robot

Abstract

The present invention relates to a robot, and in particular to a robot body, a lower functional module that is detachably coupled to the robot body includes a lower functional module body that forms an outer shape and has an internal space, and a robot body fastening part that is disposed on one side of the lower functional module body and fixes the lower functional module body to the robot body when coupled, thereby enabling various types of lower functional modules to be selectively coupled to the robot body to operate in various modes.

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 going over the obstacle can cause the robot to lose balance and fall over.

[0008] In particular, when a domestic robot performs a function of transporting drinks or food, if the robot shakes, there is a possibility that the items being transported will spill or fall to the floor.

[0009] Patent Document 1 is US Patent No. 10010784. Patent Document 1 relates to a suspension system having one wheel.

[0010] Patent Document 1 relates to a suspension device that is equipped with a four-bar link structure on a vehicle having one wheel, restricting the wheel to only move up and down, and arranging dampers at the ends of the four-bar link to absorb shocks.

[0011] However, the technology disclosed in Patent Document 1 has a problem in that since the deck is raised and lowered by driving the damper, there is a limit to the height to which the deck can be raised and lowered.

[0012] Furthermore, the four-bar link in Patent Document 1 is disposed to the side of the wheel, which means that the wheel is exposed above the deck, and there is also the problem that the entire area of ​​the deck cannot be utilized.

[0013] On the other hand, conventional robots need to be equipped with functional modules to perform various additional functions according to the needs of the user. In this case, the functional modules may be attached to any of the positions in the up, down, left, right, front and rear directions of the robot.

[0014] However, in the case of Patent Document 1, the functional module cannot be placed under the robot, so it must be attached to either the top or the left, right, front, or back. In this case, if the functional module is placed on the top of the robot, the center of gravity of the entire robot assembly becomes higher than before, which causes a problem of unstable movement. Alternatively, if the functional module is placed on the left, right, front, or back of the robot, the area occupied by the entire robot assembly increases, which causes a problem of it being unable to move in narrow spaces.

[0015] Patent Document 2 is Japanese Patent Registration No. 5978423. Patent Document 2 relates to a crawler-type search robot.

[0016] The crawler-type search robot according to Patent Document 2 is characterized by having an arm drive mechanism that can control the inclination angle of the vehicle body by rotating the arm in the width direction of the vehicle body forward or backward to apply pressure to the step. This allows the crawler-type search robot according to Patent Document 2 to overcome steps of about 15 cm or more.

[0017] However, when attempting to mount a functional module on the crawler-traveling search robot according to Patent Document 2, the functional module must be mounted on the front end, rear end, or top end of the vehicle body. In this case, however, a problem may occur in which the arm drive mechanism gets caught on the functional module when the arm drive mechanism rotates. [Prior art documents] [Patent documents]

[0018] [Patent Document 1] US Patent No. 10010784 [Patent Document 2] Japanese Patent No. 5978423 Summary of the Invention [Problem to be solved by the invention]

[0019] The present invention has been made to improve the problems of the prior art as described above. Specifically, the object of the present invention is to provide a robot that can move by at least two or more wheels and can perform various functions according to the situation by selectively combining modules that can perform a wide variety of functions.

[0020] Another object of the present invention is to provide a robot capable of minimizing the space occupied by the assembled assembly even when modules for performing the above functions are assembled.

[0021] Another object of the present invention is to provide a robot that can run stably as an assembly of modules combined to perform the above functions. [Means for solving the problem]

[0022] In order to achieve the above object, the robot according to the present invention includes a robot body housing a motor and a battery therein, legs respectively coupled to both sides of the robot body, a wheel unit rotatably coupled to the legs and including wheels for rolling on the ground, and a lower functional module detachably coupled to the robot body. The lower functional module includes (comprises; constitutes; constructs; sets; contains; includes; contains) a lower functional module body that forms an outer shape and has a space therein, and a robot body fastening part that is disposed (positioned, constituted, constructed) on one side of the lower functional module body and fastens the lower functional module body to the robot body when coupled.

[0023] The lower functional module may include a rear guide protruding rearward from a rear surface of the lower functional module body. The rear guide may have an outer end located forward of the center when viewed from above. Alternatively, the rear guide may form a curved surface that is convex toward the rear when viewed from above. The rear guide may have a front end located lower than the rear end when viewed from one side.

[0024] The lower functional module may include a front stopper that is formed to protrude outward from the lower functional module body and has a rear surface that is disposed adjacent to a wheel of the robot body. In this case, the rear surface of the front stopper may have an upper end disposed forward of a lower end. Alternatively, the front stopper may be disposed apart from the wheel when the lower functional module is coupled to the robot body.

[0025] The lower functional module may include a guide light emitting unit that emits guide light backward so that the robot body can recognize the guide light.

[0026] The robot main body fastening part may be disposed on an upper part of the lower functional module body and may include a coupling hook that is hooked to one side of the robot main body when the lower functional module is coupled to the robot main body. In this case, the robot main body fastening part may further include a hook link having one end adjacent to the coupling hook and having the other end of the coupling hook hooked to the one end when the one end of the coupling hook hooks to the robot main body, and a hook switch adjacent to the other end of the hook link and releasing the hooking of the coupling hook when the other end of the hook link is pressed.

[0027] The lower functional module is disposed in the lower functional module body and includes a suction motor that generates negative pressure, a suction unit that is disposed upstream of the suction motor and sucks in dust present in the cleaning area, and a dust container that is disposed downstream of the suction motor and collects dust, and is capable of performing dry cleaning.

[0028] The lower functional module is arranged on one side of the lower functional module body and includes a mop for wiping the cleaning area, and a water tank arranged in the lower functional module body for storing water and supplying water to the mop, and is capable of performing wet cleaning.

[0029] The lower functional module includes a gripper arm movably coupled to the lower functional module body and a gripper disposed at an end of the arm for securing an object to be transported, and is capable of transporting the object.

[0030] In order to achieve the above-mentioned object, the robot of the present invention includes a robot body housing a motor and a battery therein, leg sections respectively coupled to both side surfaces of the robot body, a wheel section rotatably coupled to the leg sections and including wheels that roll on the ground, and a lower functional module detachably coupled to the robot body and disposed between the left wheel and the right wheel when coupled to the robot body.

[0031] The robot body includes a lower cover that forms the lower exterior, a connecting bar that is arranged on the lower cover and connects to the lower functional module, and a charging terminal that is arranged on the lower cover and electrically connects to the lower functional module, and an imaginary vertical line extending upward from the center of rotation of the wheel may be arranged between the connecting bar and the charging terminal.

[0032] The lower functional module may include a lower functional module body that forms an outer shape and has an internal space, and a robot body fastening portion that is disposed on one side of the lower functional module body and fixes the lower functional module body to the robot body when coupled.

[0033] Further details of the embodiments are included in the detailed description and the drawings. Effect of the Invention

[0034] As described above, the robot according to the present invention has the following advantages.

[0035] First, in the robot according to the present invention, the lower functional module includes a lower functional module body and a robot body fastening part for fixing the lower functional module body to the robot body, and the lower functional module can be detachably coupled to the robot body. This has the effect that the robot can operate in various modes by selectively coupling various types of lower functional modules to the robot body.

[0036] Secondly, 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 a pair of legs, thereby minimizing the space occupied by the entire robot with the lower functional module coupled thereto.

[0037] Thirdly, when the lower functional module is attached to the robot body, the center of gravity of the entire robot becomes lower, which has the effect of allowing the robot to move stably.

[0038] The effects of the present invention are not limited to the effects described above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims. [Brief description of the drawings]

[0039] [Figure 1] 1 is a perspective view for explaining a robot according to an embodiment of the present invention. [Diagram 2] 1 is an exploded perspective view of a robot according to an embodiment of the present invention; [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] 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 13] 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 14]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 15] 1 is a perspective view of a robot according to a first embodiment of the present invention, in which a lower functional module is coupled to a robot main body. FIG. [Figure 16] 1 is a perspective view of a robot according to a first embodiment of the present invention, showing a state before a robot body and a lower functional module are coupled together. FIG. [Figure 17] 1 is a perspective view of a lower functional module according to a first embodiment of the present invention; [Figure 18] FIG. 2 is a plan view of a lower functional module according to the first embodiment of the present invention. [Figure 19] FIG. 2 is a right side view of a lower functional module according to the first embodiment of the present invention. [Figure 20] FIG. 2 is a diagram showing a state before a connecting bar and a connecting hook are connected to each other in the robot according to the first embodiment of the present invention. [Figure 21] FIG. 21 shows the state after the connecting bar and the connecting hook in FIG. 20 are connected to each other. [Figure 22] FIG. 11 is a right side view of a lower functional module having a wet cleaning function according to a second embodiment of the present invention. [Diagram 23] FIG. 13 is a right side view of a lower functional module having a carrying function according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0040] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0041] 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.

[0042] 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.

[0043] A robot 1 according to one embodiment of the present invention will be described below with reference to FIGS.

[0044] A robot 1 according to an embodiment of the present invention is placed on a floor and moves along a floor surface B. Therefore, in the following description, the up and down directions will be defined based on the state in which the robot 1 is placed on the floor.

[0045] In addition, the direction where a mapping camera (531) described later is disposed will be referred to as the front with respect to the battery 560. In addition, the direction opposite to the front with respect to the battery 560 will be referred to as the rear.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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).

[0054] 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.

[0055] The robot body 100 includes a front cover 110. The front cover 110 constitutes 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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 end portions of the outer surface of the front cover 110 and disposed in a pair next to each other in the up-down direction.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] The robot body 100 includes a rear cover 120 .

[0065] 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.

[0066] An operation unit 553 for adjusting the power supply of the robot 1 may be disposed on the rear cover 120.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] The robot body 100 includes a side frame 130 .

[0072] 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. As another example, at least a part of the side frame 130 may be formed in a curved shape.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] A suspension motor MS may be disposed inside the side frame 130.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] Meanwhile, the first link coupling hole 131 may be formed to have a larger diameter than the second link coupling hole 132 .

[0082] 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.

[0083] 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.

[0084] With this configuration, the side frame 130 in which the link coupling holes 131, 132 are formed can function as a kind of link.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] With this configuration, according to the robot 1 of the embodiment of the present invention, the lower functional module 800 is connected to the lower part of the robot body 100 and the space between the pair of leg parts 200, thereby minimizing the volume occupied by the robot 1 when the lower functional module 800 is connected to it.

[0102] Meanwhile, although not shown, according to an 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 that is elongated in the left-right direction.

[0103] 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.

[0104] The leg portion 200 of the robot 1 according to an embodiment of the present invention will be described below with reference to FIGS.

[0105] 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, and each is coupled to a side frame 130 of the robot body 100. In this case, 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 be supported by the pair of leg parts 200. That is, gravity applied to the robot body 100 is supported by the leg parts 200, and the height of the robot body 100 can be maintained.

[0106] In the robot 1 according to an 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.

[0107] 14, a space (module coupling space) 153 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] The first link 210 includes a first link body 211 , a motor coupling portion 212 , and a link coupling portion 213 .

[0112] The first link body 211 is formed in a long 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.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] The motor coupling portion 212 is formed and connected to one end of the first link body 211 .

[0117] 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.

[0118] 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.

[0119] The link coupling portion 213 is formed and connected to the other end portion of the first link body 211 .

[0120] 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.

[0121] 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.

[0122] The gravity compensator 215 compensates for the robot body 100 falling vertically downward due to gravity. That is, the gravity compensator 215 provides a force to support the robot body 100.

[0123] 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 coupled to first link 210, and the other end of gravity compensator 215 is coupled to third link 230.

[0124] The gravity compensator 215 applies a force in a direction in which the angle between the first link 210 and the third link 230 increases. For example, the angles at both ends of the gravity compensator 215 are pre-reduced so that the gravity compensator 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.

[0125] 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.

[0126] 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.

[0127] 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.

[0128] The second link body 221 is formed in a long 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.

[0129] 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.

[0130] 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 .

[0131] 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.

[0132] 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.

[0133] 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.

[0134] 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 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 slipping out of the space surrounded by the second link body 221 and the electric wire accommodating walls 221b.

[0135] The frame coupling portion 222 is formed and connected to one end of the second link body 221 .

[0136] 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.

[0137] 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.

[0138] 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.

[0139] 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.

[0140] 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.

[0141] 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.

[0142] The link coupling portion 223 is formed and connected to the other end portion of the second link body 221 .

[0143] 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.

[0144] 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.

[0145] The third link 230 is connected to the first link 210 and the second link 220, and is connected to the wheel portion 300.

[0146] The third link 230 includes a third link body 231. The third link body 231 is formed in a long 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.

[0147] 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.

[0148] 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.

[0149] 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.

[0150] 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.

[0151] 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.

[0152] The fourth link connection hole 233 may be disposed farther from the wheel connection portion 234 than the third link connection hole 232 .

[0153] 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.

[0154] 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.

[0155] 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.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] 1 to 7, the wheel portion 300 is rotatably coupled to the leg portion 200 to enable rolling movement on the ground.

[0160] 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.

[0161] 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. Also, as shown in Fig. 5, when the robot 1 is viewed from the side, the suspension motor MS, the first link coupling hole 131, and the second link coupling hole 132 may be disposed vertically above the wheel 310.

[0162] 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.

[0163] 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.

[0164] 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.

[0165] 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.

[0166] 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 .

[0167] In one embodiment, the wheel tires 312 may be formed from a resilient rubber material.

[0168] 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.

[0169] 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 500 can determine whether the wheel 310 is in contact with the ground.

[0170] The wheel 310 is rotatably coupled to the leg 200. Specifically, the wheel 310 is rotatably coupled to an outer surface of the third link 230.

[0171] The wheel motor MW can provide a driving force to the wheel 310. The wheel motor MW can receive power from a battery 560 and generate a rotational force.

[0172] 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.

[0173] 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.

[0174] Figures 12 and 13 show diagrams for explaining the change in wheel position due to the movement of the leg part in a robot according to one embodiment of the present invention, and Figure 14 shows a diagram for explaining the arrangement of the wheels and the arrangement relationship for connection with the lower functional module in a robot according to one embodiment of the present invention.

[0175] The balance of the robot 1 according to one embodiment of the present invention will be described below with reference to FIGS.

[0176] 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.

[0177] 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.

[0178] 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.

[0179] 12 and 13, 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.

[0180] 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.

[0181] 12 and 13, 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.

[0182] 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.

[0183] 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.

[0184] 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.

[0185] 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.

[0186] 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.

[0187] 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 rotation center C5 of the wheel coupling portion 234 of the third link 230 may be spaced apart by a predetermined fifth distance d5.

[0188] On the other hand, C5 can be defined as the center of rotation of the wheel.

[0189] 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.

[0190] 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 wheel coupling part 234 can be maintained within 2% of the fifth distance d5.

[0191] 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.

[0192] 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.

[0193] The left-right balance of the robot 1 according to the embodiment of the present invention will be described below with reference to FIG.

[0194] As shown in FIG. 14, the robot body 100 is supported by a pair of legs 200 and a wheel unit 300 .

[0195] 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 .

[0196] 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.

[0197] 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.

[0198] 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.

[0199] At least one or more motors including a suspension motor MS and a battery 560 may be provided inside the robot body 100. When the robot 1 is placed on the ground, the entire load of the robot body 100 including the motor and the battery 560 may be applied to the leg portion 200.

[0200] 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.

[0201] In this case, as shown in FIG. 14, 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.

[0202] 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).

[0203] That is, as shown in FIG. 14, both 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.

[0204] 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.

[0205] With this configuration, the entire load of the robot body 100 applied to the side frame 130 and the leg portion 200 can be stably supported by the wheel 310 arranged on the lower side in the direction of gravity.

[0206] 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.

[0207] 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.

[0208] Figure 15 is an oblique view of a robot according to the first embodiment of the present invention, in which a lower functional module is connected to the robot body; Figure 16 is an oblique view of a robot according to the first embodiment of the present invention, in a state before the robot body and lower functional module are connected; Figure 17 is an oblique view of the lower functional module according to the first embodiment of the present invention; Figure 18 is a plan view of the lower functional module according to the first embodiment of the present invention; Figure 19 is a right side view of the lower functional module according to the first embodiment of the present invention; Figure 20 is a diagram showing the state before the connection bar and connection hook are connected in the robot according to the first embodiment of the present invention; and Figure 21 is a diagram showing the state after the connection bar and connection hook in Figure 20 have been connected.

[0209] 15, the robot includes a lower functional module 800. The lower functional module 800 is a component that is coupled to the robot body 100 to provide the domestic robot with various functions.

[0210] The lower functional module 800 is detachably coupled to the robot body 100. For example, when the lower functional module 800 according to the first embodiment is coupled to the robot body 100, the robot can perform dry cleaning, when the lower functional module 800 according to the second embodiment is coupled to the robot body 100, the robot can perform wet cleaning, and when another lower functional module 800 according to the third embodiment is coupled to the robot body 100, the robot can transport another object.

[0211] The lower functional module 800 is coupled to the lower surface of the robot body 100. 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.

[0212] 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 .

[0213] 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 .

[0214] When the lower functional module 800 is coupled to the robot body 100, the lower functional module 800 is disposed between the left leg portion and the right leg portion. In other words, when the lower functional module 800 is coupled to the robot body 100, the lower functional module 800 is disposed between the left wheel 310 and the right wheel 310.

[0215] The robot body 100 moves from the rear to the front of the lower functional module 800 to approach the lower functional module 800. When the charging terminals 152 of the bottom cover 150 of the robot body 100 and the corresponding terminals 825 of the lower functional module 800 are arranged to overlap vertically, the robot body 100 descends, and the charging terminals 152 come into contact with the corresponding terminals 825, electrically connecting the robot body 100 and the lower functional module 800, and the connecting hooks 821 get caught on the connecting bars 151, physically connecting the robot body 100 to the lower functional module 800.

[0216] The lower functional module 800 is disposed between the left wheel 310 and the right wheel 310 when coupled to the robot body 100. Specifically, the lower functional module 800 is disposed in a module coupling space 153 formed between a pair of legs. The lower functional module 800 is disposed in the space between the lower part of the robot body 100 and the pair of wheels 310, which has the effect of minimizing the volume occupied by the lower functional module 800 when coupled to the robot.

[0217] An imaginary vertical line extending upward from the rotation center C5 of the wheel is disposed between the connecting bar 151 and the charging terminal 152. Referring to FIG. 13, when viewed from the left side, an imaginary vertical line extending upward from the rotation center C5 of the wheel is disposed between the connecting bar 151 and the charging terminal 152. When the lower functional module 800 is connected to the robot body 100, the lower functional module 800 does not need to behave to maintain the posture of the robot because a wide area of ​​the lower functional module 800 faces the ground. Therefore, the rotation center C5 of the wheel is always disposed between the connecting bar 151 and the charging terminal 152, and the robot can run more stably.

[0218] The lower functional module 800 may be comprised of a body 810 and a robot body fastening portion 820 .

[0219] The lower functional module body 810 forms the outer shape of the lower functional module 800 and has a space therein for accommodating components.

[0220] Other components may be housed inside the lower functional module body 810.

[0221] 17 to 19, the lower functional module 800 includes a rear guide 811. The rear guide 811 is a component that guides the robot body 100 to a position where the lower functional module 800 is coupled.

[0222] The rear guide 811 is formed so as to protrude rearward from the rear surface of the lower functional module body 810 .

[0223] The rear guide 811 may be coupled to a lower surface of the lower functional module body 810. The rear guide 811 protrudes rearward from the lower functional module body 810.

[0224] The rear guide 811 guides the robot to the side of the lower functional module body 810. For example, when the robot approaches biased to the right, the left wheel 310 of the robot adheres to the left side of the rear guide 811 and the robot moves to the left. Conversely, when the robot approaches biased to the left, the right wheel 310 of the robot adheres to the right side of the rear guide 811 and the robot moves to the right. Thus, the robot and the lower functional module 800 are aligned in a line.

[0225] The outer end of the rear guide 811 is disposed forward of the center. As a result, a sloping surface facing the left front is formed on the left side of the center of the rear guide 811, and a sloping surface facing the right front is formed on the right side of the center of the rear guide 811. In this case, when the robot approaches the lower functional module 800 leaning to one side as described above, the robot moves laterally along the sloping surface, so that the robot and the lower functional module 800 can be aligned in a line.

[0226] When viewed from above, the rear guide 811 forms a curved surface that is convex toward the rear. Specifically, the rear guide 811 may be formed in a C-shape with an open front. With this arrangement, when the wheel 310 on one side comes into contact with the rear guide 811, the rear guide 811 can more easily guide the wheel 310 to the left or right side.

[0227] The front end of the rear guide 811 is disposed lower than the rear end. In other words, the rear end of the rear guide 811 is formed to have a certain height or more, and the outer end of the rear guide 811 is formed such that the height of the center of the rear guide 811 is higher than the height of the outer end.

[0228] With this arrangement, the rear end of the rear guide 811 can effectively guide the robot in one direction when the robot approaches biased to one side, and the wheels 310 do not rise to the upper part of the rear guide. Conversely, since the front end of the rear guide 811 is disposed lower than the rear end of the rear guide 811, the contact area between the rear guide 811 and the inner surface of the wheels 310 is reduced, reducing friction, allowing the robot coupled with the lower functional module 800 to move more easily.

[0229] 17 to 19, the lower functional module 800 includes a lateral guide 812. The lateral guide 812 is a component that guides the robot body 100 to a position where the lower functional module 800 is coupled.

[0230] The side guide 812 is formed to protrude outward from one side surface of the lower functional module body 810 .

[0231] The lateral guides 812 may be coupled to a lower surface of the lower functional module body 810 .

[0232] The side guides 812 may be formed integrally with the rear guide 811 .

[0233] The side guides 812 may extend forward from the front end of the rear guide 811 .

[0234] 17 to 19, the lower functional module 800 includes a front stopper 813. The front stopper 813 is a component that prevents the robot body 100 from moving further forward than a certain position.

[0235] The front stopper 813 is formed to protrude outward from the lower functional module body 810 , and its rear surface is disposed adjacent to the wheel 310 of the robot main body 100 .

[0236] When the robot body 100 attempts to pass in front of the lower functional module 800, the front stopper 813 catches the front end of the wheel 310 and prevents the robot body 100 from moving forward.

[0237] The left front stopper 813 is formed to protrude leftward from the left side surface of the lower functional module body 810, and the right front stopper 813 is formed to protrude rightward from the right side surface of the lower functional module body 810.

[0238] 19, the upper end of the rear surface of the front stopper 813 is disposed forward of the lower end. Specifically, the front stopper 813 includes a forward upward inclined surface. Alternatively, the rear surface of the front stopper 813 may extend along the circumferential direction of the wheel 310.

[0239] When the robot body 100 moves forward, it gets caught on the front stopper 813 and cannot move forward any further. When the robot body 100 moves forward suddenly, it may rise a certain distance along the rear surface of the front stopper 813 and then fall again.

[0240] The front stopper 813 is disposed apart from the wheel 310 when the lower functional module 800 is coupled to the robot body 100. This allows the robot body 100 to move easily since no friction occurs between the wheel 310 and the front stopper 813 when the wheel 310 rotates.

[0241] The lower functional module 800 includes a guide light emitting unit 815. The guide light emitting unit 815 is a component that guides the robot body 100 to approach the lower functional module 800 in the correct direction.

[0242] The guide light emitting unit 815 is disposed in the lower functional module body 810 and emits guide light backward that can be recognized by the robot body 100. Referring to Fig. 16, the guide light emitting unit 815 emits guide light backward toward the robot body 100 (indicated by a dotted line).

[0243] The guide light emitting unit 815 may be disposed at the rear end of the lower functional module body 810 .

[0244] The robot body 100 includes a sensor (not shown) that can detect the guide light emitted from the guide light emitting unit 815. When the robot body 100 detects the guide light, it can approach the lower functional module 800 along the guide light.

[0245] The robot body fastening portion 820 is a component that connects the lower functional module 800 to the robot body 100 .

[0246] 20 and 21, the robot body fastening part 820 is disposed on one side of the lower functional module body 810 and fixes the lower functional module body 810 to the robot body 100 when coupled. Specifically, the robot body fastening part 820 is disposed on an upper surface of the lower functional module body 810. The robot body fastening part 820 may be fixed to the bottom cover 150 of the robot body 100.

[0247] The robot body fastening portion 820 includes a coupling hook 821 and a corresponding terminal 825 .

[0248] The robot body fastening portion 820 connects the lower functional module 800 to the robot body 100 by hooking a connecting hook 821 arranged on the lower functional module 800 onto a connecting bar 151 arranged on the bottom cover 150 of the robot body 100 .

[0249] The coupling hook 821 is disposed on the lower functional module body 810. Specifically, the lower end of the coupling hook 821 is rotatably coupled to the lower functional module body 810.

[0250] The connecting hook 821 is hooked onto one side of the robot body 100 when the lower functional module 800 is connected to the robot body 100. Specifically, one end of the connecting hook 821 is hooked onto the connecting bar 151 and fixed.

[0251] The other end of the coupling hook 821 is formed with a hooking protrusion that hooks onto the hook link 822 .

[0252] The robot body fastening portion 820 includes a hook link 822. The hook link 822 is a component that prevents the connecting hook 821 from coming off when the connecting hook 821 is caught on the connecting bar 151.

[0253] The hook link 822 is rotatably coupled to the lower functional module body 810 .

[0254] A hook protrusion that is hooked onto the hook protrusion of the coupling hook is formed on one end of the hook link 822. In other words, the hook protrusion of the coupling hook 821 is hooked onto the hook protrusion of the hook link 822.

[0255] The other end of the hook link 822 is disposed adjacent to the hook switch 823 .

[0256] The robot body fastening portion 820 includes a hook switch 823. The hook switch 823 is a component that releases the engagement between the coupling hook 821 and the coupling bar 151.

[0257] The hook switch 823 is movably disposed on the lower functional module body 810. Specifically, the hook switch 823 is adjacent to the other end of the hook link 822.

[0258] 20 and 21, when the hook switch 823 is pressed, the hook link 822 rotates clockwise, allowing the coupling hook 821 to rotate clockwise, so that the robot body 100 can be separated from the lower functional module 800.

[0259] The connecting bar 151 is disposed on the robot body 100. Specifically, the connecting bar 151 is disposed on the bottom cover 150 of the robot body 100.

[0260] A charging terminal 152 is disposed on the lower cover 150 of the robot body 100. A socket is formed on the upper surface of the lower functional module body 810, which is recessed downward, and a corresponding terminal 825 is disposed in the socket. When the charging terminal 152 is inserted into the socket and comes into contact with the corresponding terminal 825, the robot body 100 and the lower functional module 800 can be electrically connected.

[0261] The charging terminal 152 arranged on the lower cover 150 of the robot body 100 or the corresponding terminal 825 of the lower functional module 800 may be formed in the same shape as the pogo pin 142 arranged on the upper cover 140 of the robot body 100.

[0262] According to the first embodiment of the present invention, the lower functional module 800 is capable of dry cleaning.

[0263] The lower functional module 800 according to the first embodiment includes a suction motor (not shown), a suction unit 831, and a dust container 837.

[0264] The suction motor is disposed in the lower functional module body 810 and generates negative pressure. The suction motor may be disposed inside the lower functional module body 810.

[0265] The suction unit 831 is disposed upstream of the suction motor and sucks in dust present in the cleaning area. The suction unit 831 may be disposed in front of the lower functional module body 810.

[0266] The dust container 837 is disposed downstream of the suction motor to collect dust. The dust container 837 may be disposed behind the lower functional module body 810. In this case, the guide light emitting unit 815 may be disposed on one side of the dust container 837.

[0267] The lower functional module 800 according to the first embodiment may further include a brush 833. The brush 833 sweeps out foreign matter present in the cleaning area and effectively sucks it up. The brush 833 may be disposed in the suction unit 831.

[0268] The lower functional module 800 according to the first embodiment may further include a battery (not shown). The battery of the lower functional module drives a suction motor (not shown) or provides power to rotate the brush 833.

[0269] The battery of the lower functional module 800 may be disposed inside the lower functional module body 810 .

[0270] The battery of the lower functional module 800 may be electrically connected to the battery of the robot body 100. This allows the battery of the lower functional module 800 to be charged by the battery of the robot body 100, and also allows the battery of the lower functional module 800 to be charged by the battery of the robot body 100.

[0271] FIG. 22 is a right side view of a lower functional module having a wet cleaning function according to a second embodiment of the present invention.

[0272] According to the second embodiment of the present invention, the lower functional module 800 is capable of wet cleaning.

[0273] The lower functional module 800 according to the second embodiment includes a mop 841 and a water tank 845 .

[0274] The mop 841 is disposed on one side of the lower functional module body 810 to wipe the cleaning area.

[0275] The mop 841 may be disposed on the lower surface of the lower functional module body 810 .

[0276] The mop 841 may be a spin mop that rotates around a rotation axis. In this case, the rotation axis of the mop 841 may be disposed perpendicular to the ground.

[0277] The water tank 845 is disposed in the lower functional module body 810 and stores water and supplies water to the mop 841 .

[0278] The water tank 845 may be disposed behind the lower functional module body 810. For example, the water tank 845 may be disposed at the position of the dust bin 837 in the first embodiment.

[0279] The lower functional module 800 according to the second embodiment may further include a mop motor (not shown). The mop motor transmits power to the mop 841 to rotate the mop 841.

[0280] The mop motor may be located inside the lower functional module body 810 .

[0281] The lower functional module 800 according to the second embodiment may further include a battery (not shown). The battery of the lower functional module provides power to drive the mop motor or to pump water from the water tank 845 to the mop 841.

[0282] The battery of the lower functional module 800 may be disposed inside the lower functional module body 810 .

[0283] FIG. 23 is a right side view of a lower functional module having a carrying function according to a third embodiment of the present invention.

[0284] According to the third embodiment of the present invention, the lower functional module 800 can carry other objects (carried objects).

[0285] The lower functional module 800 according to the third embodiment includes a gripper arm 853 and a gripper 851 .

[0286] Gripper arm 853 is movably coupled to lower functional module body 810 .

[0287] The gripper arm 853 may be formed by rotatably connecting a plurality of arms together. In this case, the plurality of arms can rotate to provide a wide working radius.

[0288] Gripper 851 is disposed at the end of the arm and secures the object to be transported.

[0289] The gripper 851 can grab and lift a mobile phone, a large foreign object, etc. When the gripper 851 lifts up an object to be transported, the lower functional module 800 according to the third embodiment can transport the object to another location.

[0290] 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.

[0291] 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.

[0292] [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 including a wheel that rolls on a ground surface; a lower functional module detachably coupled to the robot body, The lower functional module comprises: a lower functional module body that defines an outer shape and has an internal space; a robot body fastening portion disposed on one side of the lower functional module body and configured to fix the lower functional module body to the robot body when coupled. [Claim 2] The robot according to claim 1 , wherein the lower functional module includes a rear guide protruding rearward from a rear surface of the lower functional module body. [Claim 3] The robot according to claim 2 , wherein an outer end of the rear guide is positioned forward of a center when viewed from above. [Claim 4] 3. The robot according to claim 2, wherein the rear guide forms a curved surface that is convex toward the rear when viewed from above. [Claim 5] The robot according to claim 2 , wherein the rear guide has a front end located lower than a rear end when viewed from one side. [Claim 6] The robot according to claim 1 , wherein the lower functional module includes a front stopper formed to protrude outward from the lower functional module body and whose rear surface is disposed adjacent to a wheel of the robot main body. [Claim 7] The robot according to claim 6 , wherein an upper end of the rear surface of the front stopper is disposed forward of a lower end thereof. [Claim 8] The robot according to claim 6 , wherein the front stopper is disposed spaced apart from the wheel when the lower functional module is coupled to the robot body. [Claim 9] The robot according to claim 1 , wherein the lower functional module includes a guide light emitting unit that emits guide light backward so that the guide light can be recognized by the robot body. [Claim 10] The robot according to claim 1 , wherein the robot body fastening portion is disposed on an upper portion of the lower functional module body and includes a coupling hook that hooks onto one side of the robot body when the lower functional module is coupled to the robot body. [Claim 11] The robot body fastening portion is a hook link having one end adjacent to the connecting hook, and when the one end of the connecting hook is hooked onto the robot body, the other end of the connecting hook is hooked onto the one end; The robot according to claim 10, further comprising a hook switch adjacent to the other end of the hook link, the hook switch releasing the engagement of the coupling hook when pressure is applied to the other end of the hook link. [Claim 12] The lower functional module comprises: a suction motor disposed in the lower functional module body and configured to generate negative pressure; A suction unit disposed upstream of the suction motor and configured to suck in dust present in a cleaning area; A dust container is disposed downstream of the suction motor and configured to collect the dust. The robot of claim 1 , which performs dry cleaning. [Claim 13] The lower functional module comprises: a mop disposed on one side of the lower functional module body for wiping a cleaning area; a water tank disposed in the lower functional module body for storing water and supplying the water to the mop; The robot of claim 1 , which performs wet cleaning. [Claim 14] A robot, The lower functional module comprises: a gripper arm movably coupled to the lower functional module body; A gripper is disposed at an end of the arm and fixes an object to be transported, The robot according to claim 1 , which transports the object to be transported. [Claim 15] 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 connected to the leg portion and including a wheel that rolls on a ground surface; a lower functional module that is detachably coupled to the robot body and that is disposed between a left wheel and a right wheel when coupled to the robot body. [Claim 16] The robot body includes: A lower cover that constitutes the lower exterior; a connecting bar disposed on the bottom cover and connected to the lower functional module; a charging terminal disposed on the lower cover and electrically connected to the lower functional module; 16. The robot of claim 15, wherein an imaginary vertical line extending upward from a center of rotation of the wheel is disposed between the coupling bar and the charging terminal. [Claim 17] The lower functional module comprises: a lower functional module body that defines an outer shape and has an internal space; 16. The robot according to claim 15, further comprising: a robot body fastening portion disposed on one side of the lower functional module body, the robot body fastening portion fastening the lower functional module body to the robot body when coupled. [Explanation of symbols]

[0293] 100: Robot body 110: Front cover 120: Rear cover 130: Side frame 140: Top cover 150: Bottom cover 151: Joint bar 152: Charging terminal 153: Module combination space 200:Leg 210: First link 220: Second link 230: Third link 300: Wheel section 310: Wheel 400: Sensor section 500: Control unit 560: Battery 700: Upper functional module 800: Lower function module 810: Body 811: Rear guide 812: Side guide 813: Front stopper 815: Guidance light irradiation unit 820: Robot body fastening part 821: Binding hook 822: Hook link 823: Hook switch 825: Compatible terminal 830: Dry cleaning module 840: Wet cleaning module 850: Transport module

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; a lower functional module detachably coupled to the robot body, The lower functional module comprises: a lower functional module body that defines an outer shape and has an internal space; a robot body fastening portion disposed on one side of the lower functional module body and configured to fix the lower functional module body to the robot body when coupled.

2. The robot according to claim 1 , wherein the lower functional module includes a rear guide protruding rearward from a rear surface of the lower functional module body.

3. The robot according to claim 2 , wherein an outer end of the rear guide is disposed forward of a center when viewed from above.

4. The robot according to claim 2 , wherein the rear guide forms a curved surface that is convex rearward when viewed from above.

5. The robot according to claim 2 , wherein the rear guide has a front end located lower than a rear end when viewed from one side.

6. The robot according to claim 1 , wherein the lower functional module includes a front stopper that is formed to protrude outward from the lower functional module body and has a rear surface that is disposed adjacent to a wheel of the robot main body.

7. The robot according to claim 6 , wherein an upper end of the rear surface of the front stopper is disposed forward of a lower end thereof.

8. The robot according to claim 6 , wherein the front stopper is disposed spaced apart from the wheel when the lower functional module is coupled to the robot body.

9. The robot according to claim 1 , wherein the lower functional module includes a guide light emitting unit that emits a guide light, which can be recognized by the robot body, backward.

10. The robot according to claim 1 , wherein the robot body fastening portion is disposed on an upper portion of the lower functional module body and includes a coupling hook that is hooked onto one side of the robot body when the lower functional module is coupled to the robot body.

11. The robot body fastening portion is a hook link having one end adjacent to the connecting hook, and when the one end of the connecting hook is hooked onto the robot body, the other end of the connecting hook is hooked onto the one end; 11. The robot of claim 10, further comprising: a hook switch adjacent to the other end of the hook link, the hook switch releasing the engagement of the coupling hook when pressure is applied to the other end of the hook link.

12. The lower functional module comprises: a suction motor disposed in the lower functional module body and configured to generate negative pressure; A suction unit disposed upstream of the suction motor and configured to suck in dust present in a cleaning area; A dust container is disposed downstream of the suction motor and configured to collect the dust. The robot of claim 1 , wherein the robot performs dry cleaning.

13. The lower functional module comprises: a mop disposed on one side of the lower functional module body for wiping a cleaning area; a water tank disposed in the lower functional module body for storing water and supplying the water to the mop; The robot of claim 1 , wherein the robot performs wet cleaning.

14. A robot, The lower functional module comprises: a gripper arm movably coupled to the lower functional module body; A gripper is disposed at an end of the arm and fixes an object to be transported, The robot according to claim 1 , which transports the object.

15. 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; a lower functional module that is detachably coupled to the robot body and that is disposed between a left wheel and a right wheel when coupled to the robot body.

16. The robot body includes: A lower cover that constitutes the lower exterior; a connecting bar disposed on the bottom cover and connected to the lower functional module; a charging terminal disposed on the lower cover and electrically connected to the lower functional module; The robot of claim 15 , wherein an imaginary vertical line extending upward from a center of rotation of the wheel is disposed between the coupling bar and the charging terminal.

17. The lower functional module comprises: a lower functional module body that defines an outer shape and has an internal space; The robot according to claim 15 , further comprising: a robot body fastening portion disposed on one side of the lower functional module body, the robot body fastening portion fastening the lower functional module body to the robot body when coupled.

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