body frame (3) forming the skeleton and framework of the 4-axis-wheel robot platform (1), 4-axis wheels (4) which are wheels installed on both the front and rear sides of the body frame (3) to support the driving of the body frame (3), a case (2) installed on the upper part of the body frame (3) to protect the body frame and internal parts, rear suspensions (5) connecting the body frame (3) and the rear wheels (4) to absorb and mitigate shocks and vibrations transmitted through the wheels, wiper brackets (71), (72), (73), (74) formed in the shape of a plate and installed on the front, rear, left, and right sides of the body frame, tire wiper devices (9) installed on each wiper bracket to remove foreign matter and dust adhering to the tires of each wheel (4), and a device installed on the front upper surface of the case (2) to perform a preset task. It consists of a manipulator (10).

[0030] FIG. 6 is a side view showing the state with the case of FIG. 2 removed, FIG. 7 is a rear view of FIG. 6, FIG. 8 is an enlarged perspective view of A of FIG. 7, FIG. 9 (a) is an example showing the installation space of the vehicle body frame when the housing of the manipulator controller is installed vertically, and FIG. 9 (b) is an example showing the installation space of the vehicle body frame when the housing of the manipulator controller is installed horizontally.

[0031] As shown in FIGS. 6 to 8, the vehicle body frame (3) of the present invention is composed of floor frames (31) formed in a square shape to form the floor of the vehicle body, vertical frames (32) connected vertically to the floor frames (31), horizontal frames (33) connected to the upper ends of the vertical frames (32) and installed parallel to the floor frames (31), second vertical frames (34) connected vertically to the horizontal frames (33) corresponding to the rear of the vehicle body, and second horizontal frames (35) installed parallel to the upper ends of the second vertical frames (34).

[0032] At this time, components such as the motor, battery, and electrical module of each wheel (4) are installed in the space formed by the floor frames (31), vertical frames (32), and horizontal frames (33), and components such as a manipulator controller are installed in the space formed by the horizontal frames (33), second vertical frames (34), and second horizontal frames (35) (hereinafter referred to as the installation space).

[0033] That is, the vehicle body frame (3) of the present invention has a manipulator controller of approximately 12 kg or more installed at the rear of the vehicle body, so that the wheel corresponding to the rear wheel (hereinafter referred to as the rear wheel) receives the load of the frame, electrical module, manipulator controller, sensors, electrical module, battery, etc.

[0034] For example, when the weight of the battery is 15 kg, the weight of the electrical module is 1 kg, the weight of the sensor unit is 5 kg, the weight of the vehicle body frame (3) is 8 kg, the weight of the manipulator controller is 12 kg, and the weight of the motor and wheel is 16 kg, the rear wheel receives a total load of 57 kg.

[0035] At this time, the range of vertical movement based on the rear wheel motor was confirmed to be a maximum of 60mm, and accordingly, the driving range of the rear suspension (9) connecting the rear wheel and the vehicle frame was set to approximately 50mm (±25mm based on the center), and since the maximum stroke is within 50mm, a rear suspension (9) with an installation distance of 150mm was applied.

[0036] Meanwhile, the housing (20) of the manipulator controller of the present invention is manufactured with a predetermined width and height, wherein the width of the housing (20) is manufactured to be greater than the height.

[0037] Since the width of the manipulator controller housing (20) is formed to be greater than the height, when the housing (20) is installed vertically in the installation space of the vehicle body frame (3) as shown in FIG. 9 (a), a problem arises in which the height of the vehicle body frame (3) increases.

[0038] Accordingly, in the present invention, as shown in FIG. 9 (b), the housing (20) of the manipulator controller is installed horizontally in the installation space of the vehicle body frame (3) so as to minimize the height of the vehicle body frame (20).

[0039] At this time, since the width of the hull (20) is greater than the distance between the lower ends of a pair of rear suspensions (9), the rear suspensions (9) are installed in a vertical state in the present invention, but are installed at an angle so that they face outward as they face upward, thereby minimizing the height of the vehicle body while providing flexibility for high loads.

[0040] The rear suspension (5) includes a spring (S) and a rod-shaped link shaft (51) on which the spring (S) is installed on the outside.

[0041] In addition, the lower part of the link shaft (51) of the rear suspension (5) is connected to the rear wheel (4) through brackets, and the upper part of the link shaft (51) is connected to the second horizontal frame (35) of the vehicle body frame.

[0042] At this time, since the distance between the lower parts of a pair of rear suspensions (5) is smaller than the distance between the second horizontal frames (35) of the vehicle body frame, the rear suspensions (5) are vertically installed at an angle so that they face outward as they face upward, thereby maintaining the installation space of the manipulator controller as before while having high elasticity and flexibility.

[0043] FIG. 10 is a bottom view of a 4-axis-wheel robot platform viewed from below to illustrate the fixed frames of the present invention, and FIG. 11 is a perspective view of FIG. 10.

[0044] As shown in FIGS. 10 and 11, the 4-axis-wheel robot platform (1) of the present invention includes fixed frames (37) that are installed to protrude forward, backward, left, and right of the body frame (3) by being combined with the bottom frames (31) of the body frame (3).

[0045] At this time, the fixed frames (37) consist of a pair of first fixed frames (371) that are connected to the floor frame positioned at the foremost of the floor frames (31) and are installed to protrude vertically toward the front of the vehicle body, a pair of second fixed frames (372) that are connected to the floor frame positioned at the rearmost of the floor frames (31) and are installed to protrude vertically toward the rear of the vehicle body, a third fixed frame (373) that is connected to the floor frame positioned at the far left of the floor frames (31) and is installed to protrude toward the left of the vehicle body, and a fourth fixed frame (374) that is connected to the floor frame positioned at the far right of the floor frames (31) and is installed to protrude toward the right of the vehicle body and is composed of frames assembled in a 'C' shape.

[0046] The first fixed frames (371) are formed in the shape of rods or bars having a length, and their ends are connected to the floor frame positioned at the foremost among the floor frames (31), so that their front ends protrude forward from the vehicle body.

[0047] In addition, the first fixed frames (371) are installed spaced apart from each other in the vehicle width direction.

[0048] A front wiper bracket (71) is seated and coupled to these first fixed frames (371), and tire wiper devices (9) are installed on the front wiper bracket (71) and positioned in front of each of the front wheels (41).

[0049] The second fixed frames (372) are formed in the shape of rods or bars having a length, and their ends are connected to the rearmost floor frame among the floor frames (31), so that their rear ends protrude from the vehicle body toward the rear.

[0050] In addition, the second fixed frames (372) are installed spaced apart from each other in the vehicle width direction.

[0051] A rear wiper bracket (72) is seated and coupled to these second fixed frames (372), and tire wiper devices (9) are installed on the rear wiper bracket (71) and positioned at the rear of each of the rear wheels (42).

[0052] The third fixed frame (373) includes frames assembled in a 'U' shape and is connected to the floor frame positioned on the far left among the floor frames (31), so that its end protrudes toward the left from the vehicle body.

[0053] A left wiper bracket (73) is seated and coupled to this third fixed frame (373), and tire wiper devices (9) are installed on the left wiper bracket (73) at the rear of the left front wheel (41) and in front of the left rear wheel (42).

[0054] The fourth fixed frame (374) includes frames assembled in a 'U' shape and is connected to the floor frame positioned on the far right among the floor frames (31), so that its end protrudes toward the right from the vehicle body.

[0055] A right wiper bracket (74) is seated and coupled to this fourth fixed frame (374), and tire wiper devices (9) are installed on the right wiper bracket (74) at the rear of the right front wheel (41) and in front of the right rear wheel (42).

[0056] FIG. 12 is an assembly diagram illustrating the process of attaching wiper brackets to the fixed frames of the present invention, and FIG. 13 is a bottom view showing the state in which wiper brackets are attached to the fixed frames of the present invention.

[0057] As shown in FIGS. 12 and 13, the wiper bracket (7) of the present invention comprises a front wiper bracket (71) coupled to first fixed frames (371) protruding forward of the vehicle body, a rear wiper bracket (72) coupled to second fixed frames (372) protruding backward of the vehicle body, a left wiper bracket (73) coupled to third fixed frames (373) protruding left of the vehicle body, and a right wiper bracket (74) coupled to fourth fixed frames (374) protruding right of the vehicle body.

[0058] The front wiper bracket (71) consists of a plate-shaped base plate (711) that is seated on first fixed frames (371) protruding forward from the vehicle body, inclined plates (712) that are connected at an angle toward the front from both sides of the base plate (711), and mounting plates (713) that are connected to each inclined plate (712) and to which the tire wiper device (9) is attached.

[0059] That is, the front wiper bracket (71) allows the mounting plates (713) to be positioned further forward than the base plate (711) due to the inclined plates (712), thereby enabling the tire wiper device (9) to be attached in consideration of the size of the front wheel (41).

[0060] At this time, the tire wiper devices (9), each installed on the mounting plates (713) of the front wiper bracket (71), are positioned in front of the front wheels (41) to remove foreign matter and dust from the front wheels (41).

[0061] The rear wiper bracket (72) is made of the same shape and structure as the front wiper bracket (72), and is seated and coupled to the second fixed frame (372) protruding to the rear of the vehicle body.

[0062] In addition, tire wiper devices (9) installed on the mounting plates of the rear wiper bracket (72) are positioned behind the rear wheels (42) to remove foreign matter and dust from the rear wheels (42).

[0063] The left wiper bracket (73) is formed from a plate having a predetermined area, and a folded portion is formed at the front end and rear end that is folded inward, corresponding to the outer diameter of the front wheel (41) and the rear wheel (42).

[0064] Additionally, tire wiper devices (9) are attached to the front and rear bends of the left wiper bracket (73), and the tire wiper device (9) attached to the front bend is positioned at the rear of the left front wheel (41) to remove foreign matter and dust attached to the left front wheel (41), and the tire wiper device (9) attached to the rear bend is positioned at the front of the left rear wheel (42) to remove foreign matter and dust attached to the left rear wheel (42).

[0065] The right wiper bracket (74) is made of the same shape and structure as the left wiper bracket (73), is coupled to the fourth fixed frame (374) protruding to the right from the vehicle body, and tire wiper devices (9) are installed in the front bend and the rear bend, respectively.

[0066] FIG. 14 is a perspective view showing the tire wiper device of FIG. 2, FIG. 15 is an exploded perspective view of FIG. 14, and FIG. 16 is a side cross-sectional view of FIG. 14.

[0067] The tire wiper device (9) of FIGS. 14 to 16 is installed on one of the aforementioned wiper brackets (7) corresponding to the position of the tire to be cleaned, and removes foreign substances and dust, etc. attached to the tire through physical contact.

[0068] In addition, the tire wiper device (9) is composed of a body (91), a movable contact body (92), movable shafts (93), springs (94), and a protective cover (95), as shown in FIGS. 14 to 16.

[0069] The body (91) is formed from a plate having thickness and is connected to the wiper bracket (7) through bolt fastening.

[0070] In addition, on one side (hereinafter referred to as the front) (911) of the body (91), a pair of mounting holes (9110) are formed spaced apart in the width direction from the front (911) inward.

[0071] At this time, the rear moving shafts (93) are inserted and installed into the installation holes (9110) of the body (91).

[0072] When assembling, this body (91) is connected to the wiper bracket (7) so that the front (911) faces the tire of the wheel (4).

[0073] The movable contact body (92) is formed in a rod shape and is coupled to the body (91) so that it can move in the forward and backward directions by means of movable axes (93).

[0074] In addition, the front of the movable contact body (92) comes into contact with the tire.

[0075] The moving axes (93) are formed in a cylindrical shape having a length.

[0076] Additionally, the movable shafts (93) include a small diameter section with a small outer diameter and a large diameter section with a large outer diameter connected by a step. At this time, the small diameter section is formed as a cylinder with an outer diameter smaller than the inner diameter of the installation hole (9110) of the body (91), and the large diameter section is formed as a cylinder with an outer diameter larger than the inner diameter of the installation hole (9110) of the body (91).

[0077] In addition, the movable shafts (93) have a small diameter portion inserted into the installation hole (9110) of the body (91), and the end of the large diameter portion connected to the rear surface of the movable contact body (92).

[0078] At this time, a stopper may be installed on the outer surface of the small diameter portion of the moving shafts (93) so as not to detach from the installation hole (9110).

[0079] That is, as the movable axes (93) are installed so that the small diameter portion can move inside the installation hole (9110), the movable contact body (52) coupled to the large diameter portion can also move in the forward and backward directions according to the movement of the movable axes (93).

[0080] The springs (94) are installed inside the mounting hole (9110) of the body (91) and positioned on the outside of the movable shaft (93) to elastically support the movable shaft (93).

[0081] That is, the springs (94) are compressed when the moving shaft (93) moves backward due to external pressure, but when the external pressure is released, they generate an elastic restoring force to move the moving shaft (93) forward.

[0082] The protective cover (95) is formed from a plate having an area, and a curved groove (951) is formed on the front surface that is concavely bent inward.

[0083] This protective cover (95) blocks dust and foreign matter generated by contact between the moving contact body (93) and the tire as the tire to be cleaned is inserted into the curved groove (951), thereby preventing dust and foreign matter from entering the vehicle body.

[0084] In this tire wiper device (9), the movable contact member (92) is coupled to the body (91) which is coupled to the wiper bracket (7) so that it can move in the forward and backward directions, thereby the outer surface of the movable contact member (92) comes into close and elastic contact with the outer circumference of the tire, so that foreign substances and dust on the tire can be effectively removed through physical friction.

[0085] In this way, the 4-axis-wheel robot platform (1), which is an embodiment of the present invention, can effectively reduce external shocks and vibrations while minimizing the height of the garage by changing the installation angle of the rear wheel suspension, that is, by installing it so that it is tilted outward as it faces upward, thereby increasing the loading area of ​​the parts loaded in the upper installation space.

[0086] In addition, the 4-axis-wheel robot platform (1) of the present invention has tire wiper devices installed at the front and rear of each wheel's tire, and the movable contact body of each tire wiper device that contacts the tire is installed elastically toward the tire, thereby increasing the speed and accuracy of removing foreign matter and dust from the tire, and thus enabling a revolutionary solution to problems such as driving failure or vehicle body tilting caused by foreign matter and dust from the tire.

[0087] In addition, the 4-axis-wheel robot platform (1) of the present invention can effectively block foreign substances or dust from entering the vehicle body by further including a protective cover installed on the upper part of a moving contact body, in which a tire wiper device is formed of a plate. Explanation of the symbols

[0088] 1: 4-axis wheel robot platform 2: Case 3: Chassis frame 4: Wheels 5: Rear suspension 7: Wiper bracket 9: Tire wiper device 10: Manipulator 20: Manipulator controller enclosure 31: Floor frame 32: Vertical frame 33: Horizontal frame 34: Second vertical frame 35: Second horizontal frame 41: Front wheel 42: Rear wheel 51: Link shaft S: Spring 71: Front wiper bracket 72: Rear wiper bracket 73: Left wiper bracket 74: Right wiper bracket 91: Body 92: Moving contact 93: Moving axis 94: Spring 95: Protective cover 371: First fixed frame 372: Second fixed frame 373: Third fixed frame 374: The 4th Fixed Frame

Claims

Claim 1 A four-axis wheel robot platform comprising a vehicle body frame formed by assembling a plurality of frames to form the skeleton of a vehicle body, front wheels rotatably coupled to both front sides of the vehicle body frame, rear wheels rotatably coupled to both rear sides of the vehicle body frame, a case sealing the outer side of the vehicle body frame, a manipulator coupled to the case to perform work, and an installation space in which an enclosure of a manipulator controller controlling the manipulator is disposed, wherein a plurality of shock absorbers for absorbing vibration and shock are installed between the vehicle body frame and the front wheels and rear wheels, and among the shock absorbers, the shock absorber coupled to the rear wheel is configured as a rear suspension, wherein the vehicle body frame includes floor frames, vertical frames vertically connected to the floor frames, horizontal frames connected to the upper portions of the vertical frames, second vertical frames vertically connected to the horizontal frames corresponding to the upper region of the rear wheels, and second horizontal frames connecting the second vertical frames, and the enclosure of the manipulator controller includes the horizontal frames, the second A tire wiper device is disposed in the installation space formed by the vertical frames and the second horizontal frames, wherein the rear suspension has its lower end coupled to the rear wheel and its upper end coupled to the second horizontal frame, and is installed at an angle such that it faces outward as it faces upward, and a movable contact body elastically supported is disposed at the front and rear of each wheel to contact the outer surface of the tire of the corresponding wheel to remove foreign matter, wherein the tire wiper device is formed of a plate and coupled to the vehicle body frame, and has mounting holes formed at intervals in the width direction on one surface facing the tire; and a movable shaft inserted into the mounting hole of the body, comprising a small diameter portion having an outer diameter smaller than the inner diameter of the mounting hole, and a large diameter portion connected to the small diameter portion by a step and having an outer diameter larger than the inner diameter of the mounting hole.A 4-axis wheel robot platform characterized by comprising: a spring disposed inside a mounting hole of the body and elastically supporting the movable axis; a movable contact body coupled to the end of the movable axis and contacting the outer surface of the tire by the elastic force of the spring; and a protective cover formed of a plate and coupled to the upper part of the movable contact body, disposed to block foreign matter or dust removed from the tire from entering the vehicle body. Claim 2 delete Claim 3 delete Claim 4 delete Claim 5 delete

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