Mobile robot capable of operating on irregular road surfaces

Abstract

The present invention relates to a mobile robot capable of operating on irregular road surfaces. According to one embodiment, a mobile robot capable of operating on an irregular road surface may be provided, comprising: a main track driven to be movable by rotation; a plurality of flippers capable of changing an angle relative to the main track; a main track drive unit providing power to rotate the main track; and a flipper drive unit providing power to change the angle of each of the flippers, wherein the plurality of flippers are provided to be changed to different angles relative to the main track.

Description

Technology Field

[0001] The present invention relates to a mobile robot capable of operating on irregular road surfaces. Background Technology

[0002] Korean Patent Publication No. 10-2011-0007890 discloses a mobile robot equipped with an endless track to move forward and backward and rotate, and having a plurality of flippers attached to the side of the track.

[0003] However, such conventional mobile robots are configured so that two flippers positioned on the front side operate simultaneously, and two flippers positioned on the rear side operate simultaneously.

[0004] While such conventional mobile robots can operate on road surfaces with a fixed pattern, such as stairs, they had a problem where their operation was limited on irregularly formed road surfaces.

[0005] In particular, in firefighting environments requiring fire suppression or military environments requiring reconnaissance and combat, operation on irregular surfaces is often required; however, conventional mobile robots face the problem of limited operation in such environments. Prior art literature

[0006] Korean Patent Publication No. 10-2011-0007890 (January 25, 2011) The problem to be solved

[0007] According to one embodiment of the present invention, a mobile robot capable of operating on an irregular road surface is provided, in which a plurality of flippers can be operated independently. means of solving the problem

[0008] According to one embodiment, a mobile robot capable of operating on an irregular road surface may be provided, comprising: a main track driven to be movable by rotation; a plurality of flippers capable of changing an angle relative to the main track; a main track drive unit providing power to rotate the main track; and a flipper drive unit providing power to change the angle of each of the flippers, wherein the plurality of flippers are provided to be changed to different angles relative to the main track.

[0009] Additionally, the main track comprises a first main track positioned on one side and driven to be movable by rotation; and a second main track positioned spaced apart from the first main track; the flipper comprises a first flipper positioned adjacent to the first main track; and a second flipper positioned adjacent to the second main track; the main track drive unit comprises a first main track drive unit that provides power capable of rotating the first main track; and a second main track drive unit that provides power capable of rotating the second main track; and the flipper drive unit comprises a first flipper drive unit that provides power capable of changing the angle of the first flipper; and a second flipper drive unit that provides power capable of changing the angle of the second flipper, thereby providing a mobile robot capable of operating on an irregular road surface.

[0010] Additionally, a mobile robot capable of operating on an irregular road surface may be provided, wherein the first flipper is operated such that its relative angle with respect to the first main track is changed by the first flipper drive unit, the second flipper is operated such that its relative angle with respect to the second flipper is changed by the second flipper drive unit, and the angle of the first flipper and the angle of the second flipper are changed independently of each other.

[0011] Additionally, the first main track drive unit and the second main track drive unit each include a track drive motor that provides a force capable of driving the main track; and a track drive shaft that transmits the force applied by the track drive motor to a track drive sprocket that drives the main track, and the first flipper drive unit and the second flipper drive unit each include a flipper drive motor that provides a force capable of driving the flipper; and a flipper drive shaft that transmits the force applied by the flipper drive motor to a flipper operating unit that changes the angle of the flipper, wherein the track drive shaft is formed as a hollow shaft with an empty interior, and the flipper drive shaft is positioned inside the hollow shaft of the track drive shaft so as not to interfere with the track drive shaft, thereby providing a mobile robot capable of operating on an irregular road surface.

[0012] Additionally, a mobile robot capable of operating on an irregular road surface may be provided, wherein the first main track drive unit and the second main track drive unit each comprise: a track drive motor that provides power capable of driving the main track; a track drive motor connecting gear that receives power from the track drive motor; a track power transmission gear that receives power applied from the track drive motor connecting gear; a track drive sprocket that receives power from the track power transmission gear and can rotate the main track; and a track drive shaft that transmits power applied from the track power transmission gear to the track drive sprocket.

[0013] Additionally, the first flipper drive unit and the second flipper drive unit each comprise: a flipper drive motor that provides power capable of changing the angle of the flipper; a flipper drive motor connecting gear that receives power from the flipper drive motor; a flipper power transmission gear that receives power applied from the flipper drive motor connecting gear; a flipper operating unit that is spaced apart from the flipper power transmission gear at a certain distance and capable of changing the angle of the flipper; and a flipper drive shaft that connects the flipper power transmission gear and the flipper operating unit to transmit power applied from the flipper power transmission gear to the flipper operating unit, and is provided to pass through the track drive shaft of the main track drive unit, thereby providing a mobile robot capable of operating on an irregular road surface.

[0014] Additionally, the flipper further comprises a third flipper positioned adjacent to the first main track while being spaced apart from the first flipper by a predetermined distance; and a fourth flipper positioned adjacent to the second main track while being spaced apart from the second flipper by a predetermined distance; and the flipper drive unit further comprises a third flipper drive unit that provides power capable of changing the angle of the third flipper; and a fourth flipper drive unit that provides power capable of changing the angle of the fourth flipper, wherein the first flipper drive unit, the second flipper drive unit, the third flipper drive unit, and the fourth flipper drive unit are each driven independently, thereby allowing the first flipper, the second flipper, the third flipper, and the fourth flipper to operate independently so that their angles can be changed, thereby providing a mobile robot capable of operating on an irregular road surface.

[0015] Additionally, a mobile robot capable of operating on an irregular road surface may be provided, wherein each of the third flipper drive unit and the fourth flipper drive unit comprises: a rear flipper drive motor that provides power to change the angle of a flipper positioned at the rear; a rear flipper drive shaft that receives power from the rear flipper drive motor; and a rear flipper operating unit that receives power from the rear flipper drive shaft and changes the angle of the flipper. In addition, the rear flipper drive shaft penetrates the interior of the rear sprocket shaft, and the rear flipper drive shaft is positioned so that its center axis coincides with the rear track drive sprocket so that no interference occurs, and each of the first main track drive unit and the second main track drive unit is positioned at the edge inside the main body adjacent to the main track where the track drive motor is located, and the track drive motor connecting gear and the track power transmission gear are located in the internal space of the main track so as to prevent external interference, and the track power transmission gear of each of the first main track drive unit and the second main track drive unit has an outermost diameter that corresponds to the diameter of the track drive shaft, and the diameter of the hollow of the track power transmission gear may be larger than the diameter of the flipper drive shaft and smaller than the diameter of the hollow shaft of the sprocket shaft. Effects of the invention

[0016] A mobile robot capable of operating on an irregular road surface according to one embodiment of the present invention has the advantage of being able to operate a plurality of flippers independently. Brief explanation of the drawing

[0017] FIG. 1 is a perspective view of a mobile robot capable of operating on an irregular road surface according to one embodiment of the present invention. Figure 2 is a plan view of a mobile robot capable of operating on an irregular road surface of Figure 1. Figure 3 is a side view of a mobile robot capable of operating on an irregular road surface of Figure 1. Figure 4 is a cross-section of a mobile robot capable of operating on an irregular road surface of Figure 1, cut perpendicular to the z-axis. Figure 5 is an enlarged view of part A of the mobile robot capable of operating on an irregular road surface of Figure 1. FIG. 6 is a drawing in which a part of the first main track, the track drive motor of the main track drive unit, and the flipper drive motor of the flipper drive unit have been removed from FIG. 5. FIG. 7 is an enlarged perspective view of the first main track drive unit of the main track drive unit in the mobile robot capable of operating on an irregular road surface of FIG. 1. FIG. 8 is an enlarged perspective view of the first flipper drive unit of the flipper drive unit in a mobile robot capable of operating on an irregular road surface of FIG. 1. FIG. 9 is an enlarged perspective view of the third flipper drive unit of the flipper drive unit in the mobile robot capable of operating on an irregular road surface of FIG. 1. Specific details for implementing the invention

[0018] Specific embodiments of the present invention will be described in detail below with reference to the drawings. Furthermore, in describing the present invention, detailed descriptions of related known components or functions are omitted if it is determined that such detailed descriptions may obscure the essence of the invention.

[0019] FIG. 1 is a perspective view of a mobile robot (1) capable of operating on an irregular road surface according to an embodiment of the present invention, FIG. 2 is a plan view of the mobile robot (1) capable of operating on an irregular road surface of FIG. 1, FIG. 3 is a side view of the mobile robot (1) capable of operating on an irregular road surface of FIG. 1, FIG. 4 is a cross-sectional view of the mobile robot (1) capable of operating on an irregular road surface of FIG. 1 cut perpendicular to the z-axis, FIG. 5 is an enlarged view of part A of the mobile robot (1) capable of operating on an irregular road surface of FIG. 1, FIG. 6 is a view in FIG. 5 with a part of the first main track (110A), the track drive motor (312) of the main track drive unit (300), and the flipper drive motor (412) of the flipper drive unit (400) removed, FIG. 7 is the first main track of the main track drive unit (300) in the mobile robot (1) capable of operating on an irregular road surface of FIG. 1 FIG. 8 is an enlarged perspective view of the first flipper drive unit (410A) of the flipper drive unit (400) in the mobile robot (1) capable of operating on an irregular road surface of FIG. 1, FIG. 9 is an enlarged perspective view of the third flipper drive unit (420A) of the flipper drive unit (400) in the mobile robot (1) capable of operating on an irregular road surface of FIG. 1.

[0020] Referring to FIGS. 1 to 9, a mobile robot (1) operable on an irregular road surface according to one embodiment of the present invention may include: a main track (100) that is movably driven by rotation; a plurality of flippers (200) that can change the relative angle with respect to the main track (100); a main track drive unit (300) that provides power to rotate the main track (100); and a flipper drive unit (400) that provides power to change the angle of each flipper (200).

[0021] In this embodiment, the x-axis direction of FIG. 1 is defined as the front-back direction, the y-axis direction as the left-right direction, and the z-axis direction as the up-down direction.

[0022] The main track drive unit (300) and the flipper drive unit (400) can be mounted on the main body (10). In this embodiment, the upper part (xy plane in FIG. 1) and the side part (xz plane in FIG. 1) of the main track (100) are shown as being exposed to the outside, but the upper part and the side part of the main track (100) can be covered by the main body (10).

[0023] A main track drive unit (300) and a flipper drive unit (400) can be installed inside the main body (10), and a first main track (110A) and a second main track (110B) can be arranged on the left and right sides of the main body (10), respectively.

[0024] The main track (100) can be provided on the left and right sides of the main body (10) as an endless track.

[0025] The main track (100) can be provided to be rotatable by the rotation of the track drive sprocket (318) of the main track drive unit (300) described later.

[0026] Specifically, the main track (100) may include a first main track (110A) disposed on one side of the main body (10) and provided to be movable by rotation; and a second main track (110B) disposed on the other side of the main body (10) and spaced apart from the first main track (110A) by a predetermined distance.

[0027] The first main track (110A) and the second main track (110B) can be arranged parallel to each other with the main body (10) in between.

[0028] The first main track (110A) can be driven by the first main track drive unit (310A), and the second main track (110B) can be driven by the second main track drive unit (310B). A detailed explanation thereof will be provided later.

[0029] A first flipper (210A) may be positioned on the right side of the front of the first main track (110A), and a third flipper (220A) may be positioned on the right side of the rear of the first main track (110A). Additionally, a second flipper (210B) may be positioned on the left side of the front of the second main track (110B), and a fourth flipper (220B) may be positioned on the left side of the rear of the second main track (110B).

[0030] A track drive sprocket (318) may be placed inside the front side of the main track (100), and a rear track drive sprocket (319) may be placed inside the rear side of the main track (100).

[0031] The main track (100) may include a main track pulley (112) that engages with a track drive sprocket (318) and a rear track drive sprocket (319).

[0032] The main track pulley (112) can be rotated by the rotational force of the track drive sprocket (318), and the rear flipper drive shaft (429) can be rotated by the rotational force of the track drive sprocket (318).

[0034] The flipper (200) can be provided as an endless track.

[0035] The flipper (200) can be provided with a track in the form of an endless track that can be rotated by the main track drive unit (300).

[0036] Additionally, the flipper (200) may be provided to have its angle changed by the flipper drive unit (400). Here, the angle of the flipper (200) can be understood as the relative angle between the main track (100) and the flipper (200).

[0037] The flipper (200) may be provided in multiple numbers.

[0038] For example, the flipper (200) may include a first flipper (210A) positioned adjacent to the first main track (110A); a second flipper (210B) positioned adjacent to the second main track (110B); a third flipper (220A) positioned adjacent to the first main track (110A) and spaced apart from the first flipper (210A) by a predetermined distance; and a fourth flipper (220B) positioned adjacent to the second main track (110B) and spaced apart from the second flipper (210B) by a predetermined distance.

[0039] In this embodiment, the flippers (200) are described as being provided in four numbers, but the flippers (200) may be provided in one to ten or more numbers, and the number of flippers (200) is not limited.

[0040] In this embodiment, the first flipper (210A) and the second flipper (210B) are flippers (200) positioned on the front side (-x-axis) and can be understood as front flippers, and the third flipper (220A) and the fourth flipper (220B) can be understood as rear flippers positioned on the rear side.

[0041] In this embodiment, a plurality of flippers (200) can be changed at different angles relative to the main track (100).

[0042] Specifically, the angle of the first flipper (210A), the angle of the second flipper (210B), the angle of the third flipper (220A), and the angle of the fourth flipper (220B) can be driven to change independently of each other. For example, the angle of the first flipper (210A) can be changed to 10 degrees, the angle of the second flipper (210B) to 20 degrees, the angle of the third flipper (220A) to 30 degrees, and the angle of the second flipper (210B) to 40 degrees.

[0043] The angle of each flipper (200) can be changed by the flipper drive unit (400).

[0044] Specifically, the angle of the first flipper (210A) can be changed by the first flipper drive unit (410A), the angle of the second flipper (210B) can be changed by the second flipper drive unit (410B), the angle of the third flipper (220A) can be changed by the third flipper drive unit (420A), and the angle of the fourth flipper (220B) can be changed by the fourth flipper drive unit (420B). A detailed explanation thereof will be provided later.

[0045] Each flipper (200) may include a fluffer pulley (212) that is rotatably provided by being coupled to a flipper drive sprocket (3184) of a track drive sprocket (318) described later; and a rotating wheel (214) that is spaced apart from the flipper drive sprocket (3184) in the front-rear direction and allows the fluffer pulley (212) to rotate (see FIG. 5). The rotating wheel (214) may be connected to a flipper operating part (418) of a flipper drive unit (400) described later, and the flipper drive unit (400) may allow the rotating wheel (214) to rotate.

[0047] The main track drive unit (300) may include a first main track drive unit (310A) that provides power to rotate the first main track (110A); and a second main track drive unit (310B) that provides power to rotate the second main track (110B).

[0048] The first main track drive unit (310A) and the second main track drive unit (310B) can be formed with the same structure.

[0049] Specifically, the first main track drive unit (310A) and the second main track drive unit (310B) may each include: a track drive motor (312) that provides power to drive the main track (100); a track drive motor connecting gear (314) that receives power from the track drive motor (312); a track power transmission gear (316) that is connected to the track drive motor connecting gear (314) and receives power applied from the track drive motor connecting gear (314); a track drive sprocket (318) that receives power from the track power transmission gear (316) and can rotate the main track (100); and a track drive shaft (313) that transmits power applied from the track power transmission gear (316) to the track drive sprocket (318) (see FIG. 7).

[0050] The track drive motor (312) of the first main track drive unit (310A) can rotate the first main track (110A), and the track drive motor (312) of the second main track drive unit (310B) can rotate the second main track (110B).

[0051] Each track drive motor (312) can be mounted on the main body (10). Specifically, the track drive motor (312) of the first main track drive unit (310A) can be mounted on the right side (+y direction) of the front side of the main body (10), and the track drive motor (312) of the second main track drive unit (310B) can be mounted on the left side (- direction) of the front side of the main body (10).

[0052] The track drive motor connecting gear (314) can receive power applied from the track drive motor (312) and transmit it to the track power transmission gear (316).

[0053] The track drive motor connecting gear (314) and the track power transmission gear (316) can mesh with each other as spur gears. The track drive motor connecting gear (314) and the track power transmission gear (316) may be provided in the same or different sizes.

[0054] The track drive motor connecting gear (314) and the track power transmission gear (316) can be engaged with each other in the forward and backward direction (xz plane).

[0055] The track power transmission gear (316) can transmit the force applied from the track drive motor connecting gear (314) to the track drive sprocket (318) through the track drive shaft (313).

[0056] The track power transmission gear (316) is fixedly connected to the track drive shaft (313), and a through hole (317) can be formed in the track power transmission gear (316) and the track drive shaft (313) through which the flipper drive shaft (419) of the flipper drive unit (400) described later can pass.

[0057] The track drive sprocket (318) can rotate the main track (100) by receiving power from the track power transmission gear (316). Specifically, the track drive sprocket (318) of the first main track drive unit (310A) can rotate the first main track (110A), and the track drive sprocket (318) of the second main track drive unit (310B) can rotate the second main track (110B).

[0058] The track drive sprocket (318) is coupled with the track drive shaft (313), so that the track drive sprocket (318) can rotate according to the rotation of the track drive shaft (313).

[0059] Additionally, the track drive sprocket (318) can rotate the flipper (200).

[0060] Specifically, the track drive sprocket (318) of the first main track drive unit (310A) can rotate the first flipper (210A), and the track drive sprocket (318) of the second main track drive unit (310B) can rotate the second flipper (210B).

[0061] The track drive sprocket (318) may include a main track drive sprocket (3182) that rotates the main track (100); a flipper drive sprocket (3184) that rotates the flipper (200); and a sprocket shaft (3186) that fixes the connection between the main track drive sprocket (3182) and the flipper drive sprocket (3184).

[0062] More specifically, the track drive sprocket (318) of the first main track drive unit (310A) may include a main track drive sprocket (3182) that rotates the first main track (110A); and a flipper drive sprocket (3184) that rotates the first flipper (210A). Likewise, the track drive sprocket (318) of the second main track drive unit (310B)

[0063] It may include a main track drive sprocket (3182) that rotates the second main track (110B); and a flipper drive sprocket (3184) that rotates the second flipper (210B).

[0064] The track drive motor connecting gear (314) can be fixed to the track drive motor (312). Additionally, the track power transmission gear (316) can be fixed to the track drive sprocket (318) via the track drive shaft (313). Furthermore, the rotational force of the track drive motor connecting gear (314) can be transmitted to the rotational force of the track power transmission gear (316).

[0065] Due to this relative coupling relationship, the power applied from the track drive motor (312) can be provided as rotational force of the track drive sprocket (318), and the main track (100) and the flipper (200) can be rotated by the rotation of the track drive sprocket (318).

[0066] The fluffer pulley (212) of the first flipper (210A) and the main track pulley (112) of the first main track (110A) can be rotated simultaneously by the first main track drive unit (310A). Likewise, the fluffer pulley (212) of the second flipper (210B) and the main track pulley (112) of the second main track (110B) can be rotated simultaneously by the second main track drive unit (310B).

[0068] The flipper drive unit (400) may include a first flipper drive unit (410A) that provides power to change the angle of the first flipper (210A); and a second flipper drive unit (410B) that provides power to change the angle of the second flipper (210B).

[0069] The first flipper drive unit (410A) and the second flipper drive unit (410B) can be formed with the same structure.

[0070] Specifically, the first flipper drive unit (410A) and the second flipper drive unit (410B) each comprise: a flipper drive motor (412) that provides power capable of changing the angle of the flipper (200); a flipper drive motor connecting gear (414) that receives power from the flipper drive motor (412); a flipper power transmission gear (416) that receives power applied from the flipper drive motor connecting gear (414); and a flipper operating unit (418) that is spaced apart from the flipper power transmission gear (416) at a certain distance and capable of changing the angle of the flipper (200). and may include a flipper drive shaft (419) that is provided to pass through the track drive shaft (313) of the main track drive unit (300), by connecting the flipper power transmission gear (416) and the flipper operating unit (418) to transmit the force applied from the flipper power transmission gear (416) to the flipper operating unit (418) (see FIG. 8).

[0071] The flipper drive motor (412) of the first flipper drive unit (410A) can change the angle of the first flipper (210A), and

[0072] The flipper drive motor (412) of the first flipper drive unit (410A) can change the angle of the second flipper (210B).

[0073] Each flipper drive motor (412) can be mounted on the main body (10). Specifically, the flipper drive motor (412) of the first flipper drive unit (410A) can be mounted on the right side (+y direction) of the main body (10), and the flipper drive motor (412) of the second flipper drive unit (410B) can be mounted on the left side (- direction) of the main body (10).

[0074] The flipper drive motor connecting gear (414) can receive power applied from the flipper drive motor (412) and transmit it to the flipper power transmission gear (416).

[0075] The flipper drive motor connecting gear (414) and the flipper power transmission gear (416) can mesh with each other as spur gears. The flipper drive motor connecting gear (414) and the flipper power transmission gear (416) may be provided in the same or different sizes.

[0076] The flipper drive motor connecting gear (414) and the flipper power transmission gear (416) can be engaged with each other in the forward and backward direction (xz plane).

[0077] The flipper power transmission gear (416) can transmit the force applied from the flipper drive motor connecting gear (414) to the flipper operating part (418) through the flipper drive shaft (419).

[0078] The flipper power transmission gear (416) is fixedly connected to the flipper drive shaft (419), and the flipper drive shaft (419) can be fixedly connected to the flipper operating part (418). By doing so, the angle of the flipper operating part (418) can be changed by the rotation of the flipper power transmission gear (416). For example, when the flipper power transmission gear (416) rotates by a predetermined angle (e.g., 90 degrees), the flipper operating part (418) can also be changed by the same angle (e.g., 90 degrees).

[0080] The flipper drive shaft (419) can be placed inside the track power transmission gear (316) and the track drive shaft (313) described above.

[0081] The track drive shaft (313) described above may be formed as a hollow shaft with an empty interior, and the flipper drive shaft (419) may be placed inside the hollow shaft of the track drive shaft (313).

[0082] The flipper drive shaft (419) is positioned on the same central axis (B-B') as the track drive shaft (313), and the flipper drive shaft (419) is positioned inside the hollow shaft of the track drive shaft (313), so that the flipper drive shaft (419) and the track drive shaft (313) do not interfere with each other.

[0083] Likewise, the track drive sprocket (318) can also be formed in a hollow shape with an empty interior, and the flipper drive shaft (419) can be positioned so as not to interfere with the track drive sprocket (318).

[0084] The flipper drive shaft (419) can be formed to be longer than the track drive shaft (313).

[0085] Accordingly, the flipper power transmission gear (416) connected to the flipper drive shaft (419) can be positioned on the outside of the track power transmission gear (316). Here, the outside can be understood as a direction away from the main track (100).

[0086] The flipper operating part (418) is spaced apart from the flipper power transmission gear (416) and the flipper drive motor connecting gear (414) at a certain distance so as to change the angle of the flipper (200).

[0087] In other words, as the angle of the flipper operating part (418) is changed, the angle of the fluffer pulley (212) surrounding the flipper operating part (418) can be changed.

[0088] The flipper operating part (418) is in a form that is extended in the forward and backward directions, and one side is connected so as not to allow relative rotation with the flipper drive shaft (419), and the other side can be connected so as to allow relative rotation with the rotating wheel (214).

[0090] Additionally, the flipper drive unit (400) may further include a third flipper drive unit (420A) that provides power to change the angle of the third flipper (220A); and a fourth flipper drive unit (420B) that provides power to change the angle of the fourth flipper (220B).

[0091] In the mobile robot (1) capable of operating on an irregular road surface of the present embodiment, the first flipper drive unit (410A), the second flipper drive unit (410B), the third flipper drive unit (420A), and the fourth flipper drive unit (420B) are each driven independently, so that the first flipper (210A), the second flipper (210B), the third flipper (220A), and the fourth flipper (220B) can operate so that their angles can be changed independently.

[0092] The third flipper drive unit (420A) and the fourth flipper drive unit (420B) can be provided with the same structure.

[0093] Specifically, each of the third flipper drive unit (420A) and the fourth flipper drive unit (420B) may include a rear flipper drive motor (422) that provides power to change the angle of a flipper (200) positioned at the rear; a rear flipper drive shaft (429) that receives power from the rear flipper drive motor (422); and a rear flipper operating unit (428) that receives power from the rear flipper drive shaft (429) and changes the angle of the flipper (200) (see FIG. 9).

[0094] More specifically, the rear flipper drive motor (422) of the third flipper drive unit (420A) can change the angle of the third flipper (220A), and the rear flipper drive motor (422) of the fourth flipper drive unit (420B) can change the angle of the fourth flipper (220B).

[0095] The rear flipper drive shaft (429) can be provided to pass through the interior of the rear track drive sprocket (319) without interfering with the rear track drive sprocket (319).

[0096] The rear track drive sprocket (319) may include a rear main track sprocket (3192) coupled to the main track pulley (112) of the main track (100); a rear flipper drive sprocket (3194) coupled to the flipper pulley (212) of the third flipper (220A); and a rear sprocket shaft (3196) connecting the rear main track sprocket (3192) and the rear flipper drive sprocket (3194). Here, the rear main track sprocket (3192), the rear flipper drive sprocket (3194), and the rear sprocket shaft (3196) may be formed integrally.

[0097] Additionally, the center axis (C-C') of the rear flipper drive shaft (429) and the center axis (C-C') of the rear sprocket shaft (3196) of the rear track drive sprocket (319) can be provided to coincide.

[0098] The first flipper drive unit (410A) and the second flipper drive unit (410B) described above change the angles of the first flipper (210A) and the second flipper (210B) respectively through two gears (flipper drive motor connecting gear (414) and flipper power transmission gear (416)), and the third flipper drive unit (420A) and the fourth flipper drive unit (420B) can directly change the angles of the third flipper (220A) and the third flipper (220A) without separate gears.

[0100] Additionally, the mobile robot (1) capable of operating on an irregular road surface may further include a control unit (not shown in the drawing) that controls the main track drive unit (300) and the flipper drive unit (400) described above.

[0101] The control unit (not shown in the drawing) can control the mobile robot (1) capable of operating on an irregular road surface by controlling the main track drive unit (300), thereby enabling it to move forward, backward, and rotate (on the xy plane).

[0102] For example, the control unit can rotate a mobile robot (1) capable of operating on an irregular road surface by controlling the first main track drive unit (310A) so that the first main track (110A) rotates clockwise and controlling the second main track drive unit (310B) so that the second main track (110B) rotates counterclockwise.

[0103] In addition, the control unit can control each flipper drive unit (400) independently so that the angle of each flipper (200) changes independently.

[0104] For example, the control unit can control the change in angle of the first flipper (210A) by controlling the first flipper drive unit (410A), control the change in angle of the second flipper (210B) by controlling the second flipper drive unit (410B), control the change in angle of the third flipper (220A) by controlling the third flipper drive unit (420A), and control the change in angle of the fourth flipper (220B) by controlling the fourth flipper drive unit (420B).

[0105] Below, the arrangement relationship between the main track drive unit (300) and the flipper drive unit (400) will be explained in more detail.

[0106] In this embodiment, the arrangement relationship between the first main track drive unit (310A) and the first flipper drive unit (410A) and the arrangement relationship between the second main track drive unit (310B) and the second flipper drive unit (410B) can be provided identically, and the arrangement relationship between the first main track drive unit (310A) and the second flipper drive unit (410B) is explained as an example.

[0107] In this embodiment, the center axis (B-B') of the track drive sprocket (318) driving the main track (100) and the center axis (B-B') of the flipper drive shaft (419) driving the flipper (200) may be aligned, the rotation axis of the track drive motor (312) and the center axis (B-B') of the track drive sprocket (318) may not be aligned, and the rotation axis of the flipper drive motor (412) and the center axis (B-B') of the flipper drive shaft (419) may not be aligned.

[0108] With this arrangement relationship, the track drive motor (312) and the flipper drive motor (412) can be efficiently arranged in a narrow space.

[0109] The rotation axis of the track drive motor (312) of the first main track drive unit (310A) and the center axis (B-B') of the track drive sprocket (318) may be arranged so as not to coincide with each other.

[0110] Specifically, the track drive motor (312) and the track drive sprocket (318) are connected through the track drive motor connecting gear (314) and the track power transmission gear (316), thereby securing a space where a flipper drive motor (412) can be placed between the track drive sprocket (318) and the track drive motor (312).

[0111] The central axis (B-B') of the track drive sprocket (318) and the track drive motor (312) can be arranged so as not to overlap.

[0112] Additionally, the rotation axis of the flipper drive motor (412) of the first flipper drive unit (410A) and the center axis (B-B') of the flipper drive shaft (419) may be arranged so as not to coincide with each other.

[0113] Specifically, the flipper drive motor (412) and the flipper drive shaft (419) are connected through the flipper drive motor connecting gear (414) and the flipper power transmission gear (416), thereby securing a space where the track drive motor (312) can be placed.

[0114] Additionally, the rotation axis of the track drive motor (312) of the first main track drive unit (310A), the rotation axis of the flipper drive motor (412) of the first flipper drive unit (410A), and the center axis (B-B') of the flipper drive shaft (419) may be provided so as not to coincide with each other.

[0115] Here, the center axes of the flipper drive shaft (419) and the track drive sprocket (318) can be provided to coincide with each other as B-B'.

[0116] Although a mobile robot (1) capable of operating on an irregular road surface according to an embodiment of the present invention has been described as a specific embodiment, this is merely an example and the present invention is not limited thereto, and should be interpreted as having the broadest scope in accordance with the basic concept disclosed in this specification. Those skilled in the art may implement unspecified embodiments by combining or substituting the disclosed embodiments, and this also does not deviate from the scope of the rights of the present invention. In addition, those skilled in the art may easily change or modify the disclosed embodiments based on this specification, and it is evident that such changes or modifications also fall within the scope of the rights of the present invention. Explanation of the symbols

[0117] 1: Mobile robot capable of operating on irregular road surfaces 10 : Main body 100 : Main Track 110A: 1st Main Track 110B: 2nd Main Track 112 : Main Track Pulley 200 : Flipper 210A: 1st Flipper 210B: 2nd Flipper 212 : Fluffer Pulley 214 : Spinning wheel 220A: 3rd Flipper 220B: 4th Flipper 300: Main track drive unit 310A: 1st Main Track Drive Unit 310B: 2nd Main Track Drive Unit 312 : Track drive motor 313: Track drive shaft 314 : Track drive motor connecting gear 316 : Track power transmission gear 317 : Through hole 318: Track drive sprocket 3182: Maintrack drive sprocket 3184: Flipper drive sprocket 3186: Sprocket shaft 319: Rear track drive sprocket 3192: Rear main track sprocket 3194: Rear flipper drive sprocket 3196 : Rear sprocket shaft 400 : Flipper drive unit 410A: 1st flipper drive unit 410B: Second flipper drive unit 412 : Flipper drive motor 414 : Flipper drive motor connecting gear 416 : Flipper power transmission gear 418: Flipper operating part 419: Flipper drive shaft 420A: 3rd flipper drive unit 420B: 4th flipper drive unit 422 : Rear flipper drive motor 428: Rear flipper operating unit 429: Rear flipper drive shaft

Claims

Claim 1 A main track comprising a first main track disposed on one side of a main body and driven to be movable by rotation, and a second main track disposed spaced apart from the first main track; a plurality of flippers capable of changing a relative angle with respect to the main track, comprising a first flipper disposed adjacent to the first main track, a second flipper disposed adjacent to the second main track, a third flipper disposed adjacent to the first main track while spaced apart from the first flipper by a predetermined distance, and a fourth flipper disposed adjacent to the second main track while spaced apart from the second flipper by a predetermined distance. A main track drive unit comprising a first main track drive unit providing power capable of rotating the first main track and a second main track drive unit providing power capable of rotating the second main track, which is mounted inside the main body and at least a portion thereof disposed inside the main track; and a flipper drive unit comprising a first flipper drive unit providing power capable of changing the angle of the first flipper, a second flipper drive unit providing power capable of changing the angle of the second flipper, a third flipper drive unit providing power capable of changing the angle of the third flipper, and a fourth flipper drive unit providing power capable of changing the angle of the fourth flipper, wherein the first flipper drive unit, the second flipper drive unit, the third flipper drive unit, and the fourth flipper drive unit are each driven independently, so that the angles of the first flipper, the second flipper, the third flipper, and the fourth flipper can be changed independently of each other. The first main track drive unit and the second main track drive unit each comprise: a track drive motor that provides power to drive the main track; a track drive motor connecting gear that receives power from the track drive motor; a track power transmission gear that receives power applied from the track drive motor connecting gear; and a track drive sprocket that receives power from the track power transmission gear and can rotate the main track.and a track drive shaft that transmits the force applied from the track power transmission gear to the track drive sprocket that drives the main track; and a rear track drive sprocket comprising a rear main track sprocket that rotates by the force applied to the track drive sprocket and a rear sprocket shaft that transmits the rotational force of the rear main track sprocket to the rear flipper drive sprocket, wherein the track drive sprocket comprises: a main track drive sprocket that rotates the main track; and a flipper drive sprocket that rotates the flipper; and includes a sprocket shaft that fixes the main track drive sprocket and the flipper drive sprocket, wherein the track power transmission gear is disposed at one end of the track drive sprocket, and the first flipper drive unit and the second flipper drive unit each include a flipper drive motor that provides power capable of driving the flipper; and a flipper drive shaft that transmits the power applied from the flipper drive motor to a flipper operating unit that changes the angle of the flipper, and the third flipper drive unit and the fourth flipper drive unit each include a rear flipper drive motor that provides power capable of changing the angle of a flipper disposed at the rear; and a rear flipper drive shaft that receives power from the rear flipper drive motor.and includes a rear flipper operating unit that receives force from the rear flipper drive shaft and changes the angle of the flipper, wherein the track drive shaft is formed as a hollow shaft with an empty interior, and the flipper drive shaft is disposed inside the hollow shaft of the track drive shaft, and the flipper drive shaft is disposed on the same central axis so as not to interfere with the track drive shaft, and the rotation axis of the track drive motor and the central axis of the track drive sprocket are arranged so as not to coincide, and the rotation axis of the flipper drive motor and the central axis of the flipper drive shaft are arranged so as not to coincide, and the rear flipper drive shaft penetrates the interior of the rear sprocket shaft, and the rear flipper drive shaft is disposed so as to have a center axis that coincides with the rear track drive sprocket so as not to interfere, and each of the first main track drive unit and the second main track drive unit has the track drive motor disposed at the edge inside the main body adjacent to the main track, and the track drive motor A mobile robot capable of operating on an irregular road surface, wherein the connecting gear and the track power transmission gear are located within the internal space of the main track to prevent external interference, and the track power transmission gear of each of the first main track drive unit and the second main track drive unit has an outermost diameter of the track power transmission gear corresponding to the diameter of the track drive shaft, and the diameter of the hollow of the track power transmission gear is larger than the diameter of the flipper drive shaft and smaller than the diameter of the hollow shaft of the sprocket shaft. Claim 2 delete Claim 3 A mobile robot capable of operating on an irregular road surface, wherein, in claim 1, the first flipper is operated such that its relative angle with respect to the first main track is changed by the first flipper drive unit, and the second flipper is operated such that its relative angle with respect to the second flipper is changed by the second flipper drive unit. Claim 4 delete Claim 5 delete Claim 6 In claim 1, the first flipper drive unit and the second flipper drive unit each comprise: a flipper drive motor connecting gear that receives power from the flipper drive motor; a flipper power transmission gear that receives power applied from the flipper drive motor connecting gear; and a flipper operating unit that is spaced apart from the flipper power transmission gear at a certain distance and capable of changing the angle of the flipper, and the flipper drive shaft connects the flipper power transmission gear and the flipper operating unit to transmit power applied from the flipper power transmission gear to the flipper operating unit, and is a mobile robot capable of operating on an irregular road surface provided to penetrate the track drive shaft of the main track drive unit. Claim 7 delete Claim 8 delete

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