robot

Abstract

The present invention relates to a robot comprising a robot body housing a motor and a battery inside, leg sections connected to both side surfaces of the robot body, and a wheel section including wheels rotatably connected to the leg sections and adapted to roll on the ground. By locating the side frame and leg sections of the robot body vertically above the pair of wheels, the load of the robot body can be concentrated vertically on the wheels, thereby providing the effect of maintaining a stable balance of the robot body.

Description

[Technical field]

[0001] The present invention relates to a robot, and more particularly to a robot capable of providing various services in response to a command input from a user. [Background technology]

[0002] Recently, advances in robotics technology have led to an increase in the use of robots not only in industrial fields but also in homes.

[0003] Household robots include robots that perform household chores on behalf of people, such as helping with cleaning and controlling home appliances, robots that use artificial intelligence (AI) to act as assistants or educate users, and robots that serve as pets.

[0004] However, conventional household robots have the limitation that they can only perform one of the above functions and cannot perform various functions according to the user's needs or circumstances.

[0005] Meanwhile, there are not only robots that perform functions while being fixed at a specific location, but also mobile robots that can move around. In particular, in the case of robots used at home, mobile robots that move around the house in place of a user or following a user are mainly used.

[0006] Among mobile robots, two-wheeled robots have the advantage of being easy to store because they take up less ground space, and they have the advantage of being easy to use in homes where space is relatively limited because the turning radius when the robot changes direction is small.

[0007] However, conventional two-wheeled robots have a limit to the height of obstacles they can overcome, which is determined in proportion to the size of the wheels. Even if they do overcome an obstacle, the impact of overcoming the obstacle can cause the robot to lose balance and fall over.

[0008] Meanwhile, U.S. Patent Publication US2020-0362972A1 (November 19, 2020) discloses a mobile robot that moves using a pair of legs equipped with wheels.

[0009] The mobile robot can move by rotating the wheels on a pair of legs while lifting an object using the arm, and can overcome obstacles by bending and extending the legs having a link structure.

[0010] However, in order to maintain balance while the mobile robot is moving or stopped, the body to which the legs are connected rotates like a pendulum, and balance is maintained by rotating a counterbalance in response to the rotation of the body.

[0011] Therefore, the mobile robot has a limitation in that the body of the robot swings up and down while maintaining balance.

[0012] In addition, the mobile robot has a limitation in that it is not possible to attach a functional module that can perform additional functions to the upper and lower parts of the body since the body of the mobile robot swings up and down.

[0013] In addition, the mobile robot has a limitation in that it cannot transport an object through its body rather than through a separate arm, since the body of the mobile robot swings up and down.

[0014] In particular, in the case of a domestic robot, if the robot is performing the function of transporting drinks or food, there is a possibility that the items being transported may be spilled or fall to the floor if the robot shakes.

[0015] Meanwhile, U.S. Patent US10010784B1 (July 3, 2018) discloses a suspension system having a wheel.

[0016] The suspension system is capable of absorbing shocks by attaching a four-bar link structure to a vehicle consisting of one wheel, restricting the wheel to only move up and down, and placing dampers at the ends of the four-bar link.

[0017] However, the suspension system has a problem in that the height to which the deck can be raised and lowered is limited because the deck is raised and lowered by driving the damper.

[0018] In addition, since the four-bar link is disposed to the side of the wheel, the wheel is exposed above the deck, which limits the use of the entire area of ​​the deck. Summary of the Invention [Problem to be solved by the invention]

[0019] The present invention has been made to improve the problems of the conventional technology as described above, and has an object to provide a robot that can stably maintain balance on two wheels.

[0020] Another object of the present invention is to provide a robot capable of climbing over obstacles of various heights while moving.

[0021] Another object of the present invention is to provide a robot that can maintain balance without swaying back and forth or side to side when climbing over obstacles during movement.

[0022] Another object of the present invention is to provide a robot that can perform various functions according to the needs or circumstances of the user.

[0023] Another object of the present invention is to provide a robot that can minimize the space occupied by modules when they are combined to perform a function.

[0024] Another object of the present invention is to provide a robot that can change a function currently being used to a new function, or add a new function to a function currently being used. [Means for solving the problem]

[0025] In order to achieve the above-mentioned object, the robot according to the present invention may include a robot body having a motor and a battery housed therein, leg portions respectively connected to both side surfaces of the robot body, and a wheel portion which is rotatably connected to the leg portions and includes (comprises; constitutes; constructs; sets; contains; includes; contains) a wheel which rolls on the ground.

[0026] In this case, the leg portions may be disposed only on both side surfaces of the robot body.

[0027] The wheel portion may be disposed vertically below the leg portion.

[0028] The robot of the present invention may include a side frame to which the leg portion is connected, and the leg portion may include a four-section link including a first link linked to the side frame, a second link linked to the side frame to which the first link is connected, and a third link linked to the first link and the second link and connected to the wheel portion.

[0029] The leg portion may include a gravity compensator that generates a rotational force on the link in a direction to lift the robot body.

[0030] A module coupling space may be formed between the lower side of the robot body and the pair of legs, to which a lower functional module can be coupled.

[0031] An upper functional module may be coupled to an upper side of the robot body.

[0032] A lower functional module may be coupled to the lower side of the robot body.

[0033] The leg portion may have a wire passage hole formed therein through which an electric wire passes. Effect of the Invention

[0034] As described above, according to the robot of the present invention, the side frame and leg of the robot body are disposed vertically above the pair of wheels, so that the load of the robot body can be concentrated vertically on the wheels. Also, by applying pressure vertically downward to the legs by the load of the robot body, the robot body can be prevented from swinging left and right. This has the effect of stably maintaining the balance of the robot body.

[0035] In addition, the robot of the present invention has a four-link structure consisting of a side frame, a first link, a second link, and a third link, which has the effect of enabling the robot to lift the wheels and overcome obstacles of various heights when it encounters them.

[0036] Furthermore, according to the robot of the present invention, the distances between the centers of rotation of the four-bar links are arranged to have a predetermined length ratio, so that even if the wheel is lifted upward when climbing over an obstacle, the front-to-rear position of the wheel does not change and the wheel does not sway from side to side, thereby achieving the effect of maintaining balance.

[0037] In addition, the robot according to the present invention has the advantage that it can perform various functions by connecting an upper functional module to the upper side of the robot body or connecting a lower functional module to the lower side of the robot body depending on the user's needs or circumstances.

[0038] In addition, according to the robot of the present invention, the lower functional module is coupled to the lower part of the robot body and the space between the pair of leg portions, thereby minimizing the space occupied by the lower functional module when coupled.

[0039] In addition, there is an advantage that a function currently in use can be changed to a new function by replacing an upper functional module or a lower functional module, or a new function can be added to a function currently in use by installing an additional upper functional module or a lower functional module. [Brief description of the drawings]

[0040] [Figure 1] 1 is a perspective view for explaining a robot according to an embodiment of the present invention. [Diagram 2] FIG. 2 is an exploded perspective view of FIG. [Diagram 3] FIG. 1 is a front view of a robot according to an embodiment of the present invention. [Figure 4] FIG. 2 is a rear view of the robot according to the embodiment of the present invention. [Diagram 5] FIG. 1 is a side view of a robot according to an embodiment of the present invention. [Figure 6] FIG. 2 is a bottom view of the robot according to the embodiment of the present invention. [Figure 7] 11 is a diagram for explaining a state in which an upper functional module has been removed in the robot according to one embodiment of the present invention. FIG. [Figure 8] 4A and 4B are diagrams for explaining a leg portion of a robot according to an embodiment of the present invention. [Figure 9] 1A and 1B are diagrams for explaining the connection relationship of leg parts in a robot according to an embodiment of the present invention. [Figure 10] FIG. 4 is a diagram for explaining a second link in the robot according to one embodiment of the present invention. [Figure 11] 11 is a diagram for explaining a structure for hiding electric wires in a robot according to an embodiment of the present invention. FIG. [Figure 12] 1 is a diagram illustrating a state in which a robot according to an embodiment of the present invention is coupled to a lower functional module; [Figure 13] 11 is a diagram illustrating a state in which a robot according to an embodiment of the present invention approaches a lower functional module to be coupled therewith. [Figure 14]4 is a diagram for explaining a lower functional module in the robot according to one embodiment of the present invention. FIG. [Figure 15] FIG. 2 is a block diagram for explaining a control configuration of a robot according to an embodiment of the present invention. [Figure 16] 11A to 11C are diagrams for explaining a change in wheel position due to movement of a leg portion in a robot according to an embodiment of the present invention. [Figure 17] 11A to 11C are diagrams for explaining a change in wheel position due to movement of a leg portion in a robot according to an embodiment of the present invention. [Figure 18] 13 is a diagram for explaining the arrangement of wheels and the arrangement relationship for coupling with a lower functional module in a robot according to an embodiment of the present invention. FIG. [Figure 19] 1 is a schematic diagram for explaining how the load of a robot body is transmitted to a wheel in a robot according to an embodiment of the present invention. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0041] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0042] Since the present invention can be modified in various ways and can have various embodiments, specific embodiments are shown in the drawings and will be specifically described in the detailed description. This is not intended to limit the present invention to the specific embodiments, and should be interpreted as including all modifications, equivalents, and alternatives within the spirit and technical scope of the present invention.

[0043] FIG. 1 shows an oblique view for explaining a robot according to one embodiment of the present invention, FIG. 2 shows an exploded oblique view of FIG. 1, FIG. 3 shows a front view of a robot according to one embodiment of the present invention, FIG. 4 shows a rear view of a robot according to one embodiment of the present invention, FIG. 5 shows a side view of a robot according to one embodiment of the present invention, FIG. 6 shows a bottom view of a robot according to one embodiment of the present invention, and FIG. 7 shows a diagram for explaining a state in which an upper functional module has been removed in a robot according to one embodiment of the present invention.

[0044] A robot 1 according to one embodiment of the present invention will be described below with reference to FIGS.

[0045] A robot 1 according to an embodiment of the present invention is placed on a floor surface (ground) and moves along a floor surface B. Therefore, in the following description, the up and down directions are defined based on the state in which the robot 1 is placed on the floor.

[0046] Moreover, the direction where a first camera 531 (described later) is disposed will be described as the front with respect to battery 560. Moreover, the direction opposite to the front with respect to battery 560 will be described as the rear.

[0047] The "lowest part" of each configuration described in the embodiments of the present invention may be the part that is located lowest in each configuration when the robot 1 according to the embodiments of the present invention is placed on the floor and used, or may be the part that is closest to the floor.

[0048] The robot 1 according to the embodiment of the present invention includes a robot body 100, a leg unit 200, and a wheel unit 300. The leg units 200 are coupled to both sides of the robot body 100, and the wheel units 300 are coupled to the leg units 200.

[0049] Robot body The robot body 100 of a robot 1 according to an embodiment of the present invention will be described below with reference to FIGS.

[0050] The robot body 100 can form the outer shape of the robot 1. Each part that forms the robot 1 can be coupled to the robot body 100.

[0051] For example, the leg parts 200 are respectively coupled to the two side frames 130 of the robot body 100. Also, a bumper 112 may be coupled to a front cover 110 provided on the front surface of the robot body 100.

[0052] In particular, functional modules 700, 800 may be detachably coupled to the robot body 100 according to an embodiment of the present invention. Here, the functional modules 700, 800 may include an upper functional module 700 coupled to the upper part of the robot body 100, and a lower functional module 800 coupled to the space between the pair of wheels 310.

[0053] Therefore, the upper functional module 700 may be detachably coupled to the top cover 140 arranged on the upper side of the robot body 100. The lower functional module 800 may be detachably coupled to the bottom cover 150 arranged on the lower side of the robot body 100.

[0054] With this configuration, various functions can be performed by connecting the functional modules 700, 800 to the robot body 100. In addition, it is possible to replace the functional modules 700, 800 to change the function currently being used to a new function, or to add a new function to the function currently being used by additionally mounting the functional modules 700, 800.

[0055] In an embodiment of the present invention, the robot body 100 may have a shape in which the horizontal width (or diameter) is greater than the vertical height. Such a robot body 100 allows the robot 1 to have a stable structure, and can provide a structure that is advantageous for the robot 1 to maintain balance when moving (running).

[0056] Some of the components constituting the robot 1 may be housed inside the robot body 100. For example, the internal space of the robot body 100 can house one or more motors including a suspension motor MS, one or more sensors, and a battery 560.

[0057] The robot body 100 includes a front cover 110. The front cover 110 forms the front appearance of the robot 1. That is, the front cover 110 may be disposed at the very front of the robot 1 when the robot 1 travels forward.

[0058] For example, the front cover 110 of the robot body 100 may be formed in a flat plate shape. As another example, the front cover 110 may be in the shape of a plate having a curved surface. As yet another example, the front cover 110 may be in the shape of a plate bent at a predetermined angle.

[0059] The front cover 110 may be provided with a window 111. The window 111 may be made of a material that allows light to pass through. For example, the window 111 may be made of a material that allows infrared (IR) light, visible light, or ultraviolet (UV) light to pass through.

[0060] The front cover 110 includes an outer surface exposed to the outside of the robot 1, and an inner surface disposed on the reverse side of the outer surface.

[0061] A bumper 112 may be coupled to an outer surface of the front cover 110. That is, the bumper 112 may be disposed in front of the robot body 100. For example, the bumpers 112 may be provided on both side ends of the outer surface of the front cover 110 and disposed in a pair side by side in the up-down direction.

[0062] The bumper 112 may be provided to be movable relative to the robot body 100. For example, the bumper 112 may be coupled to the robot body 100 to be capable of reciprocating along the front-rear direction of the robot body 100.

[0063] The bumper 112 may be attached along a portion of the front edge of the front cover 110. Alternatively, the bumper 112 may be attached along the entire edge of the front cover 110. With this configuration, when the robot 1 collides with another object or person, the bumper 112 can absorb the impact applied to the robot body 100 and protect the robot body 100 and the components housed inside the robot body 100.

[0064] A first camera 531 may be disposed behind the inner surface of the front cover 110. Specifically, the first camera 531 may be disposed immediately behind the window 111. With this configuration, the first camera 531 can detect an object or person disposed in front of the robot 1.

[0065] Meanwhile, although not shown, the front cover 110 may be provided with an input unit through which a user inputs a control command, a display unit for visually transmitting information on the operating state of the robot 1 to the user, etc. For example, the front cover 110 may be provided with a touch screen that visually displays the operating state of the robot 1 and through which the user inputs a control command.

[0066] The robot body 100 includes a rear cover 120 .

[0067] The rear cover 120 constitutes the rear appearance of the robot 1. For example, the rear cover 120 may be formed in a flat plate shape. As another example, the rear cover 120 may be in the shape of a plate having a curved surface.

[0068] An operation unit 553 for adjusting the power supply of the robot 1 may be disposed on the rear cover 120.

[0069] The operation unit 553 can be operated by a user, and the power supply of the robot 1 can be turned on and off by operating the operation unit 553.

[0070] The operating portion 553 may be provided on the rear cover 120 so as to pivot in the left-right direction, or may be provided so as to pivot in the up-down direction depending on the embodiment.

[0071] For example, when the user presses one side of the operation unit 553 to cause the operation unit 553 to pivot to one side, the robot 1 is powered on. When the user presses the other side of the operation unit 553 to cause the operation unit 553 to pivot to the other side, the robot 1 is powered off.

[0072] A rear bumper 122 may be coupled to an outer surface of the rear cover 120. That is, the rear bumper 122 may be disposed at the rear of the robot body 100. For example, the rear bumper 122 may be provided on the outer surface of the rear cover 120 and disposed along the horizontal direction. With this configuration, when the robot 1 collides with another object or person, the rear bumper 122 can absorb the impact applied to the robot body 100 and protect the robot body 100 and the components accommodated inside the robot body 100.

[0073] The robot body 100 includes a side frame 130 .

[0074] The side frame 130 constitutes the exterior of both sides of the robot 1. For example, the side frame 130 may be arranged on both sides of the robot 1, facing each other. For example, the side frame 130 may be formed in a flat plate shape. That is, both side surfaces of the robot main body 100 may be formed in a flat plate shape and arranged side by side. As another example, at least a part of the side frame 130 may be formed in a curved shape.

[0075] The side frame 130 is coupled to the front cover 110 and the rear cover 120. The side frame 130 can connect the front cover 110 and the rear cover 120. With this configuration, the robot body 100 can form an internal space surrounded by the front cover 110, the rear cover 120, and the two side frames 130.

[0076] A leg portion 200 may be disposed on the outer side of the side frame 130. Specifically, a first link 210 and a second link 220 may be rotatably coupled to the outer side of the side frame 130.

[0077] Generally, in a two-wheeled robot, a support structure is arranged vertically below the robot body to support the load of the robot. However, when a support structure is arranged vertically below the robot body, there is a limit in that the space below the robot cannot be used.

[0078] To solve this problem, in the robot 1 according to one embodiment of the present invention, a leg portion 200 is connected to the side frame 130.

[0079] A suspension motor MS may be disposed inside the side frame 130.

[0080] The side frame 130 is formed with link coupling holes 131 and 132. The link coupling holes include a first link coupling hole 131 and a second link coupling hole 132.

[0081] The first link coupling hole 131 is formed in a circular hole shape in the side frame 130. At least a portion of the first link 210 may be rotatably received in the first link coupling hole 131. For example, one side end of the first link 210 may pass through the first link coupling hole 131 and be coupled to a shaft of the suspension motor MS.

[0082] The second link coupling hole 132 is formed in the side frame 130 in the shape of a circular hole. At least a portion of the second link 220 may be rotatably received in the second link coupling hole 132. For example, a shaft formed on one side of the second link 220 may be rotatably coupled to the second link coupling hole 132.

[0083] Meanwhile, the first link coupling hole 131 may be formed to have a larger diameter than the second link coupling hole 132 .

[0084] The first link coupling hole 131 and the second link coupling hole 132 may be formed with a predetermined distance between them. For example, the center of the circular hole-shaped first link coupling hole 131 and the center of the circular hole-shaped second link coupling hole 132 may be disposed with a predetermined distance between them.

[0085] The first link connection hole 131 and the second link connection hole 132 may be disposed at a predetermined inclination with respect to the ground. For example, when the robot 1 is placed on the ground, the first link connection hole 131 may be disposed on the lower side of the side frame 130, and the second link connection hole 132 may be disposed on the upper rear side of the side frame 130.

[0086] With this configuration, the side frame 130 in which the link coupling holes 131, 132 are formed can function as a kind of link.

[0087] Meanwhile, depending on the embodiment, the side frame 130 may be formed with a handle hole 133. For example, the handle hole 133 may be formed in the front of the upper side of the side frame 130. With this configuration, a user can insert his / her hand into the handle hole 133 and then grip the side frame 130 to lift the robot body 100 upward.

[0088] The top cover 140 constitutes the exterior of the upper side of the robot 1. The top cover 140 is combined with the front cover 110, the rear cover 120, and the two side frames 130. Therefore, the top cover 140 can cover the upper side of the internal space surrounded by the front cover 110, the rear cover 120, and the two side frames 130.

[0089] When the robot 1 is placed on the ground, the top cover 140 may be disposed at a predetermined angle with respect to the ground. For example, the front end of the top cover 140 may be disposed closer to the ground than the rear end.

[0090] An upper functional module 700 may be coupled to the top cover 140. The upper functional module 700 may be detachably coupled to the upper side of the top cover 140. For example, the top cover 140 may be formed with a hook accommodating groove 141 for hook-coupling with the upper functional module 700. With this configuration, the upper functional module 700 can be coupled to the robot body 100 by a simple action of the user aligning the hook of the upper functional module 700 with the hook accommodating groove 141 and pushing it in.

[0091] The robot body 100 can supply power to the upper functional module 700. Specifically, the top cover 140 may be provided with a terminal capable of supplying power to the upper functional module 700.

[0092] In addition, the robot body 100 can transmit and receive signals to and from the upper functional module 700. Specifically, the top cover 140 may be provided with a terminal capable of transmitting and receiving signals to and from the upper functional module 700.

[0093] Meanwhile, in an embodiment of the present invention, the top cover 140 may be provided with a terminal capable of supplying power to the upper functional module 700 and a terminal capable of transmitting and receiving signals to and from the upper functional module 700. For example, the top cover 140 may be provided with a pogo pin 142 including two power pins and four signal pins.

[0094] At least one guide groove 143 may be formed in the top cover 140. A lower surface of the upper functional module 700 may be coupled to the guide groove 143. With this configuration, the guide groove 143 can guide the coupling position of the upper functional module 700.

[0095] The lower cover 150 constitutes the exterior of the lower side of the robot 1. The lower cover 150 is combined with the front cover 110, the rear cover 120, and the two side frames 130. Therefore, the lower cover 150 can cover the lower side of the internal space surrounded by the front cover 110, the rear cover 120, and the two side frames 130.

[0096] A lower functional module 800 may be coupled to the lower cover 150. The lower functional module 800 may be detachably coupled to the underside of the lower cover 150. Specifically, the lower cover 150 may be provided with a coupling bar 151 for latch coupling with the lower functional module 800.

[0097] The connecting bar 151 may be formed in a cylindrical shape and disposed along the left-right direction of the robot 1. In addition, the lower cover 150 may be formed with a pair of protrusions that are connected to the connecting bar 151.

[0098] The lower cover 150 may be provided with a charging terminal 152. The charging terminal 152 may be disposed on the lower surface of the lower cover 150.

[0099] At this time, the charging terminal 152 may be located at a position facing a charging terminal provided on a robot charging stand (not shown). The charging terminal 152 may be electrically connected to the charging terminal provided on the robot charging stand (not shown). The robot 1 may be supplied with power from the robot charging stand (not shown) via the charging terminal 152. The power supplied to the charging terminal 152 may be supplied to the battery 560.

[0100] On the other hand, in general, in a two-wheeled robot, a support structure is arranged vertically below the robot body in order to support the load of the robot. However, when a support structure is arranged vertically below the robot body, there is a limit in that the space below the robot cannot be used.

[0101] To solve this problem, in the robot 1 according to an embodiment of the present invention, leg parts 200 are arranged on both sides of the robot body 100. Therefore, a module coupling space 153 to which the lower functional module 800 is coupled is formed under the lower cover 150.

[0102] The module connection space 153 may be formed between a pair of leg portions 200. For example, the module connection space 153 may refer to a space vertically below the connection bar 151. That is, the module connection space 153 may be a space having a predetermined width ΔS along the left-right direction.

[0103] Therefore, since the lower functional module 800 is coupled to the lower part of the robot body 100 and the space between the pair of legs 200, it is possible to minimize the volume occupied by the robot 1 when the lower functional module 800 is attached.

[0104] Meanwhile, although not shown, depending on the embodiment, the robot body 100 may further include an external case. The external case may form the overall appearance of the robot body 100. The external case may cover the exterior of the front cover 110, the rear cover 120, the side frame 130, the upper cover 140, and the lower cover 150. For example, the external case may be formed in an ellipsoid shape extended along the left-right direction.

[0105] Leg FIG. 8 shows a diagram for explaining the leg portion of a robot according to one embodiment of the present invention, FIG. 9 shows a diagram for explaining the connection relationship of the leg portion of a robot according to one embodiment of the present invention, FIG. 10 shows a diagram for explaining a second link of a robot according to one embodiment of the present invention, and FIG. 11 shows a diagram for explaining a structure for hiding electric wires in a robot according to one embodiment of the present invention.

[0106] 1 to 11, the leg portion 200 of the robot 1 according to an embodiment of the present invention will be described as follows.

[0107] The leg parts 200 are coupled to the robot body 100 and can support the robot body 100. For example, a pair of leg parts 200 are provided, each of which is coupled to a side frame 130 of the robot body 100. At this time, at least a part of the leg parts 200 is disposed closer to the ground than the robot body 100. Therefore, the robot body 100 can run while standing on the ground with the pair of legs 200. In other words, gravity applied to the robot body 100 is supported by the legs 200, and the height of the robot body 100 can be maintained.

[0108] In the robot 1 according to one embodiment of the present invention, the leg parts 200 are connected only to both side surfaces of the robot body 100. In other words, the leg parts 200 are not connected to the lower surface and rear surface of the robot body 100.

[0109] 3 and 18, a space is formed between the lower side of the lower cover 150 and the pair of leg parts 200. For example, a space capable of accommodating a rectangular parallelepiped lower functional module 800 may be formed between the lower side of the lower cover 150 and the pair of leg parts 200.

[0110] The leg portion 200 includes a first link 210, a second link 220, and a third link 230. At this time, the first link 210 and the second link 220 are rotatably connected to the side frame 130 and the third link 230, respectively. That is, the first link 210 and the second link 220 are linked and connected to the side frame 130 and the third link 230, respectively.

[0111] The first link 210 is linked to a side surface of the robot body 100. For example, the first link 210 may be linked to the side frame 130.

[0112] The first link 210 is connected to the suspension motor MS. For example, the first link 210 may be connected to the shaft of the suspension motor MS directly or via a gear. With this configuration, the first link 210 receives the driving force from the suspension motor MS.

[0113] The first link 210 includes a first link body 211 , a motor coupling portion 212 , and a link coupling portion 213 .

[0114] The first link body 211 is formed in a frame shape, and includes a motor coupling part 212 on one side in the longitudinal direction and a link coupling part 213 on the other side in the longitudinal direction. In this case, the motor coupling part 212 may be disposed farther from the ground than the link coupling part 213.

[0115] The first link body 211 may be formed in a shape that is bent at least once. For example, the first link body 211 may be disposed such that the other side where the link coupling part 213 is provided is farther from the robot main body 100 than the one side where the motor coupling part 212 is provided.

[0116] Therefore, the distance between the pair of first link bodies 211 increases as one moves vertically from the top to the bottom. With this configuration, the first link 210 can stably support the robot body 100.

[0117] A rib 211a may be formed on the first link body 211. For example, a rib may be formed to protrude from the first link body 211 along the longitudinal direction. In this case, the rib 211a may be formed in an area where the first link body 211 is bent. With this configuration, the rib 211a has the effect of reinforcing the first link 210 and improving durability.

[0118] The motor coupling portion 212 is formed and connected to one end of the first link body 211 .

[0119] The motor coupling part 212 is rotatably received in the first link coupling hole 131 of the side frame 130. For example, the motor coupling part 212 may be formed in a disk or disc shape. In this case, the maximum diameter of the motor coupling part 212 may be the same as or smaller than the maximum diameter of the first link coupling hole 131. Therefore, the motor coupling part 212 can pass through the first link coupling hole 131 and be connected to the suspension motor MS.

[0120] The motor coupling unit 212 is connected to the suspension motor MS. For example, the motor coupling unit 212 may be fixedly coupled to the shaft of the suspension motor MS. With this configuration, when the suspension motor MS is driven, the motor coupling unit 212 can rotate in conjunction with the rotation of the shaft of the suspension motor MS.

[0121] The link coupling portion 213 is formed at the other end of the first link body 211 .

[0122] Link connection portion 213 is rotatably coupled to third link 230. Specifically, link connection portion 213 is rotatably coupled to third link 230 via first link shaft 214. For example, link connection portion 213 may be formed in a disk shape, and first link shaft 214 may be penetratingly coupled to the center of link connection portion 213. Furthermore, first link shaft 214 may be rotatably coupled to third link 230. With this configuration, first link 210 and third link 230 can be connected to be capable of rotating relative to each other.

[0123] The first link shaft 214 is provided to connect the first link 210 and the third link 230. For example, the first link shaft 214 may be coupled to the link coupling portion 213 of the first link 210 and / or the third link 230 by passing through them. In this case, the first link shaft 214 may be rotatably coupled to the link coupling portion 213 and / or the third link 230. With this configuration, the first link shaft 214 can become an axis about which the third link 230 rotates.

[0124] The gravity compensation unit 215 compensates for the robot body 100 falling vertically downward due to gravity. That is, the gravity compensation unit 215 provides a force to support the robot body 100.

[0125] For example, gravity compensator 215 may be a torsion spring. Gravity compensator 215 may be wound so as to surround the outside of the outer circumferential surface of first link shaft 214. One end of gravity compensator 215 is inserted into and fixedly coupled to first link 210, and the other end of gravity compensator 215 is inserted into and fixedly coupled to third link 230.

[0126] The gravity compensation unit 215 applies a force (rotational force) in a direction in which the angle between the first link 210 and the third link 230 increases. For example, both side ends of the gravity compensation unit 215 are contracted in advance so that the gravity compensation unit 215 applies a restoring force in a direction in which the angle between the first link 210 and the third link 230 increases. Therefore, even when the robot 1 is placed on the ground and gravity is applied to the robot body 100, the angle between the first link 210 and the third link 230 can be maintained within a predetermined angle range.

[0127] With this configuration, even if the suspension motor MS is not driven, the robot body 100 can be prevented from descending toward the ground. Therefore, the gravity compensation unit 215 has the effect of preventing energy loss caused by driving the suspension motor MS and maintaining the height of the robot body 100 at a predetermined distance or more from the ground.

[0128] The second link 220 is linked to a side of the robot body 100. For example, the second link 220 may be linked to the side frame 130. That is, the second link 220 may be connected to the side frame 130 to which the first link 210 is connected.

[0129] The second link 220 includes a second link body 221, a frame coupling portion 222, and a link coupling portion 223. In this case, the frame coupling portion 222 may be disposed farther from the ground than the link coupling portion 223.

[0130] The second link body 221 is formed in a frame shape, and includes a frame coupling part 222 on one side in the longitudinal direction and a link coupling part 223 on the other side in the longitudinal direction.

[0131] The second link body 221 may be formed in a shape that is bent at least once. For example, the other side of the second link body 221 where the link coupling part 223 is provided may be disposed farther from the robot body 100 than the one side where the frame coupling part 222 is provided. Therefore, the distance between the pair of second link bodies 221 increases from the upper side to the lower side in the vertical direction. With this configuration, the second link 220 can stably support the robot body 100.

[0132] The second link body 221 includes an inner side surface facing the robot body 100 and an outer side surface facing away from the robot body 100 .

[0133] Ribs 221a may be formed on second link body 221. For example, ribs 221a may be formed to protrude along the longitudinal direction on the outer surface of second link body 221. In this case, ribs 221a may be formed in an area where second link body 221 is bent. With this configuration, ribs 221a have the effect of reinforcing second link 220 and improving durability.

[0134] The second link body 221 may be formed with an electric wire accommodating wall 221b. For example, a pair of electric wire accommodating walls 221b may be formed to protrude along the longitudinal direction on the inner surface of the second link body 221. In this case, the pair of electric wire accommodating walls 221b may be formed side by side with a predetermined interval therebetween. With this configuration, the electric wires can be accommodated in the space surrounded by the second link body 221 and the electric wire accommodating wall 221b. Therefore, the electric wires can be prevented from being exposed to the outside.

[0135] Meanwhile, the internal space formed between the pair of electric wire accommodating walls 221b may communicate with an electric wire passing hole 222c described later. With such a configuration, the electric wire passing through the electric wire passing hole 222c is accommodated in the internal space formed between the electric wire accommodating walls 221b, and the electric wire can be prevented from being exposed to the outside.

[0136] The second link 220 may also be provided with an electric wire support pin 221c. The electric wire support pin 221c may penetrate the pair of electric wire accommodating walls 221b. The electric wire support pin 221c may be arranged in a direction crossing the pair of electric wire accommodating walls 221b. With this configuration, the electric wire accommodating walls 221b can close a part of the open area of ​​the space surrounded by the second link body 221 and the electric wire accommodating walls 221b. Therefore, it is possible to prevent the electric wire from coming out of the space surrounded by the second link body 221 and the electric wire accommodating walls 221b.

[0137] The frame coupling portion 222 is formed at one end of the second link body 221 .

[0138] The frame coupling portion 222 is rotatably coupled to the second link coupling hole 132 of the side frame 130. For example, the frame coupling portion 222 may be provided with a coupling shaft 222a that is coupled to the side frame 130 through it.

[0139] The coupling shaft 222a may be formed in a cylindrical shape. For example, the outer diameter of one end of the coupling shaft 222a in the axial direction (longitudinal direction) connected to the side frame 130 may be larger than the outer diameter of the other end of the coupling shaft 222a.

[0140] The coupling shaft 222a may be formed with a hollow 222b. Electric wires can pass through the hollow 222b. With this configuration, it is possible to prevent the electric wires that supply power from the battery 560 to the wheel motor MW from being exposed to the outside.

[0141] Furthermore, an electric wire passing hole 222c may be formed in the coupling shaft 222a. The electric wire passing hole 222c may be formed on the outer circumferential surface of the other axial end of the coupling shaft 222a. With this configuration, in the robot main body 100, the electric wires that have passed through the hollow 222b pass through the electric wire passing hole 222c and are housed in the second link body 221.

[0142] The coupling shaft 222a may be coupled to the rotary connecting plate 222d. For example, the rotary connecting plate 222d may be formed in a disk shape, and the diameter of the rotary connecting plate 222d may be smaller than the diameter of the other axial end of the coupling shaft 222a. Therefore, the rotary connecting plate 222d can be accommodated and coupled within the other axial end of the coupling shaft 222a.

[0143] The rotary connecting plate 222d may be formed integrally with the second link body 221. A radially outer end of the rotary connecting plate 222d may be formed so as to be connected to the second link body 221. With this configuration, the rotary connecting plate 222d can connect the second link body 221 and the connecting shaft 222a.

[0144] The link coupling portion 223 is formed at the other end of the second link body 221 .

[0145] Link connection portion 223 is rotatably connected to third link 230. Specifically, link connection portion 223 is rotatably connected to third link 230 via second link shaft 224. For example, link connection portion 223 may be formed in a disk shape, and second link shaft 224 may be penetratingly connected to the center of link connection portion 223. In addition, second link shaft 224 may be rotatably connected to third link 230. With this configuration, second link 220 and third link 230 can be connected to be capable of rotating relative to each other.

[0146] The second link shaft 224 is provided to connect the second link 220 and the third link 230. For example, the second link shaft 224 may be coupled to the link coupling portion 223 of the second link 220 and / or the third link 230 by passing through them. In this case, the second link shaft 224 may be rotatably coupled to the link coupling portion 223 and / or the third link 230. With this configuration, the second link shaft 224 can become an axis about which the third link 230 rotates.

[0147] The third link 230 is connected to the first link 210 and the second link 220, and is connected to the wheel portion 300.

[0148] The third link 230 includes a third link body 231. The third link body 231 is formed in a frame shape, and has a third link coupling hole 232 and a fourth link coupling hole 233 formed on one side in the longitudinal direction, and a wheel coupling part 234 formed on the other side in the longitudinal direction.

[0149] The third link body 231 may be formed in a shape that is bent at least once. For example, in the pair of third link bodies 231, the distance between the sides where the wheel coupling parts 234 are formed is shorter than the distance between the sides where the third link coupling holes 232 and the fourth link coupling holes 233 are formed.

[0150] At least one rib 231a may be formed to protrude along the longitudinal direction of the third link body 231. The rib 231a may be formed in a bent region of the third link body 231. With this configuration, the rib can reinforce the third link body 231.

[0151] A third link coupling hole 232 is formed in the third link body 231. Specifically, the third link coupling hole 232 is formed on one side in the longitudinal direction of the third link body 231. The first link shaft 214 may be rotatably coupled to the third link coupling hole 232. For example, the third link coupling hole 232 may be formed in a circular hole shape. With this configuration, the third link 230 can be rotatably connected to the first link 210 via the first link shaft 214.

[0152] A hole to which the gravity compensator 215 is coupled may be formed in the third link body 231. For example, the other end of a torsion spring may be inserted and coupled into the hole.

[0153] A fourth link coupling hole 233 is formed in the third link body 231. Specifically, the fourth link coupling hole 233 is formed on one side in the longitudinal direction of the third link body 231. The second link shaft 224 may be rotatably coupled through the fourth link coupling hole 233. For example, the fourth link coupling hole 233 may be formed in the shape of a circular hole. With this configuration, the third link 230 can be rotatably connected to the second link 220 via the second link shaft 224.

[0154] The fourth link connection hole 233 may be disposed farther from the wheel connection portion 234 than the third link connection hole 232 .

[0155] The third link 230 is coupled to the wheel unit 300. At this time, a wheel housing 320 is coupled to the inner surface (the surface facing the robot main body 100) of the third link body 231, and a wheel 310 is rotatably coupled to the outer surface (the back surface of the inner surface) of the third link body 231.

[0156] On the other hand, a wheel coupling portion 234 is formed on the third link body 231. Specifically, the wheel coupling portion 234 is formed on the other side of the third link body 231 in the longitudinal direction.

[0157] For example, the wheel coupling portion 234 may be formed in a circular hole shape. The wheel coupling portion 234 may accommodate the wheel motor MW.

[0158] On the other hand, when the robot 1 is standing on the ground, the wheel coupling part 234 may be disposed vertically below the robot body 100. For example, when the robot 1 is standing on the ground, the wheel coupling part 234 may be disposed vertically below the suspension motor MS.

[0159] The suspension motor MS is relatively heavy among the components housed within the robot body 100. Therefore, the entire weight of the robot body 100 may be concentrated vertically below the suspension motor MS.

[0160] With this configuration, the wheel 310 connected to the wheel connection portion 234 supports the robot body 100 directly below the center of gravity, thereby enabling the robot body 100 to maintain its balance.

[0161] Wheel section 1 to 7, the wheel unit 300 is rotatably coupled to the leg unit 200, and allows the robot body 100 and the leg unit 200 to move by rolling on the ground.

[0162] The wheel unit 300 includes a wheel 310 that comes into contact with the ground and rolls on the ground, and a wheel housing 320 that houses a wheel motor MW therein.

[0163] The wheel 310 is provided to have a predetermined radius and a predetermined width along the axial direction. As shown in Fig. 3, when the robot 1 is viewed from the front, the side frame 130 and the leg portion 200 may be disposed vertically above the wheel 310.

[0164] Furthermore, referring to FIG. 2, a suspension motor MS, a first link coupling hole 131, and a second link coupling hole 132 may be disposed vertically above the wheel 310.

[0165] The wheel 310 includes a circular wheel frame 311. The wheel frame 311 may be formed in a cylindrical shape with one side facing the shaft of the wheel motor MW being open, thereby reducing the weight of the wheel frame 311.

[0166] However, forming the wheel frame 311 into a cylindrical shape may reduce the overall rigidity of the wheel frame 311. In consideration of this, ribs (not shown) for reinforcing rigidity may be formed on the inner and outer surfaces of the wheel frame 311, respectively.

[0167] A wheel tire 312 is coupled to the outer circumferential surface of the wheel frame 311. The wheel tire 312 may be formed in an annular shape having a diameter that allows it to be inserted into the outer circumferential surface of the wheel frame 311.

[0168] The outer circumferential surface of the wheel tire 312 may be recessed to form grooves in a predetermined pattern to improve the ground contact force of the wheel tire 312 .

[0169] In one embodiment, the wheel tires 312 may be formed from a resilient rubber material.

[0170] The wheel housing 320 may be cylindrical with one axial side open so that the wheel motor MW can be accommodated therein. In this case, the closed portion of the wheel housing 320 may be coupled to the inner surface of the third link 230. With this configuration, it is possible to prevent external foreign objects from entering the wheel housing 320.

[0171] Meanwhile, the wheel housing 320 may be provided with a sensor capable of measuring the distance from the ground. For example, the sensor may be a ToF (Time of Flight) sensor. With this configuration, the control unit 510 can determine whether the wheel 310 is in contact with the ground.

[0172] The wheel 310 is rotatably coupled to the leg portion 200. Specifically, the wheel 310 is rotatably coupled to an outer surface of the third link 230 (a surface facing the outside of the robot 1).

[0173] The wheel motor MW can provide a driving force to the wheel 310. The wheel motor MW can generate a rotational force by receiving power from a battery 560.

[0174] The wheel motor MW may be housed in the wheel housing 320. Furthermore, the wheel motor MW may pass through the wheel coupling portion 234 of the third link 230, and the shaft of the wheel motor MW may be coupled to the wheel frame 311 of the wheel 310. That is, the wheel motor MW may be an in-wheel motor.

[0175] With this configuration, when the wheel motor MW is driven, the wheel 310 rotates and rolls along the ground, allowing the robot 1 to move along the ground.

[0176] Upper Functional Module The upper functional module 700 of the robot 1 according to an embodiment of the present invention will be described below with reference to FIGS.

[0177] An upper functional module 700 may be detachably coupled to the top cover 140 of the robot body 100. The upper functional module 700 may be provided in various forms depending on the function.

[0178] For example, the upper functional module may be flat so that an object such as a mobile phone can be placed thereon. In this case, the upper functional module may be provided with a wireless charging unit. The wireless charging unit can generate an induced current to wirelessly charge an object such as a mobile phone placed on the upper functional module.

[0179] As another example, the upper functional module may have a receiving groove for carrying cans, bottles, cups, etc. containing fluids. In this case, the upper functional module may be provided with a temperature control unit. The temperature control unit may emit or absorb heat using electrical energy, and may cool or warm the cans, bottles, cups, etc. contained in the upper functional module.

[0180] As another example, the upper functional module 700 may be an interaction upper functional module capable of visually and audibly displaying the reaction of the robot 1 for emotional interaction with the user.

[0181] In this case, the interaction upper functional module 700 may include a display. The display may display facial expressions or pupil shapes so that the user can feel that he or she is interacting with the robot 1. In this case, the display of the interaction upper functional module may be rotated at a preset angle.

[0182] The upper plate motor 525 can provide driving force to the display of the interaction upper functional module. The upper plate motor 525 may be disposed in the upper functional module. More specifically, the final output end of the shaft or gear of the upper plate motor 525 is connected to the display. The upper plate motor 525 is driven and rotated according to the control command of the control unit 510, and the display can rotate according to the rotation of the upper plate motor 525.

[0183] The upper functional module 700 may be supplied with power from the robot body 100. Although not shown, the upper functional module 700 may be provided with a terminal capable of being electrically connected to the robot body 100.

[0184] In addition, the upper functional module 700 can transmit and receive signals to and from the robot body 100. Specifically, although not shown, the upper functional module 700 may be provided with a terminal capable of transmitting and receiving signals to and from the robot body 100.

[0185] Meanwhile, in an embodiment of the present invention, the upper functional module 700 may be provided with a terminal capable of supplying power from the robot body 100 and a terminal capable of transmitting and receiving signals to and from the robot body 100. For example, the upper functional module 700 may be provided with a terminal (not shown) at a position facing the pogo pin 142 of the robot body 100.

[0186] Lower Function Module Figure 12 shows a diagram to explain a state in which a robot according to one embodiment of the present invention is connected to a lower functional module, Figure 13 shows a diagram to explain a robot according to one embodiment of the present invention approaching to connect with the lower functional module, and Figure 14 shows a diagram to explain the lower functional module in a robot according to one embodiment of the present invention.

[0187] 12 to 14, the robot includes a lower functional module 800. The lower functional module 800 is a component that imparts various functions to the robot 1 by being coupled to the robot body 100.

[0188] The lower functional module 800 is detachably coupled to the robot body 100. As an example, the lower functional module 800 may include a battery (not shown), a suction nozzle 830, and a dust container 837. With this configuration, when the lower functional module 800 is coupled to the robot body 100, the robot 1 can perform dry cleaning.

[0189] As another example, the lower functional module 800 may include a mop that rotates around a rotation axis and a water tank that stores water to be supplied to the mop. With this configuration, when the lower functional module 800 is coupled to the robot body 100, the robot 1 can perform wet cleaning.

[0190] As another example, the lower functional module 800 may include an arm and a gripper. With this configuration, when the lower functional module 800 is coupled to the robot body 100, the gripper can grab and lift a mobile phone or a large object and transport it to another location.

[0191] In order to avoid repetitive explanations, the following description will be based on a lower functional module 800 having a dry cleaning function, but this is not limited to this and can also be applied to lower functional modules 800 having other functions.

[0192] Meanwhile, the lower functional module 800 includes a robot body fastening part 820 that is coupled to the robot body 100. The robot body fastening part 820 includes a coupling hook 821 and a corresponding terminal 825.

[0193] The robot body fastening portion 820 may be disposed on the upper side of the body 810 of the lower functional module 800 .

[0194] The lower functional module 800 is coupled to the lower surface of the robot body 100. Specifically, a coupling bar 151 for coupling with the lower functional module 800 and a charging terminal 152 are arranged on the lower cover 150 of the robot body 100.

[0195] The lower functional module 800 is physically connected to the robot body 100 by the connecting bar 151 of the lower cover 150 being hooked onto the connecting hook 821 of the lower functional module 800 .

[0196] The charging terminal 152 of the bottom cover 150 is coupled to a corresponding terminal 825 of the lower functional module 800 , whereby the lower functional module 800 is electrically connected to the robot body 100 .

[0197] When the lower functional module 800 is coupled to the robot body 100, the lower functional module 800 is disposed between a pair of legs. That is, when the lower functional module 800 is coupled to the robot body 100, the lower functional module 800 is disposed between a pair of wheels 310.

[0198] The robot body 100 can be coupled with the lower functional module 800 when a user's command or a preset condition is met.

[0199] The robot body 100 can sense the position of the lower functional module 800 and move toward the lower functional module 800 before coupling with it.

[0200] Specifically, the robot body 100 may include a lamp 815. The lamp 815 can indicate the position of the lower functional module 800 by emitting light. For example, the lamp 815 may be an infrared (IR) LED (light emitting diode).

[0201] At this time, the robot body 100 is provided with an IR sensor 533, which will be described later. Therefore, the robot body 100 can sense the light emitted by the lamp 815, and can move toward the lamp 815.

[0202] Also, when the robot body 100 approaches closely to the lower functional module 800, the first camera 531 can sense the specific position of the lower functional module 800 and the direction in which the lower functional module 800 is placed.

[0203] The robot body 100 can approach the lower functional module 800 by moving from the rear to the front of the lower functional module 800 .

[0204] Here, the rear of the lower functional module 800 may refer to a direction in which the lamp 815 is disposed based on the corresponding terminal 825. Also, the front of the lower functional module 800 may refer to a direction opposite to the rear (e.g., a direction in which the suction nozzle 830 is disposed).

[0205] That is, the robot body 100 can sense the overall shape of the lower functional module 800, sense the position of the lamp 815, and move in the direction in which the lamp 815 is located.

[0206] The robot body 100 may be moved so that the front of the robot body 100 passes the ramp 815 and is positioned above the lower functional module 800 .

[0207] Thereafter, when the charging terminals 152 of the lower cover 150 of the robot body 100 and the corresponding terminals 825 of the lower functional module 800 are arranged to be vertically overlapped, the robot body 100 can be lowered. The charging terminals 152 come into contact with the corresponding terminals 825, thereby electrically connecting the robot body 100 and the lower functional module 800. The connecting hooks 821 are hooked onto the connecting bars 151, thereby physically connecting the robot body 100 to the lower functional module 800.

[0208] When coupled to the robot body 100, the lower functional module 800 is disposed between the pair of wheels 310. Specifically, the lower functional module 800 is disposed in a module coupling space 153 formed between a pair of legs. This configuration has the effect of minimizing the overall volume of the robot 1 when the lower functional module 800 is coupled to the robot 1.

[0209] As shown in FIG. 17, when viewed from the left side, an imaginary vertical line extending upward from the rotation center C5 of the wheel 310 may be disposed between the coupling bar 151 and the charging terminal 152.

[0210] With this configuration, when the lower functional module 800 is connected to the robot body 100, the overall center of gravity of the robot 1 is lowered and the area of ​​contact of the robot 1 with the ground is increased, thereby enabling the robot 1 to maintain a stable balance.

[0211] Control Configuration FIG. 15 is a block diagram for explaining the control configuration of a robot according to one embodiment of the present invention.

[0212] Referring to FIG. 15, the robot 1 according to the embodiment of the present invention may include a control unit 510, a motor unit 520, a sensor unit 530, an interface unit 550, a battery 560, a memory 570, and a communication unit 580.

[0213] The components shown in the block diagram of FIG. 15 are not essential to the implementation of robot 1, and thus the robot 1 described herein may have more or fewer components than those listed above.

[0214] First, the control unit 510 can control the overall operation of the robot 1. The control unit 510 can control the robot 1 to perform various functions according to setting information stored in a memory 570, which will be described later.

[0215] The control unit 510 may be disposed in the robot body 100. More specifically, the control unit 510 may be mounted on a PCB disposed between the left wheel 310 and the right wheel 310.

[0216] The control unit 510 may include any type of device capable of processing data, such as a processor. Here, the term "processor" may refer to a data processing device implemented in hardware, for example, having a circuit physically structured to perform a function expressed as a code or instruction included in a program. Examples of such data processing devices implemented in hardware include processing devices such as a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, an application-specific integrated circuit (ASIC), and a field programmable gate array (FPGA), but the scope of the present invention is not limited thereto.

[0217] The control unit 510 can receive information on the external environment of the robot 1 from at least one of the components of the sensor unit 530 described later. In this case, the information on the external environment may be, for example, information on the temperature, humidity, amount of dust, etc., in a room where the robot 1 travels. Alternatively, it may be, for example, step information. Alternatively, it may be, for example, indoor map information. Of course, the information on the external environment is not limited to the above examples.

[0218] The control unit 510 can receive information on the current state of the robot 1 from at least one of the components of the sensor unit 530 described below. In this case, the current state may be, for example, tilt information of the robot body 100. Or, for example, information on the separation state between the wheel 310 and the ground. Or, for example, position information of the wheel motor MW. Or, for example, position information of the suspension motor MS. Of course, the information on the current state of the robot 1 is not limited to the above examples.

[0219] The control unit 510 may transmit a drive control command to at least one of the components of the motor unit 520 described below. For example, the control unit 510 may control the rotation of the wheel motor MW for the robot 1 to travel. Or, for example, the control unit 510 may control the rotation of the wheel motor MW for maintaining the horizontal posture of the robot 1. Or, for example, the control unit 510 may control the rotation of the suspension motor MS for maintaining the horizontal posture of the robot 1. Or, for example, the control unit 510 may control the rotation of the upper plate motor 525 for adjusting the angle of the upper functional module of the robot 1.

[0220] The control unit 510 may input a user's command through at least one of the components of the interface unit 550 described below. For example, the command may be a command to turn on / off the robot 1. Alternatively, for example, the command may be a command to manually control various functions of the robot 1.

[0221] The control unit 510 can output information related to the robot 1 by at least one of the components of the interface unit 550 described later. For example, the output information may be visual information. Alternatively, for example, the output information may be auditory information.

[0222] The motor section 520 includes at least one motor and is capable of providing driving force to the arrangements connected to each motor.

[0223] The motor unit 520 may include wheel motors MW that provide driving force to the left and right wheels 310. More specifically, the motor unit 520 may include a left wheel motor MW_L that transmits driving force to the left wheel 310 and a right wheel motor MW_R that transmits driving force to the right wheel 310.

[0224] The wheel motors MW may be disposed in the wheel units 300. More specifically, the wheel motors MW may be housed in the wheel housings 320. The wheel motors MW may be housed in the wheel coupling units 234.

[0225] The wheel motor MW is connected to the wheel 310. More specifically, a final output end of a shaft or gear of the left wheel motor MW_L is connected to the left wheel 310. A final output end of a shaft or gear of the right wheel motor MW_R is connected to the right wheel 310. The left and right wheel motors MW are driven and rotated according to a control command from the control unit 510, and the robot 1 runs along the ground according to the rotation of the wheels 310 caused by the rotation of the wheel motors MW.

[0226] The motor unit 520 may include a suspension motor MS that provides driving force to the left and right leg units 200. More specifically, the motor unit 520 may include a left suspension motor MS_L that transmits driving force to the left leg unit 200 and a right suspension motor MS_R that transmits driving force to the right leg unit 200.

[0227] The suspension motors MS may be disposed in the robot body 100. More specifically, the suspension motors MS may be disposed on the inner sides of the side frames 130, respectively.

[0228] The suspension motors MS are connected to the first link 210. More specifically, a final output end of a shaft or gear of the left suspension motor MS_L is connected to the left first link 210. A final output end of a shaft or gear of the right suspension motor MS_R is connected to the right first link 210. The left and right suspension motors MS are driven and rotated according to a control command from the control unit 510, and the first link 210 rotates according to the rotation of the suspension motors MS, and the third link 230 connected to the first link 210 rotates, so that the wheel 310 connected to the third link 230 rises or falls.

[0229] This enables the robot 1 to move the wheels 310 up and down, and to maintain a horizontal posture when climbing obstacles or running on curved ground.

[0230] The motor section 520 may include an upper plate motor 525 that provides a driving force to the upper functional module. The upper plate motor 525 may be a servo motor. A servo motor is a known motor used where rotation angle control is required, and has the advantage that it has a limited operating range but allows for accurate position control.

[0231] The upper plate motor 525 can provide driving force to the display of the interaction upper functional module. The upper plate motor 525 may be disposed in the upper functional module. More specifically, the final output end of the shaft or gear of the upper plate motor 525 is connected to the display. The upper plate motor 525 is driven and rotated according to the control command of the control unit 510, and the display can rotate according to the rotation of the upper plate motor 525.

[0232] The sensor unit 530 includes at least one sensor, and each sensor can measure and sense information regarding the external environment of the robot 1 and / or information regarding the current state of the robot 1.

[0233] The sensor unit 530 may include a first camera 531 .

[0234] The first camera 531 may be a mapping camera. The first camera 531 is provided to map the interior of a room in which the robot 1 travels.

[0235] For this purpose, the first camera 531 may be disposed in front of the robot body 100. More specifically, the first camera 531 may be disposed behind the inner surface of the front cover 110. The first camera 531 may be disposed behind the window 111.

[0236] The first camera 531 can capture images of the interior of a room while traveling in order to perform Simultaneous Localization and Mapping (SLAM). The control unit 510 can implement SLAM based on information on the surrounding environment captured by the first camera 531 and information on the current position of the robot 1.

[0237] Meanwhile, the method of implementing SLAM by the robot 1 according to the embodiment of the present invention may be, but is not limited to, a method of implementing SLAM using only the first camera 531. For example, the robot 1 may implement SLAM using an additional sensor. The additional sensor may be, for example, a Laser Distance Sensor (LDS).

[0238] The sensor unit 530 may include a second camera 532 .

[0239] The second camera 532 is configured to recognize the position and / or face of the user.

[0240] For this purpose, the second camera 532 may be disposed on the upper functional module. More specifically, the second camera 532 may be disposed adjacent to a display of the upper functional module. The second camera 532 may be disposed above the display. The second camera 532 may be disposed between the left and right speakers 552.

[0241] The second camera 532 can recognize the user's position by capturing an image in front of the display. To this end, the second camera 532 may include a depth module and an RGB module.

[0242] The Depth module can obtain depth information of an image. For example, the depth information may be obtained by measuring the delay or phase shift of a modulated optical signal for every pixel of a captured image to obtain travel time information.

[0243] The RGB module can obtain color images (images). From the color images, edge characteristics, color distribution, frequency characteristics or wavelet transform can be extracted.

[0244] In this way, by obtaining distance information for the object to be recognized through depth information from the forward image captured by the second camera 532, and calculating it together with edge characteristics extracted from the color image, it is possible to recognize whether or not a user is present in front and / or their position.

[0245] The sensor unit 530 may include an IR sensor 533 for sensing infrared rays.

[0246] The IR sensor 533 may be an IR camera that detects infrared light.

[0247] The IR sensor 533 may be disposed on the robot body 100. More specifically, the IR sensor 533 may be disposed behind the inner surface of the front cover 110. The IR sensor 533 may be disposed behind the window 111. The IR sensor 533 may be disposed to the left and right or above and below the first camera 532.

[0248] The IR sensor 533 can detect infrared light emitted by an IR LED provided in a particular module and approach the module. For example, the module may be a charging stand for charging the robot 1. For example, the module may be a lower functional module detachably provided on the lower cover 150 of the robot 1.

[0249] The control unit 510 may control the IR sensor 533 to start sensing the IR LED when the charge state of the robot 1 is equal to or lower than a preset level. The control unit 510 may control the IR sensor 533 to start sensing the IR LED when a command to find a specific module is received from a user.

[0250] The sensor section 530 may include a wheel motor sensor 534 .

[0251] The wheel motor sensor 534 can measure the position of the wheel motor MW. For example, the wheel motor sensor 534 may be an encoder. As is well known, an encoder can detect the position of a motor and can also detect the rotation speed of the motor.

[0252] The wheel motor sensor 534 may be disposed in each of the left and right wheel motors MW. More specifically, the wheel motor sensor 534 may be connected to a final output end of a shaft or gear of the wheel motor MW, and may be housed inside the wheel housing 320 together with the wheel motor MW.

[0253] The sensor section 530 may include a top plate motor sensor 535 .

[0254] The top plate motor sensor 535 can measure the angle at which the display of the interaction top functional module 700 is rotated. For example, the top plate motor sensor 535 can be a variable resistor (potentiometer) that measures the angle of rotation.

[0255] The upper plate motor sensor 535 may be disposed on the interaction upper functional module 700. More specifically, the upper plate motor sensor 535 may be connected to the final output end of the shaft or gear of the upper plate motor 525 and disposed behind the display together with the upper plate motor 525.

[0256] The sensor portion 530 may include a tilt sensing sensor 536 .

[0257] The tilt detection sensor 536 can measure the tilt angle of the robot body 100 .

[0258] The tilt sensor 536 may be, for example, a three-axis acceleration sensor. The acceleration sensor is a sensor that detects the gravitational acceleration of an object in a stopped state. Since the gravitational acceleration changes depending on the angle at which the object is tilted, the tilt angle can be obtained by measuring the gravitational acceleration. However, there is a drawback in that the correct value cannot be obtained when the object is not in a stopped state but in a moving and accelerating state.

[0259] The tilt sensor 536 may be, for example, a three-axis gyro sensor. A gyro sensor is a sensor that measures angular velocity. The tilt angle is obtained by integrating the angular velocity over the entire time. However, the angular velocity measured by the gyro sensor may have persistent errors due to noise, etc., and such errors may accumulate and generate errors in the integral value over time.

[0260] As a result, after a long time in a stopped standby state, the robot 1 can accurately measure the inclination using the acceleration sensor, but an error occurs in the gyro sensor.When the robot 1 runs, the robot 1 can accurately measure the inclination value using the gyro sensor, but the acceleration sensor cannot obtain a correct value.

[0261] Preferably, the tilt sensor 536 may be an IMU (Inertial Measurement Unit) sensor. As is well known, an IMU sensor is a sensor incorporating a three-axis acceleration sensor, a three-axis gyro sensor, and a geomagnetic sensor, and is also called an inertial measurement sensor. By using an IMU sensor, the disadvantages of the acceleration sensor and the gyro sensor described above can be compensated for.

[0262] Hereinafter, the present specification will describe an embodiment in which an IMU sensor is provided as the tilt sensing sensor 536 .

[0263] The IMU sensor may be disposed in the robot body 100. More specifically, the IMU sensor may be disposed adjacent to the control unit 510. The IMU sensor may be provided by being mounted on a PCB inside the robot body 100. In order to improve the measurement accuracy of the tilt angle and direction, the IMU sensor is preferably disposed near the central region of the robot body 100.

[0264] The IMU sensor may measure at least one of the three-axis acceleration, three-axis angular velocity, and three-axis geomagnetic data of the robot body 100 and transmit the data to the control unit 510.

[0265] The control unit 510 can use at least one of the acceleration, angular velocity, and geomagnetic data received from the IMU sensor to calculate the tilt direction and tilt angle of the robot main body 100. Based on this, the control unit 510 can perform horizontal attitude maintenance control of the robot main body 100, which will be described later.

[0266] The sensor unit 530 may include a fall prevention sensor 537 for detecting a step.

[0267] The fall prevention sensor 537 may be configured to detect the distance to the ground in front of the robot 1. The fall prevention sensor 537 may be configured in various ways within a range in which the relative distance between the point where the fall prevention sensor 537 is formed and the ground can be detected.

[0268] For example, the fall prevention sensor 537 may include a light emitting unit that emits light and a light receiving unit that receives the reflected light. The fall prevention sensor 537 may be configured as an infrared sensor. The fall prevention sensor 537 may be called a cliff sensor.

[0269] The fall prevention sensor 537 may be disposed in the robot body 100. More specifically, the fall prevention sensor 537 may be disposed inside the front cover 110 of the robot body 100. Preferably, the fall prevention sensor 537 may be disposed inside a downward inclined surface provided on the front cover 110. This allows the fall prevention sensor 537 to irradiate light toward the floor surface in front of the robot 1. In other words, the fall prevention sensor 537 disposed inside the forward inclined surface can detect in advance whether or not a step exists ahead in the traveling direction of the robot 1.

[0270] The light emitting unit of the fall prevention sensor 537 can irradiate light obliquely toward the floor surface in front. The light receiving unit of the fall prevention sensor 537 can receive the light reflected from the floor surface and incident thereon. The distance between the ground in front and the fall prevention sensor 537 can be measured based on the difference between the time when the light is irradiated and the time when the light is received.

[0271] If the distance measured by the fall prevention sensor 537 exceeds a preset value or exceeds a preset range, it may be that the ground ahead suddenly drops. Based on this principle, a step can be detected.

[0272] When a step is detected ahead, the control unit 510 may control the wheel motor MW so that the robot 1 avoids the detected step. At this time, the control of the wheel motor MW may be a stop control. Alternatively, the control of the wheel motor MW may be a switching control of the rotation direction.

[0273] The fall prevention sensor 537 may be further disposed inside the rear cover 120 of the robot body 100. Preferably, it may be disposed inside a downward inclined surface provided on the rear cover 120. This allows the fall prevention sensor 537 to irradiate light toward the floor surface behind the robot 1. That is, the fall prevention sensor 537 disposed inside the rear inclined surface can detect in advance whether or not there is a step behind the robot 1 when the robot 1 moves backward.

[0274] The sensor portion 530 may include a contact sensor 538 .

[0275] The contact detection sensor 538 can sense whether the wheel 310 has contacted the ground.

[0276] The contact sensor 538 may include a TOF sensor 538a that measures the distance between the wheel 310 of the robot 1 and the ground. The TOF sensor 538a may be a three-dimensional camera to which TOF (Time of Flight) technology is applied. As is well known, TOF technology is a technology that measures the distance to an object based on the round-trip flight time until light is irradiated toward the object and reflected back.

[0277] The TOF sensor 538a may be disposed in the wheel unit 300. For example, the contact detection sensor 538 may be disposed in each of the left and right wheel housings 320. Whether the wheel 310 is in contact with the ground can be determined based on the distance to the ground measured by the TOF sensor 538a. If the distance measured by the TOF sensor 538a is less than a preset distance (or less than the lower limit of a preset distance range), the wheel 310 is in contact with the ground. If the distance measured by the TOF sensor 538a is equal to or greater than a preset distance (or equal to or greater than the upper limit of a preset distance range), the wheel 310 is separated from the ground.

[0278] The contact sensor 538 may include a load cell 538b that measures the magnitude of force applied to a portion of the robot 1.

[0279] As is well known, when a force is applied to the load cell 538b, the resistance of a strain gauge provided on the surface of the load cell 538b changes, and the magnitude of the force applied to the load cell 538b can be measured based on the change in the resistance.

[0280] The load cell 538b may be disposed in the leg portion 200. Preferably, the load cell 538b may be disposed in each of the third link bodies 231 on the left and right sides. When the wheel 310 is in contact with the floor, the third link 230 is deformed by a normal force applied from the ground. The measurement value of the load cell 538b appears as a value different from the initial value due to the deformation of the third link 230. This makes it possible to determine whether the wheel 310 is in contact with the ground.

[0281] The sensor section 530 may include an environmental sensor 539 .

[0282] The environmental sensor 539 may be configured to measure various environmental conditions outside the robot 1, i.e., inside the house in which the robot 1 travels. The environmental sensor 539 may include at least one of a temperature sensor 539a, a humidity sensor 539b, and a dust sensor 539c.

[0283] The environmental sensor 539 may be disposed on the robot body 100. More specifically, the environmental sensor 539 may be disposed at the rear of the robot body 100. As a possible embodiment, information measured by the environmental sensor 539 may be visually displayed on the display unit 554.

[0284] The interface unit 550 includes at least one configuration for interaction between a user and the robot 1, and each configuration may be configured to receive commands from the user and / or output information to the user.

[0285] The interface unit 550 may include a microphone 551 .

[0286] The microphone 551 is configured to recognize the user's voice, and may be provided in multiple numbers. The microphone 551 may be disposed in the upper functional module 700. More specifically, the microphone 551 may be disposed in the interaction upper functional module 700. The microphone 551 may be disposed adjacent to the display of the interaction upper functional module 700. Preferably, two microphones 551 may be disposed above and two microphones may be disposed below the display, for a total of four microphones 551.

[0287] The audio signal received by the microphone 551 can be used to track the position of the user. In this case, a known sound source tracking algorithm may be applied. For example, the sound source tracking algorithm may be a three-point measurement method (triangulation method) using the time difference when the multiple microphones 551 receive the audio signal. The principle is to calculate the position of the audio source using the position of each microphone 551 and the speed of the sound wave.

[0288] Meanwhile, by linking the microphone 551 and the above-mentioned second camera 532 with each other, even if the user calls the robot 1 from a distance, the robot 1 can be embodied to come to the user's location.

[0289] The interface unit 550 may include a speaker 552 .

[0290] The speakers 552 may be located on the upper functional module 700. For example, the speakers 552 may be located adjacent to the display of the interaction upper functional module 700. The speakers 552 may be located above the display, but may be provided on both the left and right sides.

[0291] The speaker 552 can output information about the robot 1 as sound. The source of the sound output by the speaker 552 may be sound data pre-stored in the robot 1. For example, the pre-stored sound data may be voice data of the robot 1. For example, the pre-stored sound data may be a notification sound that notifies the user of the state of the robot 1.

[0292] The interface unit 550 may include an operation unit 553 .

[0293] The operation unit 553 may receive input of a command from a user to control the power supply of the robot 1 to be switched on / off.

[0294] The power on operation may mean supplying power to the control unit 510. The power off operation may mean cutting off the power supply to the control unit 510. The power supply is provided by a battery 560.

[0295] Turning off the power to the robot 1 by the operation unit 553 means a complete power cutoff, which may have a different meaning from the power saving mode in which the supply of power to each functional module is temporarily stopped. The power saving mode can be controlled by the control unit 510 when the power is on.

[0296] On the other hand, since it is rare to completely cut off the power supply to the robot 1 acting as a pet or a butler, it is preferable that the operation unit 553 be disposed behind the robot body 100.

[0297] The user's command to the operation unit 553 may be an action of pivoting the operation unit 553 in the up-down or left-right direction. When the operation unit 553 is pivoted to one side by the user, the power of the robot 1 may be turned on. When the operation unit 553 is pivoted to the other side opposite to the one side by the user, the power of the robot 1 may be turned off.

[0298] However, the form of the operation unit 553 is not limited. As another example, the operation unit 553 may be a button to which an on / off command is input by a user's push action. As yet another example, the operation unit 553 may be a slide button to which an on / off command is input by a user's sliding action. As yet another example, the operation unit 553 may be a touch screen to which an on / off command is input by a user's touch action.

[0299] The interface unit 550 may include a display unit 554 and an input unit 555 .

[0300] The display unit 554 may include displays disposed in one or more modules. The display unit 554 may include a first display disposed in the front cover 110 of the robot body 100. The display unit 554 may include a second display disposed in the upper functional module 700.

[0301] The first and second displays may be formed of any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED).

[0302] Information such as operating time information of the robot 1, power information of the battery 560, etc. may be displayed on the first display or the second display.

[0303] The second display may display the facial expression of the robot 1. Alternatively, the second display may display the eyes of the robot 1. The current state of the robot 1 may be personified and expressed as an emotion through the shape of the face or the shape of the eyes displayed on the second display. For example, when the user goes out and returns home, a smiling expression or the shape of smiling eyes may be displayed on the second display. This has the effect of giving the user a sense of communication with the robot 1.

[0304] The input unit 555 may be configured to receive control commands from a user to control the robot 1. For example, the control commands may be commands to change various settings of the robot 1. For example, the settings may be settings of the volume of the sound, the brightness of the display, a power saving mode, and the like.

[0305] The input unit 555 may be disposed on the front cover 110 of the robot body 100. The input unit 555 may be disposed adjacent to the first display, or may be disposed on the first display.

[0306] The input unit 555 generates key input data that the user inputs to control the operation of the robot 1. For this purpose, the input unit 555 may be composed of a key pad, a dome switch, a touch pad (static pressure / electrostatic), etc. In particular, when the touch pad is mutually layered with the first display, it can be called a touch screen.

[0307] The battery 560 is configured so as to be able to supply power to other components constituting the robot 1.

[0308] The battery 560 may be disposed in the robot body 100. More specifically, the battery 560 may be disposed on the rear side of the robot body 100. The battery 560 may be disposed rearward of the suspension motor MS.

[0309] The battery 560 can be charged by an external power source, and for this purpose, a charging terminal 152 for charging the battery 560 may be provided on one side of the robot body 100 or on the battery 560 itself. As in the embodiment of the present invention, the charging terminal 152 may be disposed on the bottom cover 150 of the robot body 100. Thus, the robot 1 can be easily coupled to the charging base by approaching the charging base and seating the charging terminal 152 on a corresponding terminal of the charging base from above.

[0310] The memory 570 is configured to store various data for driving and operating the robot 1.

[0311] The memory 570 may store application programs and various related data for the autonomous running of the robot 1. The memory 570 may store each data sensed by the sensor unit 530, and may store setting information for various settings selected or input by the user.

[0312] The memory 570 may include magnetic storage media or flash storage media, although the scope of the present invention is not limited thereto. Such memory 570 may include internal memory and / or external memory, and may include volatile memory such as DRAM, SRAM, or SDRAM, non-volatile memory such as OTPROM (one time programmable ROM), PROM, EPROM, EEPROM, mask ROM, flash ROM, NAND flash memory, or NOR flash memory, flash drives such as SSD, CF (compact flash) card, SD card, Micro-SD card, Mini-SD card, Xd card, or memory stick, or storage devices such as HDD.

[0313] The memory 570 may be included in the control unit 510 or may be provided as a separate component.

[0314] The communication unit 580 may be provided to transmit signals between the internal components of the robot 1. The communication unit 580 may support, for example, CAN (Controller Area Network) communication. The signals may be, for example, control commands transmitted from the control unit 510 to other components.

[0315] The communication unit 580 can support wireless communication with other devices that are external to the robot 1. As a wireless communication module for supporting wireless communication, a short-range communication module or a long-range communication module may be provided.

[0316] Examples of short-distance communication include Bluetooth communication and NFC (Near Field Communication).

[0317] Examples of long-distance communication include wireless LAN (WLAN), Digital Living Network Alliance (DLNA: registered trademark), Wireless Broadband (Wibro), World Interoperability for Microwave Access (Wimax), Global System for Mobile communication (GSM), Code Division Multi Access (CDMA), Code Division Multi Access 2000 (CDMA2000), Enhanced Voice-Data Optimized or Enhanced Voice-Data Only (EV-DO), Wideband CDMA (WCDMA: registered trademark), High Speed ​​Downlink Packet Access (HSDPA), High Speed ​​Uplink Packet Access (HSUPA), IEEE 802.16, Long Term Evolution (LTE), Long Term Evolution-Advanced (LTEA), Wireless Mobile Broadband Service (WMBS), Bluetooth Low Energy (BLE), Zigbee, Radio Frequency (RF), and so on. Examples include LoRa (Long Range), LoRa (Frequency), etc.

[0318] Balancing a robot with four-bar linkage Figures 16 and 17 show diagrams for explaining the change in wheel position due to movement of the leg section in a robot according to one embodiment of the present invention, Figure 18 shows a diagram for explaining the wheel arrangement and the positional relationship for connection with the lower functional module in a robot according to one embodiment of the present invention, and Figure 19 shows a schematic diagram for explaining the transmission of the load of the robot body to the wheels in a robot according to one embodiment of the present invention.

[0319] The robot 1 according to the embodiment of the present invention supports the robot body 100 through a four-joint link structure, and can maintain the balance of the robot body 100.

[0320] The balance in the front-rear direction of the robot 1 according to the embodiment of the present invention will be described below with reference to FIGS.

[0321] A leg part 200 is provided on each side of the robot body 100. Specifically, a first link 210 and a second link 220 are rotatably connected to side frames 130 provided on both sides of the robot body 100, and the first link 210 and the second link 220 are linked and connected to a third link 230. In other words, the robot 1 supports the robot body 100 by a four-joint link consisting of the side frames 130, the first link 210, the second link 220, and the third link 230.

[0322] 16 and 17, when viewing the side of the robot body 100, the robot body 100 may be disposed vertically above the wheels 310. With this configuration, the wheels 310 can stably support the load of the robot body 100.

[0323] In particular, the motor coupling part 212 may be disposed vertically above the wheel 310. With this configuration, the wheel 310 can stably support the motor coupling part 212 to which the load of the robot body 100 is transmitted in a concentrated manner, and the balance of the robot 1 can be maintained.

[0324] 16 and 17, when viewing the side of the robot body 100, the connecting bar 151 may be disposed vertically above the wheel 310. With this configuration, even when the lower functional module 800 is connected to the robot body 100, the entire load of the robot 1 can be concentrated vertically above the wheel 310, and the wheel 310 can stably support the robot 1.

[0325] Meanwhile, in the embodiment of the present invention, the gravity compensator 215 generates a restoring force in a direction to lift the robot body 100. Therefore, even if the suspension motor MS is not driven, the pair of legs 200 can maintain the robot body 100 lifted to a predetermined height from the ground.

[0326] Meanwhile, the robot 1 according to an embodiment of the present invention can maintain balance by driving the suspension motor MS when lifting one of the pair of wheels 310 to overcome an obstacle or lowering the height of the robot body 100 for charging, etc.

[0327] When the suspension motor MS is driven, the first link 210 rotates around the motor coupling part 212 as an axis, and the link coupling part 213 moves upward. In addition, the third link 230 moves in accordance with the rotation of the first link 210. In addition, the second link 220 is pushed by the third link 230 and rotates. As a result, one end of the third link 230 can move backward, and the other end of the third link 230 can move upward.

[0328] With this configuration, even if the wheel 310 is moved in the up-down direction, the movement range of the wheel 310 in the front-rear direction can be limited. Therefore, the robot 1 can stably maintain its balance.

[0329] Therefore, the robot 1 according to the present invention has an advantage that it can overcome obstacles of various heights by using a four-joint link structure.

[0330] In the robot 1 according to the embodiment of the present invention, the center C1 of the first link coupling hole 131 and the center C2 of the second link coupling hole 132 may be spaced apart by a predetermined first distance d1. The center C1 of the motor coupling portion 212 of the first link 210 and the center C3 of the link coupling portion 213 of the first link 210 may be spaced apart by a predetermined second distance d2. The center C2 of the frame coupling portion 222 of the second link 220 and the center C4 of the link coupling portion 223 of the second link 220 may be spaced apart by a predetermined third distance d3. The center C3 of the third link coupling hole 232 of the third link 230 and the center C4 of the fourth link coupling hole 233 of the third link 230 may be spaced apart by a predetermined fourth distance d4. In addition, the center C3 of the third link coupling hole 232 of the third link 230 and the center C5 of the wheel coupling portion 234 of the third link 230 may be spaced apart by a predetermined fifth distance d5.

[0331] In this case, the first distance d1, the second distance d2, the third distance d3, the fourth distance d4, and the fifth distance d5 may be arranged to have a predetermined length ratio. For example, the first distance d1 may be 0.5 times or more and 0.6 times or less than the fifth distance d5. The second distance d2 may be 0.95 times or more and 1.05 times or less than the fifth distance d5. The third distance d3 may be 1.1 times or more and 1.2 times or less than the fifth distance d5. The fourth distance d4 may be 0.2 times or more and 0.3 times or less than the fifth distance d5.

[0332] With this configuration, even when the suspension motor MS is driven and the third link 230 moves, the movement distance in the front-rear direction of the wheel coupling part 234 can be maintained within a predetermined deviation ΔD. For example, even when the third link 230 moves, the movement distance in the front-rear direction of the center C5 of the wheel coupling part 234 can be maintained within 2% of the fifth distance d5.

[0333] Therefore, while the robot 1 is moving, the center of gravity of the robot body 100 can be located vertically above the wheels 310. Therefore, the robot 1 can be prevented from swinging back and forth while moving, and balance can be maintained.

[0334] Furthermore, according to the robot 1 of the present invention, even if the wheel 310 is lifted upward when climbing over an obstacle, the position of the wheel 310 in the front-rear direction does not change, and balance can be maintained.

[0335] The left-right balance of the robot 1 according to the embodiment of the present invention will be described below with reference to FIGS.

[0336] As shown in FIGS. 18 and 19, the robot body 100 is supported by a pair of legs 200 and a wheel unit 300 .

[0337] The load of the robot body 100 is transmitted to the wheels 310 via the legs 200 , and the wheels 310 can support the legs 200 and the robot body 100 .

[0338] In this case, the pair of leg portions 200 may be disposed symmetrically (line-symmetrically) with respect to each other. In particular, the link-coupled portions of the pair of leg portions 200 may be disposed side by side with each other.

[0339] Specifically, the motor coupling portions 212 of the pair of first links 210 may be arranged side by side. The link coupling portions 213 of the pair of first links 210 may be arranged side by side. The frame coupling portions 222 of the pair of second links 220 may be arranged side by side. The link coupling portions 223 of the pair of second links 220 may be arranged side by side. The wheel coupling portions 234 of the pair of third links 230 may be arranged side by side.

[0340] With this configuration, a module coupling space 153 having a predetermined width ΔS is formed on the lower side of the robot body 100. The module coupling space 153 may be formed next to the pair of leg portions 200. The module coupling space 153 may also be formed next to the pair of wheels 310.

[0341] At least one motor including a suspension motor MS and a battery 560 are provided inside the robot body 100, and when the robot 1 is placed on the ground, the entire load of the robot body 100 with the motor and battery 560 housed therein may be applied to the leg portion 200.

[0342] In particular, since the robot 1 according to an embodiment of the present invention is provided with the legs 200 on both sides of the robot body 100, the load of the robot body 100 is concentrated on the pair of side frames 130 and the pair of legs 200.

[0343] In this case, as shown in FIG. 18, the side frame 130 and the leg portion 200 may both be disposed vertically above the wheel portion 300 when viewed from the front of the robot 1.

[0344] For example, as shown in FIG. 18, when the robot 1 is viewed from the front, the side frame 130 and the leg portion 200 may be disposed within a virtual space in which the wheel 310 is extended in the up-down direction (vertical direction).

[0345] That is, as shown in FIG. 18, the side frame 130 and the leg portion 200 may be disposed between an imaginary line a1 extending along the vertical direction from the axial outer end of the wheel 310 and an imaginary line a2 extending along the vertical direction from the axial inner end of the wheel 310.

[0346] Specifically, each side frame 130 may be positioned between an imaginary line a1 extending from the axial outer end of the wheel 310 along the vertical direction and an imaginary line a2 extending from the axial inner end of the wheel 310 along the vertical direction.

[0347] Each of the first links 210 may be positioned between an imaginary line a1 extending from the axial outer end of the wheel 310 along the vertical direction and an imaginary line a2 extending from the axial inner end of the wheel 310 along the vertical direction.

[0348] Any of the second links 220 may be positioned between an imaginary line a1 extending from the axial outer end of the wheel 310 along the vertical direction and an imaginary line a2 extending from the axial inner end of the wheel 310 along the vertical direction.

[0349] At least a portion of the third link 230 may be coupled to an inner end in the axial direction of the wheel 310. Each of the third links 230 may be disposed in a virtual space extending along the up-down direction of the wheel unit 300. For example, the third link may be disposed between a virtual line a1 extending along the vertical direction from the outer end in the axial direction of the wheel 310 and a virtual line extending along the vertical direction from the inner end in the axial direction of the wheel housing 320.

[0350] Furthermore, the thickness of the leg portion 200 and the side frame 130 (the length of the robot 1 in the left-right direction) is smaller than the thickness of the wheel 310 (the length of the robot 1 in the left-right direction) ΔW.

[0351] With this configuration, the entire load of the robot body 100 applied to the side frame 130 and the leg portion 200 can be supported by the wheel 310 arranged on the lower side in the direction of gravity.

[0352] As shown in FIG. 19, the entire load (F1) of the robot body 100 can be distributed to a pair of side frames 130 arranged on both sides of the robot body 100.

[0353] At this time, since the first link 210 and the second link 220 are connected to the pair of side frames 130, the entire load (F1) of the robot body 100 can be distributed toward the point where the side frame 130 and the first link 210 are connected and the point where the side frame 130 and the second link 220 are connected (F2).

[0354] The force (F2) thus distributed may be applied toward the ground along the first link 210 and the second link 220 (F3). The force (F3) applied along the first link 210 and the second link 220 may be transmitted along the wheel 310 to push the ground B (F4).

[0355] At this time, since the thickness of the wheel 310 is greater than the thickness of the side frame 130 and the leg portion 200, the force pushing against the ground can be stably distributed, and the balance of the robot 1 can be stably maintained.

[0356] Meanwhile, the load of the robot body 100 applied along the first link 210 and the second link 220 can be supported by the third link 230 (F5). In addition, the force pushing the first link 210 by the load of the robot body 100 is offset by the gravity compensator 215, so that the robot 1 can be stably supported.

[0357] Therefore, according to the robot 1 according to the embodiment of the present invention, by concentrating the load of the robot body 100 on the vertically upper side of the pair of wheels 310, it is possible to advantageously maintain the balance of the robot body 100 in a stable manner.

[0358] Furthermore, the load of the robot body 100 can apply pressure vertically downward to the leg portion 200, and by preventing a load from being applied to the left and right of the robot 1, it is possible to prevent the robot 1 from swaying in the left and right direction.

[0359] Although the present invention has been described in detail above through specific embodiments, this is for the purpose of specifically explaining the present invention, and the present invention is not limited thereto. It is clear that the present invention can be modified or improved by a person having ordinary knowledge in the relevant field within the technical concept of the present invention.

[0360] All simple variations and modifications of the present invention belong to the scope of the present invention, and the specific scope of protection of the present invention will be made clear by the appended claims.

[0361] [Claims at the time of international application] [Claim 1] A robot, A robot body having a motor and a battery housed therein; leg parts respectively coupled to both sides of the robot body; a wheel portion rotatably coupled to the leg portion and having a wheel that rolls on a ground surface; Both side surfaces of the robot body are formed in a flat plate shape and arranged side by side, The leg portion is A first link connected to a side surface of the robot body; a second link connected to a side surface of the robot body to which the first link is connected; a third link connected to the first link and the second link and connected to the wheel portion. [Claim 2] The robot according to claim 1 , wherein at least a portion of the robot body is disposed vertically above the wheel. [Claim 3] The robot body includes: A side frame to which the leg portion is connected is provided, 2. The robot according to claim 1, wherein the side frame is disposed within a virtual space in which the wheels are extended in a vertical direction. [Claim 4] A suspension motor is further provided to provide a rotational force to the leg portion. the first link is coupled to the robot body and includes a motor coupling portion that is connected to the suspension motor; 2. The robot according to claim 1, wherein the motor coupling portion is disposed vertically above the wheel. [Claim 5] The robot according to claim 1 , wherein the leg portion further comprises a gravity compensator coupled to the first link and the third link and configured to apply a rotational force to the first link and the third link. [Claim 6] 6. The robot according to claim 5, wherein the gravity compensation unit generates a rotational force in a direction to lift the robot body. [Claim 7] the second link includes a frame coupling portion coupled to a side surface of the robot body, 2. The robot according to claim 1, wherein the frame coupling portion is formed with an electric wire passage hole through which an electric wire passes. [Claim 8] 8. The robot according to claim 7, wherein the second link includes a second link body having a pair of wire accommodating walls protruding toward the robot body, and an internal space formed between the pair of wire accommodating walls communicates with the wire passing hole. [Claim 9] The robot according to claim 1 , further comprising a module coupling space formed on an underside of the robot body and between the pair of leg portions. [Claim 10] A lower functional module is further provided which is detachably coupled to a lower side of the robot body, the robot body includes a connecting bar provided on a lower surface of the robot body and connected to the lower functional module; The robot according to claim 9, wherein the module connection space is formed vertically below the connection bar. [Claim 11] A lower functional module is further provided which is detachably coupled to a lower side of the robot body, the robot body includes a connecting bar provided on a lower surface of the robot body and connected to the lower functional module; 2. The robot according to claim 1, wherein, when viewing the side of the robot body, the connecting bar is disposed vertically above the wheel. [Claim 12] A robot, A robot body having a motor and a battery housed therein; leg parts respectively coupled to both sides of the robot body; a wheel portion rotatably coupled to the leg portion; An upper functional module replaceably coupled to an upper side of the robot body. [Claim 13] A robot, A robot body having a motor and a battery housed therein; leg parts respectively coupled to both sides of the robot body; a wheel portion rotatably coupled to the leg portion; A lower functional module that is detachably coupled to a lower side of the robot body.

Claims

1. A robot, A robot body having a motor and a battery housed therein; Legs each coupled to one side of the robot body; a wheel portion rotatably coupled to the leg portion and including a wheel that rolls on a ground surface; Both side surfaces of the robot body are formed in a flat plate shape and arranged side by side, The leg portion is A first link connected to a side surface of the robot body; a second link connected to a side surface of the robot body to which the first link is connected; a third link connected to the first link and the second link and connected to the wheel portion.

2. The robot according to claim 1 , wherein at least a portion of the robot body is disposed vertically above the wheel.

3. The robot body includes: A side frame to which the leg portion is connected is provided, 2. The robot according to claim 1, wherein the side frame is disposed within a virtual space in which the wheels are extended in a vertical direction.

4. A suspension motor is further provided to provide a rotational force to the leg portion. the first link is coupled to the robot body and includes a motor coupling portion that is connected to the suspension motor; The robot according to claim 1 , wherein the motor coupling portion is disposed vertically above the wheel.

5. The robot according to claim 1 , wherein the leg portion further comprises a gravity compensator coupled to the first link and the third link and configured to apply a rotational force to the first link and the third link.

6. The robot according to claim 5 , wherein the gravity compensation unit generates a rotational force in a direction to lift the robot body.

7. the second link includes a frame coupling portion coupled to a side surface of the robot body, The robot according to claim 1 , wherein the frame coupling portion is formed with an electric wire passing hole for passing an electric wire therethrough.

8. 8. The robot according to claim 7, wherein the second link includes a second link body having a pair of wire accommodating walls protruding in the robot body direction, and an internal space formed between the pair of wire accommodating walls communicates with the wire passing hole.

9. The robot according to claim 1 , further comprising a module coupling space formed on a lower side of the robot body and between the pair of legs.

10. A lower functional module is further provided which is detachably coupled to a lower side of the robot body, the robot body includes a connecting bar provided on a lower surface of the robot body and connected to the lower functional module; The robot according to claim 9 , wherein the module connection space is formed vertically below the connection bar.

11. A lower functional module is further provided which is detachably coupled to a lower side of the robot body, the robot body includes a connecting bar provided on a lower surface of the robot body and connected to the lower functional module; 2. The robot according to claim 1, wherein the connecting bar is disposed vertically above the wheel when the robot body is viewed from a side.

12. A robot, A robot body having a motor and a battery housed therein; Legs each coupled to one side of the robot body; a wheel portion rotatably coupled to the leg portion; and an upper functional module replaceably coupled to an upper side of the robot body.

13. A robot, A robot body having a motor and a battery housed therein; Legs each coupled to one side of the robot body; a wheel portion rotatably coupled to the leg portion; a lower functional module that is detachably coupled to a lower side of the robot body.

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