4-wheel irregularity forming robot

Abstract

The present invention discloses an uneven surface forming robot comprising: a first wheel assembly that forms an uneven surface on a floor by driving a first wheel in the form of a roller; a body that is rotatably coupled to the first wheel assembly through a first rotation axis perpendicular to it; a second wheel assembly that is coupled to the body and includes a second wheel in the form of a roller; and an auxiliary wheel assembly that forms an uneven surface on a floor using a third wheel that is selectively driven with the first wheel among a third wheel and a fourth wheel in the form of a roller arranged on the left and right sides of the body and forming a 90-degree angle with the rotation axis of the first wheel and the second wheel, wherein the body includes a first steering unit that controls the rotation angle between the first wheel assembly and the body. According to the present invention, uneven surfaces can be automatically formed on the surface of a segmented concrete slab by an autonomous robot.

Description

Technology Field

[0001] The present invention relates to a 4-wheel irregularity forming robot, and more specifically, to a robot that forms irregularities on a concrete surface being cured through 4-directional autonomous driving using 4 wheels. Background Technology

[0002] The contents presented in this section are intended merely to provide background information for the present invention and do not constitute prior art.

[0003] Before pouring concrete, it must be verified that reinforcing bars, piping, etc. are properly placed by referring to the construction detail drawings and concrete fabrication assembly drawings. In principle, concrete must be poured continuously within the section. However, it is desirable to limit the concrete pouring thickness to 40 to 50 cm or less. This is because if the concrete pouring thickness exceeds 50 cm, a long time is required for curing, and the quality of curing deteriorates.

[0004] When pouring concrete with a thickness exceeding 50 cm, the concrete may be poured in divided sections. In this case, cracks must not occur between the divided poured concrete sections; to prevent cracking between the divided concrete sections, it is necessary to intentionally form irregularities on the contact surface of the concrete. According to conventional technology, it was common practice to form irregularities by a person using a tool to scratch the poured concrete.

[0005] As a technology related to the present invention, the equipment for creating an uneven surface on a bridge concrete slab, disclosed in the Korean Registered Patent Publication, comprises a vibration motor, a horizontal adjustment plate, a rotary motor, a driving wheel, an uneven wheel, and a gravity weight. Although this related technology has a similar purpose to the present invention, it is distinguished from the present invention in its driving method and differs from the configuration and effects of the present invention due to the disadvantage that autonomous driving is impossible. Prior art literature

[0006] Republic of Korea Registered Patent No. 10-0621171 (Published September 8, 2006) The problem to be solved

[0007] One problem that the present invention aims to solve is to provide a robot that forms irregularities on the slab surface of concrete that is poured in sections to increase bonding strength.

[0008] The problem that the present invention aims to solve is to provide an autonomous robot that forms irregularities on the surface of a concrete slab.

[0009] The problem that the present invention aims to solve is to provide a robot capable of right-angle steering and autonomous driving using a roller wheel in which the left wheel and the right wheel are integrated into one.

[0010] The problem that the present invention aims to solve is to provide an autonomous driving robot capable of independent steering of the front and rear wheels.

[0011] The problem that the present invention aims to solve is not limited to the problems mentioned above, and other unmentioned problems will be clearly understood by those skilled in the art from the description below. means of solving the problem

[0012] In order to achieve the above objectives, according to one embodiment of the technical concept of the present invention, a 4-wheel uneven surface forming robot is disclosed, comprising: a first wheel assembly that forms an uneven surface on a floor by driving a first wheel in the form of a roller; a body that is rotatably coupled to the first wheel assembly through a first rotation axis perpendicular to the first wheel assembly; a second wheel assembly that is coupled to the body and includes a second wheel in the form of a roller; and an auxiliary wheel assembly that forms an uneven surface on a floor using a third wheel that is selectively driven with the first wheel among a third wheel and a fourth wheel in the form of a roller arranged on the left and right sides of the body, which are arranged at an angle of 90 degrees to the rotation axis of the first wheel and the second wheel, wherein the body is configured to include a first steering unit that controls the rotation angle between the first wheel assembly and the body.

[0013] In addition, the 4-wheel unevenness forming robot may be configured such that when the first wheel is driven, the third wheel and the fourth wheel are lifted off the floor, and when the third wheel is driven, the first wheel and the second wheel are lifted off the floor.

[0014] In addition, the 4-wheel uneven surface forming robot may be configured such that the body and the second wheel assembly are rotatably coupled through a vertical second rotation axis, and the second wheel assembly drives the second wheel to form an uneven surface on the floor.

[0015] Additionally, the 4-wheel irregularity forming robot may be configured to include a first wheel assembly comprising: a first wheel having irregularities formed on the curved surface of a roller; a first wheel frame that is coupled to the body through a first rotation axis and supports the rotation axis of the first wheel; and a first drive unit that transmits power to the first wheel.

[0016] Additionally, the 4-wheel irregularity forming robot may be configured to include a second wheel assembly comprising: a second wheel having irregularities formed on the curved surface of a roller; a second wheel frame that is coupled to the body through a second rotation axis and supports the rotation axis of the second wheel; and a second drive unit that transmits power to the second wheel.

[0017] Additionally, the 4-wheel unevenness forming robot may be configured to include a first wheel, a replaceable roller having unevenness blades formed on a curved surface; and rotation axes formed at both ends of the roller.

[0018] Additionally, the 4-wheel unevenness forming robot includes a first wheel, a roller having a curved surface; and an unevenness cover coupled to the curved surface of the roller, and the unevenness cover may be configured to adjust the width and depth of the unevenness by adjusting the folding spacing in a bellows shape.

[0019] In addition, the 4-wheel unevenness forming robot may be configured such that a plurality of roller modules formed in a disc shape, each including an unevenness blade, are assembled, and the width and depth of the unevenness are adjusted by replacing the roller modules having unevenness blades of different shapes.

[0020] Additionally, the 4-wheel unevenness forming robot may be configured such that at least one of the first wheel assembly and the second wheel assembly further includes a brush for removing concrete sludge stuck in the roller.

[0021] Additionally, the 4-wheel unevenness forming robot may be configured to include a first steering unit, a rotary power unit that generates rotational force; a rotating bar that tractions and rotates the first wheel assembly around the first rotation axis using the rotational force; and a towing line that connects both ends of the rotating bar to poles formed on the left and right sides of the first wheel assembly.

[0022] Additionally, the 4-wheel unevenness forming robot further includes a sensing unit that observes obstacles in the direction of travel; and a control unit that controls a first driving unit and a first steering unit, and the control unit may be configured to control the first driving unit and the first steering unit based on data collected by the sensing unit to enable autonomous driving.

[0023] Specific details of other embodiments are included in "Specific details for implementing the invention" and the attached "drawings".

[0024] The advantages and / or features of the present invention and the methods for achieving them will become clear by referring to the various embodiments described below in detail together with the accompanying drawings.

[0025] However, it should be understood that the present invention is not limited to the configurations of each embodiment disclosed below, but may be implemented in various different forms, and that each embodiment disclosed in this specification is provided merely to make the disclosure of the present invention complete and to fully inform those skilled in the art of the scope of the present invention, and that the present invention is defined only by the scope of each claim of the claims. Effects of the invention

[0026] According to the present invention, irregularities can be automatically formed on the surface of a concrete slab that has been divided and poured by an autonomous robot.

[0027] In addition, the width and depth of the irregularities formed on the surface of the concrete slab can be adjusted by replacing the roller, adjusting the irregularity cover, or replacing the irregularity module.

[0028] The effects obtainable by the uneven surface forming robot according to the technical concept of the present invention are not limited to the effects mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art to which the present invention belongs from the description below. Brief explanation of the drawing

[0029] FIG. 1 is a block diagram of an uneven surface forming robot according to one embodiment of the present invention. Figure 2 is an example diagram depicting the exterior of the uneven surface forming robot described in Figure 1. Figure 3 is an example diagram depicting the interior of the uneven surface forming robot described in Figure 2. Figure 4 is a front view of the uneven surface forming robot depicted in Figure 2. Fig. 5 is a side view of the uneven surface forming robot depicted in Fig. 2. Fig. 6 is a bottom view of the uneven surface forming robot depicted in Fig. 2. Figure 7 is an enlarged view of the wheel of the uneven surface forming robot depicted in Figure 2. FIG. 8 is an illustrative diagram according to another embodiment of the wheel depicted in FIG. 7. Specific details for implementing the invention

[0030] Before describing the present invention in detail, it should be understood that the terms and words used in this specification should not be interpreted as being limited to their ordinary or dictionary meanings, and that the inventor of the present invention may appropriately define and use the concepts of various terms to best describe their invention, and furthermore, that these terms and words should be interpreted in a meaning and concept consistent with the technical spirit of the present invention.

[0031] In other words, it should be understood that the terms used in this specification are used merely to describe preferred embodiments of the present invention and are not intended to specifically limit the content of the present invention, and that these terms are defined in consideration of various possibilities of the present invention.

[0032] In addition, it should be noted that in this specification, singular expressions may include plural expressions unless the context clearly indicates a different meaning, and that even if they are expressed in a similarly plural form, they may include a singular meaning.

[0033] Throughout this specification, where it is stated that a component "includes" another component, unless specifically stated otherwise, this may mean that it does not exclude any other component but may include any other component.

[0034] Furthermore, it should be noted that in cases where it is stated that a component "exists inside or is installed in connection with" another component, this component may be installed in direct connection or contact with the other component, or it may be installed at a certain distance apart, and in the case where it is installed at a certain distance apart, there may be a third component or means for fixing or connecting the component to the other component, and a description of this third component or means may be omitted.

[0035] On the other hand, if it is stated that one component is "directly connected" or "directly connected" to another component, it should be understood that there is no third component or means.

[0036] Likewise, other expressions describing the relationship between each component, such as “between” and “right between”, or “adjacent to” and “directly adjacent to”, should be interpreted as having the same intent.

[0037] In addition, it should be understood that in this specification, terms such as “one side,” “other side,” “one side,” “other side,” “first,” “second,” etc., are used to clearly distinguish one component from another component, and that the meaning of the component is not restricted by such terms.

[0038] In addition, position-related terms such as "up," "down," "left," and "right" used in this specification should be understood as indicating the relative position of the corresponding component in the drawing, and unless an absolute position is specified, these position-related terms should not be understood as referring to an absolute position.

[0039] Furthermore, in specifying the reference numerals for each component of each drawing in this specification, the same component has the same reference numeral even if it is shown in different drawings; that is, the same reference numeral throughout the specification indicates the same component.

[0040] In the drawings attached to this specification, the size, position, connection relationships, etc., of each component constituting the present invention may be described in a partially exaggerated, reduced, or omitted manner for the convenience of explanation or to sufficiently clearly convey the concept of the present invention, and therefore, the proportions or scale may not be strictly accurate.

[0041] In addition, in describing the present invention below, detailed descriptions of components, such as prior art and known technology, that are deemed to unnecessarily obscure the essence of the invention may be omitted.

[0042] Hereinafter, embodiments of the present invention will be described in detail with reference to the relevant drawings.

[0043] In the xyz coordinate axes shown in each drawing, the x-axis direction is set as the width direction of the 4-wheel unevenness forming robot (100), the y-axis direction as the length direction, and the z-axis direction as the height direction.

[0044] FIG. 1 is a block diagram of an uneven surface forming robot according to one embodiment of the present invention.

[0045] Referring to FIG. 1, a 4-wheel unevenness forming robot (100) according to one embodiment of the present invention may be configured to include a body (110), a first wheel assembly (140), a second wheel assembly (150), a power supply unit (160), and an auxiliary wheel assembly (170).

[0046] The 4-wheel unevenness forming robot (100) includes mechanical parts and electronic parts. FIGS. 2 to 8 show mechanical parts, but do not include electronic parts, such as a control unit (111), a sensor unit (112), and a power supply unit (160). Electronic parts are omitted in FIGS. 2 to 8, but the 4-wheel unevenness forming robot (100) can be configured to include electronic parts along with mechanical parts. The electronic parts omitted in FIGS. 2 to 8 are shown in the block diagram of FIG. 1.

[0047] The drive system of the 4-wheel unevenness forming robot (100) may be configured as front-wheel drive, rear-wheel drive, or four-wheel drive. Here, the drive system is a concept that includes a drive unit and a steering unit. First, in the 4-wheel unevenness forming robot (100), the position of the first wheel assembly (140) is defined as the front, and the position of the second wheel assembly (150) is defined as the rear.

[0048] When the 4-wheel unevenness forming robot (100) includes a first driving unit (141) and a first steering unit (120), it has a current driving configuration. When the 4-wheel unevenness forming robot (100) includes a second driving unit (151) and a second steering unit (130), it has a rear-wheel driving configuration. And when the 4-wheel unevenness forming robot (100) includes all of the first driving unit (141) and the first steering unit (120), and the second driving unit (151) and the second steering unit (130), it has a four-wheel driving configuration. Although the steering range of the first wheel controlled by the first steering unit (120) and the steering range controlled by the second steering unit (130) may be different from each other, the four-wheel drive four-wheel unevenness forming robot (100) may include only one of the steering units among the first steering unit (120) and the second steering unit (130).

[0049] One end of the body (110) can be connected to the first wheel assembly (140) and the other end can be connected to the second wheel assembly (150), and has the function of controlling autonomous driving. That is, the body (110) is mechanically rotatably coupled to the first wheel assembly (140) and the second wheel assembly (150), and can electrically transmit control signals to control steering and control the driving of the first wheel assembly (140) and the second wheel assembly (150).

[0050] The body (110) may be configured to include a control unit (111), a first steering unit (120), a second steering unit (130), and a sensor unit (112).

[0051] The control unit (111) can control the steering angle in the forward direction by adjusting the angle between the first wheel assembly (140) and the body (110), that is, the angle between the first wheel (142) and the body (110), through the first steering unit (120). Additionally, the control unit (111) can control the steering angle in the reverse direction by adjusting the angle between the second wheel assembly (150) and the body (110), and the angle between the second wheel (152) and the body (110), through the second steering unit (130). Here, forward is a concept when the first wheel assembly (140) is defined as the front of the 4-wheel unevenness forming robot (100), but either the first wheel assembly (140) or the second wheel assembly (150) can be defined as the front or the rear.

[0052] The first steering unit (120) has the function of controlling the steering of the first wheel (142). The second steering unit (130) has the function of controlling the steering of the second wheel (152). Specific steering methods of the steering units will be described later.

[0053] The sensor unit (112) has the function of collecting data necessary for autonomous driving. The sensor unit (112) may include components such as a camera and a lidar as a tool for examining obstacles in the direction in which the 4-wheel unevenness forming robot (100) is to move. Since the 4-wheel unevenness forming robot (100) autonomously performs the unevenness forming work that was previously performed by a person using a tool, it is necessary for it to recognize obstacles on its own. Obstacles are often mainly reinforcing bars protruding from the surface of a concrete slab. In particular, in the case of segmented concrete pouring, many reinforcing bars are exposed on the surface of the concrete slab.

[0054] The first wheel assembly (140) is rotatably coupled with the body (110) and can receive a control signal from the control unit (111). The first wheel assembly (140) may be configured to include a first drive unit (141), a first wheel (142), a first wheel frame (145), and a first brush (146). The first drive unit (141) is necessary in a current drive or four-wheel drive configuration, but is an unnecessary element in a rear-wheel drive configuration.

[0055] The second wheel assembly (150) is rotatably coupled with the body (110) and can receive a control signal from the control unit (111). The second wheel assembly (150) may be configured to include a second drive unit (151), a second wheel (152), a second wheel frame (155), and a second brush (156). The second drive unit (151) is necessary in a rear-wheel drive or four-wheel drive configuration, but is an unnecessary element in a front-wheel drive configuration.

[0056] The first drive unit (141) has the function of generating power to rotate the first wheel (142) of the first wheel assembly (140). The first drive unit (141) is a concept that includes a motor that generates power, a shaft that transmits power, and a gear.

[0057] The first wheel (142) has the function of creating irregularities on the concrete slab surface while moving the 4-wheel irregularity forming robot (100) by contacting the floor surface, i.e., the concrete slab surface. The first wheel (142) may be composed entirely of a single piece. Alternatively, the first wheel (142) may be composed of several components assembled together. The second wheel (152) also has a function similar to that of the first wheel (142). The composition of the first wheel (142) and the second wheel (152) will be described later.

[0058] The first wheel frame (145) has the function of fixing the first wheel (142) to the body (110). That is, the first wheel frame (145) is coupled to the rotation axis of the first wheel (142) and can be rotatably coupled to the body (110) using the first rotation axis (113). The second wheel frame (155) also has a function similar to that of the first wheel frame (145).

[0059] The first brush (146) is provided on the first wheel (142) and has the function of removing concrete sludge that is secondarily generated when the first wheel (142) creates irregularities on the surface of a concrete slab. That is, the first brush (146) is fixed to the rotating first wheel (142) and separates concrete sludge stuck between the irregular blades of the first wheel (142) from the first wheel (142). The second brush (156) also has a function similar to that of the first brush (146).

[0060] In the 4-wheel unevenness forming robot (100), the first wheel assembly (140) and the second wheel assembly (150) can be arranged symmetrically with respect to the body (110). Therefore, the description of the second wheel assembly (150), which is functionally similar to the first wheel assembly (140), will be replaced by the description of the first wheel assembly (140).

[0061] The power supply unit (160) includes a battery and various circuits and has the function of supplying power to the body (110), the first wheel assembly (140), and the second wheel assembly (150). The components constituting the power supply unit (160) may be placed in the body (110).

[0062] The auxiliary wheel assembly (170) may be configured to include a third drive unit (171), a third wheel and a fourth wheel (172), a third wheel frame (173), a third brush (174), a fourth brush (175), and a wheel lift (176).

[0063] The third drive unit (171) has the function of generating power to rotate the third wheel and the fourth wheel (172) of the auxiliary wheel assembly (170). The third drive unit (171) is a concept that includes a motor that generates power, a shaft that transmits power, and gears, etc.

[0064] The third wheel and the fourth wheel (172) have the function of creating irregularities on the concrete slab surface while moving the four-wheel irregularity forming robot (100) by contacting the floor surface, i.e., the concrete slab surface. Likewise, the third wheel or the fourth wheel (172) may be composed entirely of a single piece. Alternatively, several components may be assembled to form the third wheel or the fourth wheel (172).

[0065] The third wheel frame (173) has the function of fixing the third wheel and the fourth wheel (172) to the body (110). That is, the third wheel frame (173) can be coupled to the rotation axis of the third wheel and the fourth wheel (172).

[0066] The third brush (174) is provided on the third wheel (172) and has the function of removing concrete sludge that is secondarily generated when the third wheel (172) creates irregularities on the surface of the concrete slab. That is, the third brush (174) is fixed to the rotating third wheel (172) and separates concrete sludge stuck between the irregular blades of the third wheel (172) from the third wheel (172). The fourth brush (175) also has a function similar to that of the third brush (174).

[0067] The third wheel (172) can be driven selectively with the first wheel (142). For example, when the first wheel (142) is driven, the third wheel and the fourth wheel (172) are lifted off the floor. And when the third wheel (172) is driven, the third wheel and the fourth wheel (172) are in contact with the floor, and instead the first wheel and the second wheel are lifted off the floor. The third wheel and the fourth wheel (172) can be controlled to be higher or lower than the first wheel (142) and the second wheel (152) by the wheel lift (176).

[0068] The 4-wheel unevenness forming robot (100) has been described primarily functionally with reference to the block diagram of FIG. 1. The structure of the 4-wheel unevenness forming robot (100) will be described in detail below with reference to the mechanical drawings.

[0069] Figure 2 is an example diagram depicting the exterior of the uneven surface forming robot described in Figure 1.

[0070] Figure 3 is an example diagram depicting the interior of the uneven surface forming robot described in Figure 2.

[0071] Referring to FIG. 2, the first wheel assembly, the second wheel assembly, and the body constituting the 4-wheel unevenness forming robot (100) are covered by a top cover (115) and front and rear covers (116). The first wheel (142) of the first wheel assembly is equipped with a first brush (146), the second wheel (152) of the second wheel assembly is equipped with a second brush (156), and the third and fourth wheels of the auxiliary wheel assembly are equipped with brushes (174) to have the function of removing concrete sludge generated during driving.

[0072] Referring to FIG. 3, the shape of the 4-wheel unevenness forming robot (100) is depicted with the width in the x-axis direction, the length in the y-axis direction, and the height in the z-axis direction. The 4-wheel unevenness forming robot (100) corresponds to an articulating robot that can control steering by turning at least one of the first wheel assembly (140) and the second wheel assembly (150) relative to the body (110), and can control steering in a perpendicular direction using the third wheel and the fourth wheel (172) of the auxiliary wheel assembly (170).

[0073] The body (110) and the first wheel assembly (140) can be rotatably coupled to each other through the first rotation axis (113), and the body (110) and the second wheel assembly (150) can be rotatably coupled to each other through the second rotation axis (114). The auxiliary wheel assembly (170) is coupled to both sides of the body (110). The auxiliary wheel assembly (170) is height-adjustable so that it forms a driving wheel at a position lower than the height of the first wheel (142) and the second wheel (152), and forms an idle wheel at a position higher than the height of the first wheel (142) and the second wheel (152).

[0074] The wheel lift (176) can lift the third wheel and the fourth wheel (172) upward when the first wheel (142) and the second wheel (152) are in contact with the floor, and can lower the third wheel and the fourth wheel (172) lower than the first wheel (142) and the second wheel (152). Thus, the third wheel and the fourth wheel (172) can selectively come into contact with the floor with the first wheel (142) and the second wheel (152). The rotation axis of the third wheel and the fourth wheel (172) forms a 90-degree angle with the rotation axis of the first wheel (142) and the second wheel (152). The 4-wheel unevenness forming robot (100) has the function of rotating 90 degrees in place using the third wheel and the fourth wheel (172). When the 4-wheel uneven surface forming robot (100) travels on a concrete floor, there may be cases where steering at a 90-degree angle is required. In this case, if steering at a 90-degree angle is difficult due to a narrow space, steering at a 90-degree angle is possible using the third wheel and the fourth wheel (174).

[0075] Since the components may be obscured depending on the viewing angle of the 4-wheel unevenness forming robot (100), it is decided to explain by referring to multiple drawings together. In FIGS. 5 and 6, the auxiliary wheel assembly (170) is omitted for convenience of explanation.

[0076] Figure 4 is a front view of the uneven surface forming robot depicted in Figure 2.

[0077] Fig. 5 is a side view of the uneven surface forming robot depicted in Fig. 2.

[0078] Fig. 6 is a bottom view of the uneven surface forming robot depicted in Fig. 2.

[0079] Referring to FIG. 4, the front view of the first wheel (142) of the 4-wheel unevenness forming robot (100) is depicted. Since the first wheel (142) and the second wheel (152) have the same shape and differ only in position, the rear view of the 4-wheel unevenness forming robot (100) can be depicted similarly to the front view. The first wheel frame (145) can support the rotation axis (148) of the first wheel (142) and the first wheel (142). The first brush (146) includes spokes formed in a shape opposite to the unevenness formed on the first wheel (142), so that concrete sludge stuck in the unevenness can be removed. The first brush (146) can be combined with the first wheel frame (145).

[0080] The first drive unit (141) may include a motor that generates rotational force and various components that transmit the rotational force generated by the motor to the first wheel (142), such as a belt, gear, shaft, etc. The second drive unit (151) may also include a motor, belt, gear, shaft, etc., necessary to drive the second wheel (152), just like the first drive unit (141). However, the second drive unit (151) may exist only in a rear-wheel drive or four-wheel drive configuration.

[0081] Referring to FIGS. 4 to 6, the first steering unit (120) may be configured to include a rotary power unit (121), a rotary bar (122), and a towing line (123). The second steering unit (130) may also be configured to include a rotary power unit (131), a rotary bar (132), and a towing line (133).

[0082] The rotational power unit (121) of the first steering unit (120) includes a motor, and the rotating bar (122) can be rotated clockwise or counterclockwise through the driving of the motor. A towing rope (123) is connected to each end of the rotating bar (122), and the other end of the towing rope (123) is connected to a pole (147) formed on the left and right sides, respectively, of the first wheel frame (145) constituting the first wheel assembly (140). Depending on the rotational direction of the rotating bar (122), the towing rope (123) pulls the pole (147), so the first wheel assembly (140) rotates in the rotational direction. In this way, the direction of the first wheel (142) changes relative to the body (110). The second steering unit (130) also operates in the same way as the first steering unit (120).

[0083] The first wheel (142) will be described in detail below. The second wheel (152) also has a configuration similar to the first wheel (142). The first wheel (142) may be configured as a single piece, as a configuration in which multiple uneven modules are assembled, or as a configuration in which a first wheel (142) without an uneven surface and an uneven cover (144) with an uneven surface are combined.

[0084] Figure 7 is an enlarged view of the wheel of the uneven surface forming robot depicted in Figure 2.

[0085] Referring to FIG. 7, the first wheel (142) may be formed in the shape of a roller or cylinder in which an uneven module (143a) having a width (A) and an uneven module (143b) having a width (B) are alternately formed. Depending on the shape of the unevenness formed in the concrete, an uneven module (142a) forming continuous unevenness and an uneven module (143b) forming discontinuous unevenness may be included in the first wheel (142).

[0086] In another embodiment, the uneven modules (143a, 143b) can be separated from each other, so that a plurality of uneven modules can be assembled to form the first wheel (142). Accordingly, various shapes of unevenness can be formed on the concrete slab surface by using uneven modules having various shapes of unevenness in addition to the uneven modules (143a, 143b) depicted in FIG. 6. The first wheel (142) can be assembled by fitting the disc-shaped uneven modules (143a, 143b) onto the rotation shaft (148). And the spacing of the unevenness can be adjusted by adjusting the order and number of uneven modules (143a) and uneven modules (143b) of different shapes. If the shape of the irregularities of the first wheel (142) and the shape of the irregularities of the second wheel (152) are the same, the same irregularities can be formed overlappingly on the concrete slab surface, and if the shapes of the irregularities are different, the irregularities can be formed more densely on the concrete slab surface.

[0087] FIG. 8 is an illustrative diagram according to another embodiment of the wheel depicted in FIG. 7.

[0088] Referring to FIG. 8, a first wheel (142) is depicted as being formed by combining a first wheel (142) without a surface of irregularities and an irregular cover (144) with irregularities. The irregular cover (144) can be fitted onto the first wheel (142) such that the central axis (C1) of the irregular cover (144) and the central axis (C2) of the first wheel (142) coincide. The irregular cover (144) has a corrugated irregularity formed on its surface, and the irregularities can be folded, partially folded, and unfolded in a bellows-like shape, so that the width and depth of the irregularities can be adjusted during the partially folding stage. Due to the variable length (X1, X2) of the irregular cover (144), multiple covers can be fitted onto the first wheel (142). In order to adjust the width and depth of the irregularities, the irregular cover (144) can be made of a material that allows for folding and unfolding.

[0089] As such, according to one embodiment of the present invention, irregularities can be automatically formed on the surface of a concrete slab that has been divided and poured by an autonomous robot.

[0090] In addition, the width and depth of the irregularities formed on the surface of the concrete slab can be adjusted by replacing the roller, adjusting the irregularity cover, or replacing the irregularity module.

[0091] Although various preferred embodiments of the present invention have been described above with some examples, the descriptions of various embodiments described in the "Specific details for carrying out the invention" section are merely illustrative, and those skilled in the art to which the present invention pertains will understand that the present invention can be modified in various ways or equivalent embodiments can be carried out based on the above description.

[0092] In addition, since the present invention can be implemented in various other forms, the present invention is not limited by the description above. The above description is provided merely to make the disclosure of the present invention complete and to fully inform those skilled in the art of the scope of the present invention, and it should be understood that the present invention is defined only by each claim of the claims. Explanation of the symbols

[0093] 100: Surface forming robot, 110: Body, 120: First steering unit, 130: Second steering unit, 140: First wheel assembly, 150: Second wheel assembly, 160: Power supply unit, 170: Auxiliary wheel assembly

Claims

Claim 1 A four-wheel uneven surface forming robot comprising: a first wheel assembly that forms an uneven surface on a floor by driving a first wheel in the form of a roller; a body that is rotatably coupled to the first wheel assembly through a first rotation axis perpendicular to the first wheel assembly; a second wheel assembly coupled to the body and including a second wheel in the form of a roller; and an auxiliary wheel assembly that forms an uneven surface on a floor using a third wheel that is selectively driven with the first wheel among a third wheel and a fourth wheel in the form of a roller arranged on the left and right sides of the body, which forms a 90-degree angle with the rotation axis of the first wheel and the second wheel, wherein the body includes a first steering unit that controls the rotation angle between the first wheel assembly and the body, and is configured such that when the first wheel is driven, the third wheel and the fourth wheel are lifted off the floor, and when the third wheel is driven, the first wheel and the second wheel are lifted off the floor. Claim 2 delete Claim 3 A four-wheel uneven surface forming robot according to claim 1, wherein the body and the second wheel assembly are rotatably coupled through a vertical second rotation axis, and the second wheel assembly is configured to drive the second wheel to form an uneven surface on the floor. Claim 4 A four-wheel irregularity forming robot according to claim 1, wherein the first wheel assembly comprises: a first wheel having irregularities formed on the curved surface of a roller; a first wheel frame coupled to the body through the first rotation axis and supporting the rotation axis of the first wheel; and a first driving unit that transmits power to the first wheel. Claim 5 A four-wheel irregularity forming robot according to claim 3, wherein the second wheel assembly comprises: a second wheel having irregularities formed on the curved surface of the roller; a second wheel frame coupled to the body through the second rotation axis and supporting the rotation axis of the second wheel; and a second drive unit that transmits power to the second wheel. Claim 6 A four-wheel unevenness forming robot according to claim 4, wherein the first wheel is configured to include a replaceable roller having unevenness blades formed on a curved surface; and rotation axes formed at both ends of the roller. Claim 7 A four-wheel unevenness forming robot according to claim 4, wherein the first wheel comprises a roller having a curved surface; and an unevenness cover coupled to the curved surface of the roller, and the unevenness cover is configured to adjust the width and depth of the unevenness by adjusting the folding spacing in a bellows shape. Claim 8 A 4-wheel unevenness forming robot according to claim 6, wherein the roller comprises the uneven blade and is composed of a plurality of disc-shaped roller modules, and configured such that the width and depth of the unevenness are adjusted by replacing roller modules having uneven blades of different shapes. Claim 9 A four-wheel unevenness forming robot according to claim 6, wherein at least one of the first wheel assembly, the second wheel assembly, and the auxiliary wheel assembly is configured to further include a brush for removing concrete sludge stuck in the roller. Claim 10 A four-wheel unevenness forming robot according to claim 1, wherein the first steering unit comprises: a rotary power unit that generates rotational force; a rotating bar that tractions and rotates the first wheel assembly around the first rotation axis using the rotational force; and a towing line that connects both ends of the rotating bar to poles formed on the left and right sides of the first wheel assembly. Claim 11 A 4-wheel unevenness forming robot according to claim 4, further comprising: a sensing unit for observing obstacles in the direction of travel; and a control unit for controlling the first driving unit and the first steering unit, wherein the control unit is configured to control the first driving unit and the first steering unit based on data collected by the sensing unit to enable autonomous driving.

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