robot

Abstract

The present invention relates to a robot comprising: a robot body housing a motor and a battery therein; leg sections respectively connected to both side surfaces of the robot body; a wheel section having wheels that roll on the ground; and a lower functional module detachably connected to the underside of the robot body, wherein the underside of the robot body is provided with a connecting bar detachably connected to the lower functional module, and the lower functional module has at least a portion of the connecting bar housed in a bar accommodating groove, and a connecting hook rotates to support the connecting bar housed in the accommodating groove.

Description

Technical Field

[0001] The present invention relates to a robot. More specifically, it relates to a robot that can provide various services according to a user's command input.

Background Art

[0002] Recently, due to the development of robot technology, the use of robots has increased not only in industrial fields but also in households.

[0003] Examples of household robots include robots that assist with housework such as cleaning, robots that control home appliances and perform housework on behalf of people, robots that act as assistants to users or provide education to users using artificial intelligence (AI), or robots that substitute for pets.

[0004] However, conventional household robots have a limitation in that they can only perform one of the above functions and cannot perform various functions according to the needs or situations of users.

[0005] On the other hand, robots include not only robots that function while fixed at a specific position but also movable mobile robots. In particular, in the case of robots used in households, mobile robots that move around the house on behalf of or following users are mainly used.

[0006] Among mobile robots, two-wheeled robots having two wheels have the advantage of being easy to store because they occupy a small floor area, and have the advantage of being easy to use in relatively narrow spaces in households because the turning radius when the robot changes direction is small.

[0007] However, conventional two-wheeled robots have a limitation in that the height of obstacles that can be overcome is determined in proportion to the size of the wheels, and even if they overcome an obstacle, they cannot maintain balance due to the impact during the process of overcoming the obstacle, and there is a limitation in that the robot may fall over.

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

[0009] The aforementioned mobile robot can move by rotating the wheels on a pair of legs while lifting an object using its arm. In this case, the mobile robot can overcome obstacles by bending and extending the leg sections, which have a link structure.

[0010] However, in order to maintain balance while moving or stopped, the mobile robot maintains balance by having the main body to which the legs are attached rotate in a pendulum-like manner, and by rotating a counter-balance in response to the rotation of the main body.

[0011] Therefore, the aforementioned mobile robot has a limitation in that its body sways vertically during the process of maintaining balance.

[0012] Furthermore, the aforementioned mobile robot has a limitation in that, because its main body sways vertically, it is not possible to attach functional modules that can perform additional functions to the upper and lower parts of the main body.

[0013] On the other hand, when a robot wants to perform a specific function, it must first find the functional module that performs that function and move towards that module.

[0014] In this process, it is necessary to establish a migration path that facilitates integration with functional modules.

[0015] This differs from simply setting a target point and moving along the shortest path, or recognizing and avoiding obstacles; it requires considering the placement of functional modules and setting an approach direction that facilitates integration.

[0016] On the other hand, for a robot to connect with a functional module, a coupling structure is needed that allows the robot's body and the functional module to be detachably connected.

[0017] In general, a hook structure is a type of structure that allows two or more objects to be detachably joined together.

[0018] However, with typical hook structures, the hook must be deformed to release the connection, and this process can potentially damage the hook.

[0019] Furthermore, this could create the inconvenience of users having to manually unhook the device.

[0020] Therefore, it is necessary to develop a structure that allows the robot body and functional modules to be connected or disconnected with only simple movements by the user or the robot. [Overview of the project] [Problems that the invention aims to solve]

[0021] This invention was made to improve upon the problems of the prior art described above, and aims to provide a robot that can maintain stable balance using two wheels.

[0022] Furthermore, its purpose is to provide robots that can perform various functions according to the user's needs or circumstances.

[0023] Furthermore, the aim is to provide a robot that minimizes the space occupied even when modules are combined to perform its functions.

[0024] Furthermore, the objective is to provide a robot that can change existing functions to new functions or add new functions to existing functions.

[0025] Also, modules for performing the function of easily fruit It aims to provide a possible robot.

[0026] Also, it aims to provide a robot that can sense the position of a module for performing a function and move to an accurate position and then be combined.

Means for Solving the Problem

[0027] To achieve the above object, the robot according to the present invention can include (comprise; constitute; construct; set; enclose; include; contain) a robot body in which a motor and a battery are housed, leg portions respectively coupled to both side surfaces of the robot body, and a wheel portion including wheels rotatably coupled to the leg portions and rolling on the ground.

[0028] At this time, the robot according to the present invention may include a lower function module detachably coupled to the lower side of the robot body.

[0029] At this time, a coupling bar detachably coupled to the lower function module is provided on the lower side surface of the robot body, at least a part of the coupling bar is housed in a bar housing groove in the lower function module, and a coupling hook can rotate to support the coupling bar housed in the housing groove.

[0030] When the coupling hook rotates to a predetermined position, the coupling hook and a support stopper are fastened, and the rotation of the coupling hook can be restricted.

[0031] The lower function module may further include a switch for rotating the support stopper, and when the switch moves linearly, the coupling between the coupling hook and the support stopper may be released.

[0032] A lower functional module according to another embodiment of the present invention may include a lower functional module body, a pin guide portion coupled to the fastening portion body and having a guide hole formed therein, and a support pin inserted into the pin guide portion and supporting the fastening portion body.

[0033] At this time, the fastening part body and the connecting hook can be rotatably connected by the connecting link.

[0034] In this case, the support pin may be coupled to a pin link that is rotatably connected to the lower functional module body, inserted into the guide hole, and move along the guide hole.

[0035] In this case, the guide hole may be formed in the shape of a closed curve.

[0036] The support pin may move along the guide hole as the fastening body moves up and down.

[0037] In this case, the support pin may move upward, downward, or stop relative to the fastening body.

[0038] When the fastening body moves downward, the support pin moves relatively upward, and the coupling hook may rotate to be positioned above the coupling bar.

[0039] As the fastening body moves upward, the support pin moves downward relative to it, and the coupling hook may rotate and disappear from the upper side of the coupling bar.

[0040] On the other hand, the lower function module may include a lamp that emits infrared rays and is provided on the main body of the lower function module.

[0041] In this case, the lamp may be positioned at the rear end of the lower functional module body.

[0042] Alternatively, the robot body may enter from the rear of the lower functional module, then move downwards and connect with the lower functional module. [Effects of the Invention]

[0043] As described above, according to the present invention, by positioning the side frame and leg portion of the robot body vertically above the pair of wheels, the load of the robot body can be concentrated perpendicularly on the wheels. Furthermore, by applying downward pressure to the leg portion due to the load of the robot body, it is possible to prevent the robot body from swaying from side to side. Therefore, this has the effect of maintaining a stable balance for the robot body.

[0044] Furthermore, the robot according to the present invention has the effect of being able to perform various functions by attaching an upper functional module to the upper side of the robot body or a lower functional module to the lower side of the robot body, depending on the user's needs or circumstances.

[0045] Furthermore, according to the robot of the present invention, the lower functional module is connected to the space between the lower part of the robot body and the pair of leg parts, which has the effect of minimizing the space occupied when the lower functional module is connected.

[0046] Furthermore, it has the effect of allowing you to change the function you are currently using to a new function by replacing the upper or lower function module, or to add a new function to the function you are currently using by attaching an additional upper or lower function module.

[0047] Furthermore, the robot body and the lower functional module can be easily connected by simply lowering the robot body, which engages the connecting bar and hook on the robot body. Additionally, the robot body and the lower functional module can be easily separated by simply lowering the robot body again or moving a switch on the lower functional module.

[0048] Furthermore, by activating a lamp on the lower function module and sensing the light emitted from the lamp, the robot can detect the position of the lower function module. By recognizing the location where the lamp is positioned as the rear of the lower function module, the robot can enter the lower function module from the rear. [Brief explanation of the drawing]

[0049] [Figure 1] This is a perspective view illustrating a robot relating to one embodiment of the present invention. [Figure 2] Figure 1 is an exploded perspective view. [Figure 3] This is a front view of a robot according to one embodiment of the present invention. [Figure 4] This is a rear view of a robot according to one embodiment of the present invention. [Figure 5] This is a side view of a robot relating to one embodiment of the present invention. [Figure 6] This is a bottom view of the robot according to one embodiment of the present invention. [Figure 7] This diagram illustrates a robot according to one embodiment of the present invention, showing the state in which the upper functional module has been removed. [Figure 8] This is a diagram illustrating the leg portion of a robot according to one embodiment of the present invention. [Figure 9] This diagram illustrates the connection relationship of the leg portion in a robot according to one embodiment of the present invention. [Figure 10] This is a diagram illustrating the second link in a robot according to one embodiment of the present invention. [Figure 11] This diagram illustrates a structure for concealing electrical wires in a robot according to one embodiment of the present invention. [Figures 12a-12b] This is a block diagram illustrating the control configuration of a robot according to one embodiment of the present invention. [Figure 13] This figure illustrates the change in the position of the wheel due to the movement of the leg portion in a robot according to one embodiment of the present invention. [Figure 14] This figure illustrates the change in the position of the wheel due to the movement of the leg portion in a robot according to one embodiment of the present invention. [Figure 15] This diagram illustrates the arrangement of the wheels and the arrangement relationship for coupling with the lower functional module in a robot according to one embodiment of the present invention. [Figure 16] This is a schematic diagram illustrating how the load of the robot body is transmitted to the wheels in a robot according to one embodiment of the present invention. [Figure 17] This is a diagram illustrating a lower functional module in a robot according to one embodiment of the present invention. [Figure 18] This diagram illustrates the process by which the coupling bar of the robot body and the lower functional module are coupled in a robot according to one embodiment of the present invention. [Figure 19] This diagram illustrates the process by which the coupling bar of the robot body and the lower functional module are coupled in a robot according to one embodiment of the present invention. [Figure 20] This diagram illustrates the process by which the coupling bar of the robot body and the lower functional module are coupled in a robot according to one embodiment of the present invention. [Figure 21] This diagram illustrates the process by which the coupling bar of the robot body and the lower functional module are coupled in a robot according to one embodiment of the present invention. [Figure 22] This diagram illustrates the process by which the coupling bar of the robot body and the lower functional module are coupled in a robot according to one embodiment of the present invention. [Figure 23] This diagram illustrates the process by which the coupling bar of the robot body and the lower functional module are coupled in a robot according to one embodiment of the present invention. [Figure 24] This is a perspective view illustrating the robot body fastening portion of the lower functional module in a robot according to another embodiment of the present invention. [Figure 25]This is an exploded perspective view illustrating the robot body fastening portion of the lower functional module in a robot according to another embodiment of the present invention. [Figure 26] This figure illustrates the shape of a guide hole in a robot according to another embodiment of the present invention. [Figure 27] This diagram illustrates the relationship between the movement of the support pin and the rotation of the coupling hook due to the movement of the fastening part body in a robot according to another embodiment of the present invention. [Figure 28] This diagram illustrates the relationship between the movement of the support pin and the rotation of the coupling hook due to the movement of the fastening part body in a robot according to another embodiment of the present invention. [Figure 29] This diagram illustrates the relationship between the movement of the support pin and the rotation of the coupling hook due to the movement of the fastening part body in a robot according to another embodiment of the present invention. [Figure 30] This diagram illustrates the relationship between the movement of the support pin and the rotation of the coupling hook due to the movement of the fastening part body in a robot according to another embodiment of the present invention. [Figures 31a-31b] This is a procedure diagram illustrating the process of sensing the position of a lower functional module and moving to connect with the lower functional module in a robot according to one embodiment of the present invention. [Figure 32] This figure illustrates how a robot according to one embodiment of the present invention approaches a lower functional module to connect with it. [Figure 33] This diagram illustrates a robot according to one embodiment of the present invention, in a state where it is coupled with a lower functional module. [Modes for carrying out the invention]

[0050] Preferred embodiments of the present invention will be described in detail below with reference to the attached drawings.

[0051] Because the present invention can be modified in various ways and has various embodiments, specific embodiments are shown in the drawings and described in detail in the detailed description. This is not intended to limit the present invention to specific embodiments, but should be interpreted as including all modifications, equivalents, and substitutions that fall within the spirit and technical scope of the present invention.

[0052] Figure 1 shows a perspective view illustrating a robot according to one embodiment of the present invention; Figure 2 shows an exploded perspective view of Figure 1; Figure 3 shows a front view of the robot according to one embodiment of the present invention; Figure 4 shows a rear view of the robot according to one embodiment of the present invention; Figure 5 shows a side view of the robot according to one embodiment of the present invention; Figure 6 shows a bottom view of the robot according to one embodiment of the present invention; and Figure 7 shows a diagram illustrating the state in which the upper functional module of the robot according to one embodiment of the present invention has been removed.

[0053] Referring to Figures 1 to 7, the robot 1 according to one embodiment of the present invention is described as follows.

[0054] According to an embodiment of the present invention, robot 1 is placed on the floor and on the floor surface to It is designed to move along the surface. Therefore, in the following explanation, the vertical direction will be defined and described based on the state in which Robot 1 is placed on the floor.

[0055] Furthermore, using the battery 560 as a reference, the direction in which the first camera 531 (described later) is located will be referred to as the front. Also, using the battery 560 as a reference, the direction opposite to the front will be referred to as the rear.

[0056] The "lowest part" of each component described in the embodiments of the present invention may be the lowest part of each component when the robot 1 according to the embodiments of the present invention is placed on the floor and used, or it may be the part closest to the floor.

[0057] Robot 1 according to an embodiment of the present invention comprises a robot body 100, leg portions 200, and wheel portions 300. In this configuration, the leg portions 200 are attached to both sides of the robot body 100, and the wheel portions 300 are attached to the leg portions 200.

[0058] Robot body Referring to Figures 1 to 7, the robot body 100 in robot 1 according to one embodiment of the present invention is described as follows.

[0059] The robot body 100 can form the external shape of the robot 1. The robot body 100 may have various components that make up the robot 1 attached to it.

[0060] For example, leg sections 200 are attached to each of the side frames 130 of the robot body 100. A bumper 112 may also be attached to the front cover 110 located on the front of the robot body 100.

[0061] In particular, a robot body 100 according to one embodiment of the present invention may have functional modules 700 and 800 detachably attached to it. Here, the functional modules 700 and 800 may include an upper functional module 700 attached to the upper part of the robot body 100, and a lower functional module 800 attached to the space between a pair of wheels 310.

[0062] Therefore, the upper functional module 700 may be detachably connected to the upper cover 140 located on the upper side of the robot body 100. The lower functional module 800 may be detachably connected to the lower cover 150 located on the lower side of the robot body 100.

[0063] This configuration allows the robot body 100 to perform various functions by connecting the function modules 700 and 800. Furthermore, it allows for the replacement of existing functions by swapping the function modules 700 and 800, or for adding new functions to existing ones by installing additional function modules 700 and 800.

[0064] In embodiments 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 can provide a structure that ensures the robot 1 has a stable structure and is advantageous for maintaining balance when the robot 1 moves (runs).

[0065] Some of the components that make up 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.

[0066] 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 positioned at the very front of the robot 1 when the robot 1 is moving forward.

[0067] For example, the front cover 110 of the robot body 100 may be formed in the shape of a flat plate. As another example, the front cover 110 may be in the shape of a curved plate. As yet another example, the front cover 110 may be in the shape of a plate bent at a predetermined angle.

[0068] The front cover 110 may be provided with a window 111. The window 111 may be made of a material that can transmit light. For example, the window 111 may be made of a material that can transmit infrared (IR), visible light, or ultraviolet (UV) light.

[0069] The front cover 110 includes an outer surface that is exposed to the outside of the robot 1, and an inner surface that is positioned on the back surface of the outer surface.

[0070] A bumper 112 may be attached to the outer surface of the front cover 110. That is, the bumper 112 may be positioned in front of the robot body 100. For example, the bumper 112 may be provided at both ends of the outer surface of the front cover 110 and arranged in pairs along the vertical direction.

[0071] The bumper 112 may be provided so as to be movable relative to the robot body 100. For example, the bumper 112 may be coupled to the robot body 100 so as to be able to reciprocate along the front-rear direction of the robot body 100.

[0072] The bumper 112 may be coupled along a portion of the front edge of the front cover 110. Alternatively, the bumper 112 may be coupled along the entire edge of the front cover 110. With this configuration, if 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.

[0073] A first camera 531 may be positioned behind the inner surface of the front cover 110. Specifically, the first camera 531 may be positioned immediately behind the window 111. With this configuration, the first camera 531 can detect an object or person positioned in front of the robot 1.

[0074] On the other hand, although not shown in the figures, the front cover 110 may also be equipped with an input unit for receiving control commands from the user, a display unit for visually communicating information about the operating status of the robot 1 to the user, and so on. For example, the front cover 110 may be equipped with a touchscreen that visually displays the operating status of the robot 1 and allows the user to input control commands.

[0075] The robot body 100 includes a rear cover 120.

[0076] The rear cover 120 constitutes the rear appearance of the robot 1. For example, the rear cover 120 may be formed in the shape of a flat plate. As another example, the rear cover 120 may be in the shape of a curved plate.

[0077] The rear cover 120 may include an operating unit 553 for adjusting the power supply of the robot 1.

[0078] The control unit 553 can be operated by the user, and by operating the control unit 553, the power to the robot 1 can be turned on or off.

[0079] The operating unit 553 may be provided so as to pivot on the rear cover 120 in the left-right direction, or, depending on the embodiment, so as to pivot in the up-down direction.

[0080] For example, when a user pushes one side of the control unit 553, causing the control unit 553 to pivot to that side, the power to the robot 1 is turned on. Conversely, when a user pushes the other side of the control unit 553, causing the control unit 553 to pivot to the other side, the power to the robot 1 is turned off.

[0081] A rear bumper 122 may be attached to the outer surface of the rear cover 120. That is, the rear bumper 122 may be positioned 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 positioned along the horizontal direction. With such a configuration, if 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 housed inside the robot body 100.

[0082] The robot body 100 includes a side frame 130.

[0083] The side frames 130 constitute the exterior appearance of both sides of the robot 1. For example, the side frames 130 may be arranged on each side of the robot 1 and configured to face each other. For example, the side frames 130 may be formed in a flat plate shape. That is, both sides of the robot body 100 may be formed in a flat plate shape and arranged side by side. As another example, at least a portion of the side frames 130 may be formed in a curved shape.

[0084] The side frame 130 connects with 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.

[0085] Leg portions 200 may be positioned on the outside of the side frame 130. Specifically, a first link 210 and a second link 220 may be rotatably connected to the outside of the side frame 130.

[0086] Generally, in two-wheeled robots, a support structure is placed vertically below the robot body to support the robot's load. However, having a support structure vertically below the robot body has the limitation that the space below the robot cannot be used.

[0087] To solve this problem, in one embodiment of the present invention, the robot 1 has a leg portion 200 connected to a side frame 130.

[0088] A suspension motor MS may be located inside the side frame 130.

[0089] Link coupling holes 131 and 132 are formed in the side frame 130. The link coupling holes include a first link coupling hole 131 and a second link coupling hole 132.

[0090] The first link coupling hole 131 is formed in the side frame 130 in the shape of a circular hole. At least a portion of the first link 210 may be rotatably housed in the first link coupling hole 131. For example, one end of the first link 210 may pass through the first link coupling hole 131 and be coupled to the shaft of the suspension motor MS.

[0091] 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 housed in the second link coupling hole 132. For example, a shaft formed on one side of the second link 220 may be rotatably connected through the second link coupling hole 132.

[0092] On the other hand, the first link coupling hole 131 may be formed to have a larger diameter than the second link coupling hole 132.

[0093] 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 first link coupling hole 131 and the center of the circular second link coupling hole 132 may be spaced apart by a predetermined distance.

[0094] The first link coupling hole 131 and the second link coupling hole 132 may be positioned at a predetermined inclination with respect to the ground. For example, with the robot 1 placed on the ground, the first link coupling hole 131 may be positioned on the underside of the side frame 130, and the second link coupling hole 132 may be positioned on the upper rear side of the side frame 130.

[0095] With this configuration, the side frame 130, in which the link connection holes 131 and 132 are formed, can function as a type of link.

[0096] On the other hand, depending on the embodiment, a handle hole 133 may be formed in the side frame 130. For example, the handle hole 133 may be formed on the upper front side of the side frame 130. With such a configuration, the user can insert their hand into the handle hole 133, grasp the side frame 130, and lift the robot body 100 upwards.

[0097] The top cover 140 constitutes the upper exterior of the robot 1. The top cover 140 connects with the front cover 110, the rear cover 120, and the two side frames 130. Thus, the top cover 140 can cover the upper part of the internal space surrounded by the front cover 110, the rear cover 120, and the two side frames 130.

[0098] With the robot 1 placed on the ground, the top cover 140 may be positioned at a predetermined angle relative to the ground. For example, the front end of the top cover 140 may be positioned closer to the ground than the rear end.

[0099] A functional module 700 may be attached to the top cover 140. Specifically, an upper functional module 700 may be attached to the top cover 140. The upper functional module 700 may be detachably attached to the upper side of the top cover 140. For example, a hook housing groove 141 may be formed in the top cover 140 to hook-connect with the upper functional module 700. With this configuration, the upper functional module 700 can be attached to the robot body 100 with only a simple action by the user of aligning the hook of the upper functional module 700 with the hook housing groove 141 and pushing it in.

[0100] The robot body 100 can supply power to the upper function module 700. Specifically, the top cover 140 may be provided with terminals that can supply power to the upper function module 700.

[0101] Furthermore, the robot body 100 can send and receive signals to and from the upper function module 700. Specifically, the top cover 140 may be provided with terminals that can send and receive signals to and from the upper function module 700.

[0102] On the other hand, in embodiments of the present invention, the top cover 140 may have terminals that can supply power to the upper function module 700 and terminals that can send and receive signals to and from the upper function module 700. For example, the top cover 140 may be provided with a pogo pin 142 that includes two power pins and four signal pins.

[0103] The top cover 140 may have at least one guide groove 143 formed therein. The 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.

[0104] The bottom cover 150 constitutes the underside of the robot 1. The bottom cover 150 connects with the front cover 110, the rear cover 120, and the two side frames 130. Thus, the bottom cover 150 can cover the underside of the internal space surrounded by the front cover 110, the rear cover 120, and the two side frames 130.

[0105] A functional module 800 may be coupled to the bottom cover 150. Specifically, a lower functional module 800 may be coupled to the lower side (bottom) of the bottom cover 150. The lower functional module 800 may be detachably coupled to the underside of the bottom cover 150. Specifically, the bottom cover 150 may be provided with a coupling bar 151 that latches to the lower functional module 800.

[0106] The coupling bar 151 may be formed in a cylindrical shape and arranged along the left-right direction of the robot 1. Additionally, a pair of protrusions may be formed on the bottom cover 150 to connect to the coupling bar 151.

[0107] The bottom cover 150 may be provided with a charging terminal 152. The charging terminal 152 may be located on the lower side of the bottom cover 150.

[0108] In this case, the charging terminal 152 may be positioned opposite a charging terminal provided on a robot charging stand (not shown). The charging terminal 152 may be electrically connected to a charging terminal provided on a 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 also be supplied to the battery 560.

[0109] On the other hand, in general, two-wheeled robots have a support structure positioned vertically below the robot body to support the robot's load. However, having a support structure vertically below the robot body has the limitation that the space below the robot cannot be used.

[0110] To solve this problem, in one embodiment of the present invention, the robot 1 has leg portions 200 arranged on both sides of the robot body 100. Therefore, a module coupling space 153 is formed below the bottom cover 150, to which the lower functional module 800 is coupled.

[0111] The modular coupling space 153 may be formed between a pair of leg portions 200. The modular coupling space 153 may be formed between a pair of wheel portions 300. For example, the modular coupling space 153 may mean the space vertically below the coupling bar 151. That is, the modular coupling space 153 may be a space having a predetermined width ΔS along the left-right direction.

[0112] Therefore, since the lower functional module 800 is connected to the space between the lower part of the robot body 100 and the pair of leg parts 200, there is an effect in that the volume occupied by the robot 1 when the lower functional module 800 is attached can be minimized.

[0113] On the other hand, although not shown in the figures, depending on the embodiment, the robot body 100 may further include an external case. The external case can constitute the overall appearance of the robot body 100. The external case can cover the exterior of the front cover 110, rear cover 120, side frame 130, top cover 140, and bottom cover 150. For example, the external case may be formed in an ellipsoidal shape that is extended along the left-right direction.

[0114] Leg section Figure 8 shows a diagram illustrating the leg portion of a robot according to one embodiment of the present invention, Figure 9 shows a diagram illustrating the connection relationship of the leg portion of a robot according to one embodiment of the present invention, Figure 10 shows a diagram illustrating the second link of a robot according to one embodiment of the present invention, and Figure 11 shows a diagram illustrating a structure for concealing electric wires in a robot according to one embodiment of the present invention.

[0115] Referring to Figures 1 to 11, the leg portion 200 of the robot 1 according to one embodiment of the present invention will be described as follows.

[0116] The leg sections 200 can be connected to the robot body 100 and support the robot body 100. For example, a pair of leg sections 200 are provided, each connected to the side frame 130 of the robot body 100. In this case, at least a portion of the leg sections 200 is positioned closer to the ground than the robot body 100. Therefore, the robot body 100 can move while standing on the ground supported by the pair of leg sections 200. That is, the gravitational force applied to the robot body 100 is supported by the leg sections 200, and the height of the robot body 100 can be maintained.

[0117] In one embodiment of the present invention, the robot 1 has leg portions 200 attached only to both sides of the robot body 100. That is, the leg portions 200 may be attached to the outermost parts of the robot body 100, facing each other. Therefore, the leg portions 200 are not attached to the bottom and rear surfaces of the robot body 100.

[0118] Therefore, as shown in Figures 3 and 18, a space is formed between the lower side of the bottom cover 150 and the pair of leg portions 200. For example, a space capable of accommodating a rectangular parallelepiped lower functional module 800 may be formed between the lower side of the bottom cover 150 and the pair of leg portions 200.

[0119] The leg section 200 includes a first link 210, a second link 220, and a third link 230. In this configuration, 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 link-connected to the side frame 130 and the third link 230, respectively.

[0120] The first link 210 is linked to the side of the robot body 100. For example, the first link 210 may be linked to the side frame 130.

[0121] The first link 210 is connected to the suspension motor MS. For example, the first link 210 may be connected directly to the shaft of the suspension motor MS or via a gear. In this configuration, the first link 210 receives driving force from the suspension motor MS.

[0122] The first link 210 includes a first link body 211, a motor coupling portion 212, and a link coupling portion 213.

[0123] The first link body 211 is formed in a frame shape, with a motor coupling portion 212 on one side in the longitudinal direction and a link coupling portion 213 on the other side in the longitudinal direction. In this case, the motor coupling portion 212 may be positioned further from the ground than the link coupling portion 213.

[0124] The first link body 211 may be formed in a shape that is bent at least once. For example, the other side of the first link body 211, which is provided with the link coupling portion 213, may be located further from the robot body 100 than the side provided with the motor coupling portion 212.

[0125] Therefore, the distance between a pair of first link bodies 211 increases as you move from the top to the bottom in the vertical direction. With this configuration, the first link 210 can stably support the robot body 100.

[0126] Ribs 211a may be formed on the first link body 211. For example, ribs may be formed protruding from the first link body 211 along the longitudinal direction. In this case, the ribs 211a may be formed in the region where the first link body 211 is bent. With this configuration, the ribs 211a have the effect of reinforcing the first link 210 and improving its durability.

[0127] The motor coupling portion 212 is formed at one end of the first link body 211.

[0128] The motor coupling portion 212 is rotatably housed in the first link coupling hole 131 of the side frame 130. For example, the motor coupling portion 212 may be formed in the shape of a disc or a circular plate. In this case, the maximum diameter of the motor coupling portion 212 may be the same as or smaller than the maximum diameter of the first link coupling hole 131. Therefore, the motor coupling portion 212 can be connected to the suspension motor MS by passing through the first link coupling hole 131.

[0129] The motor coupling section 212 is connected to the suspension motor MS. For example, the motor coupling section 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 section 212 can rotate in conjunction with the rotation of the shaft of the suspension motor MS.

[0130] The link coupling portion 213 is formed by connecting to the other end of the first link body 211.

[0131] The link coupling portion 213 is rotatably coupled to the third link 230. Specifically, the link coupling portion 213 is rotatably coupled to the third link 230 via the first link shaft 214. For example, the link coupling portion 213 may be formed in a disc shape, and the first link shaft 214 may be coupled through the center of the link coupling portion 213. Alternatively, the first link shaft 214 may be rotatably coupled through the third link 230. With such a configuration, the first link 210 and the third link 230 can be connected in a relative rotatable manner.

[0132] 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 connected by passing through the link coupling portion 213 of the first link 210 and / or the third link 230. In this case, the first link shaft 214 may be rotatably connected to the link coupling portion 213 and / or the third link 230. With this configuration, the first link shaft 214 can become the axis from which the third link 230 rotates.

[0133] The gravity compensation unit 215 compensates for the downward vertical movement of the robot body 100 due to gravity. In other words, the gravity compensation unit 215 provides a force to support the robot body 100.

[0134] For example, the gravity compensation section 215 may be a torsion spring. The gravity compensation section 215 may be wound around the outside of the outer surface of the first link shaft 214. One end of the gravity compensation section 215 is inserted into and fixedly connected to the first link 210, and the other end of the gravity compensation section 215 is inserted into and fixedly connected to the third link 230.

[0135] The gravity compensation unit 215 applies a force (rotational force) in a direction that increases the angle between the first link 210 and the third link 230. For example, the gravity compensation unit 215 has both ends shortened in advance so that it applies a restoring force in a direction that increases the angle between the first link 210 and the third link 230. 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 angular range.

[0136] This configuration prevents the robot body 100 from descending towards the ground even when the suspension motor MS is not driven. Therefore, the gravity compensation unit 215 has the effect of preventing energy loss due to the driving of the suspension motor MS and maintaining the height of the robot body 100 above a predetermined distance from the ground.

[0137] The second link 220 is linked to the 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 linked together with the side frame 130 to which the first link 210 is connected.

[0138] 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 positioned further from the ground than the link coupling portion 223.

[0139] The second link body 221 is formed in a frame shape, with a frame coupling portion 222 on one side in the longitudinal direction and a link coupling portion 223 on the other side in the longitudinal direction.

[0140] The second link body 221 may be formed in a shape that is bent at least once. For example, the second link body 221 may be positioned further from the robot body 100 on the side with the link coupling portion 223 than on the side with the frame coupling portion 222. Thus, the distance between a pair of second link bodies 221 increases as you move from the top to the bottom in the vertical direction. With this configuration, the second link 220 can stably support the robot body 100.

[0141] The second link body 221 includes an inner surface facing the robot body 100 and an outer surface facing away from the robot body 100.

[0142] The second link body 221 may have ribs 221a formed on it. For example, ribs 221a may be formed protruding from the outer surface of the second link body 221 along the longitudinal direction. In this case, the ribs 221a may be formed in the region where the second link body 221 is bent. With this configuration, the ribs 221a have the effect of reinforcing the second link 220 and improving its durability.

[0143] The second link body 221 may have wire housing walls 221b formed on it. For example, a pair of wire housing walls 221b may be formed protruding from the inner surface of the second link body 221 along the longitudinal direction. In this case, the pair of wire housing walls 221b may be formed side by side with a predetermined interval between them. With this configuration, the wires can be housed in the space surrounded by the second link body 221 and the wire housing walls 221b. Therefore, it is possible to prevent the wires from being exposed to the outside.

[0144] On the other hand, the internal space formed between the pair of wire housing walls 221b may communicate with the wire passage hole 222c, which will be described later. With this configuration, the wire that passes through the wire passage hole 222c is housed in the internal space formed between the wire housing walls 221b, preventing the wire from being exposed to the outside.

[0145] Furthermore, the second link 220 may be provided with a wire support pin 221c. The wire support pin 221c can penetrate a pair of wire housing walls 221b. The wire support pin 221c may be positioned to cross the pair of wire housing walls 221b. With this configuration, the wire housing wall 221b can close off a portion of the open area of ​​the space surrounded by the second link body 221 and the wire housing wall 221b. Therefore, it is possible to prevent wires from coming out of the space surrounded by the second link body 221 and the wire housing wall 221b.

[0146] The frame joint portion 222 is formed at one end of the second link body 221.

[0147] 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 penetrates and connects to the side frame 130.

[0148] The connecting shaft 222a may be formed in a cylindrical shape. For example, the outer diameter of one end of the connecting shaft 222a that connects to the side frame 130 may be larger than the outer diameter of the other end of the connecting shaft 222a in the axial direction (longitudinal direction).

[0149] A hollow 222b may be formed in the coupling shaft 222a. A wire can pass through the hollow 222b. This configuration prevents the wire supplying power from the battery 560 to the wheel motor MW from being exposed to the outside.

[0150] Furthermore, a wire passage hole 222c may be formed in the coupling shaft 222a. The wire passage 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 body 100, the wire that has passed through the hollow 222b passes through the wire passage hole 222c and is housed in the second link body 221.

[0151] The coupling shaft 222a may be coupled to a rotating connecting plate 222d. For example, the rotating connecting plate 222d may be formed in a disc shape, and the diameter of the rotating connecting plate 222d may be smaller than the diameter of the other axial end of the coupling shaft 222a. Therefore, the rotating connecting plate 222d can be housed and coupled within the other axial end of the coupling shaft 222a.

[0152] The rotating connecting plate 222d may be formed integrally with the second link body 221. The radial outer end of the rotating connecting plate 222d may be formed to connect with the second link body 221. With this configuration, the rotating connecting plate 222d can connect the second link body 221 and the connecting shaft 222a.

[0153] The link coupling portion 223 is formed at the other end of the second link body 221.

[0154] The link coupling portion 223 is rotatably coupled to the third link 230. Specifically, the link coupling portion 223 is rotatably coupled to the third link 230 via the second link shaft 224. For example, the link coupling portion 223 may be formed in a disc shape, and the second link shaft 224 may be coupled through the center of the link coupling portion 223. Alternatively, the second link shaft 224 may be rotatably coupled through the third link 230. With such a configuration, the second link 220 and the third link 230 can be connected in a relative rotatable manner.

[0155] 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 connected by passing through the link coupling portion 223 of the second link 220 and / or the third link 230. In this case, the second link shaft 224 may be rotatably connected to the link coupling portion 223 and / or the third link 230. With this configuration, the second link shaft 224 can become the axis from which the third link 230 rotates.

[0156] The third link 230 is linked with the first link 210 and the second link 220, and is connected to the wheel section 300.

[0157] The third link 230 includes a third link body 231. The third link body 231 is formed in a frame shape, with 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 portion 234 formed on the other side in the longitudinal direction.

[0158] The third link body 231 may be formed in a shape that is bent at least once. For example, in a pair of third link bodies 231, the distance between the other side on which the wheel coupling portion 234 is formed is shorter than the distance between the one side on which the third link coupling hole 232 and the fourth link coupling hole 233 are formed.

[0159] The third link body 231 may have at least one rib 231a protruding along its longitudinal direction. 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.

[0160] 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 longitudinal side of the third link body 231. The first link shaft 214 may be rotatably coupled through the third link coupling hole 232. For example, the third link coupling hole 232 may be formed in the shape of a circular hole. With this configuration, the third link 230 can be rotatably connected to the first link 210 via the first link shaft 214.

[0161] The third link body 231 may have a hole formed therein for connecting the gravity compensation section 215. For example, the other end of a torsion spring may be inserted and connected to the hole.

[0162] 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 longitudinal side 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.

[0163] The fourth link coupling hole 233 may be located further away from the wheel coupling portion 234 than the third link coupling hole 232.

[0164] The third link 230 is connected to the wheel section 300. At this time, the wheel housing 320 is connected to the inner surface (the surface facing the robot body 100) of the third link body 231, and the wheel 310 is rotatably connected to the outer surface (the back surface of the inner surface) of the third link body 231.

[0165] On the other hand, a wheel coupling portion 234 is formed on the third link body 231. Specifically, a wheel coupling portion 234 is formed on the other side of the third link body 231 in the longitudinal direction.

[0166] For example, the wheel coupling portion 234 may be formed in the shape of a circular hole. A wheel motor MW may be housed in the wheel coupling portion 234.

[0167] On the other hand, when the robot 1 is standing on the ground, the wheel coupling portion 234 may be positioned vertically below the robot body 100. For example, when the robot 1 is standing on the ground, the wheel coupling portion 234 may be positioned vertically below the suspension motor MS.

[0168] The suspension motor MS is relatively heavy among the components housed within the robot body 100. Therefore, the overall weight of the robot body 100 may be concentrated vertically below the suspension motor MS.

[0169] With this configuration, the wheel 310 connected to the wheel coupling part 234 supports the area directly below the center of gravity of the robot body 100, thereby maintaining the balance of the robot body 100.

[0170] Wheel section Referring to Figures 1 to 7, the wheel section 300 is rotatably connected to the leg section 200, allowing the robot body 100 and the leg section 200 to move by rolling on the ground.

[0171] The wheel portion 300 is rotatably coupled to the leg portion 200. In this configuration, at least a portion of the wheel portion 300 is positioned closer to the ground than the leg portion 200. Therefore, the wheel portion 300 can be positioned between the leg portion 200 and the ground.

[0172] The wheel section 300 includes a wheel 310 that contacts the ground and rolls along the ground, and a wheel housing 320 that houses a wheel motor MW.

[0173] The wheel 310 is provided to have a predetermined radius and a predetermined width along the axial direction. As shown in Figure 3, when the robot 1 is viewed from the front, the side frame 130 and the leg portion 200 may be positioned vertically above the wheel 310.

[0174] Furthermore, a suspension motor MS, a first link coupling hole 131, and a second link coupling hole 132 may be positioned vertically above the wheel 310.

[0175] The wheel 310 includes a circularly shaped wheel frame 311. The wheel frame 311 may be formed in a cylindrical shape with one side open towards the shaft of the wheel motor MW. This can reduce the weight of the wheel frame 311.

[0176] However, forming the wheel frame 311 in a cylindrical shape may reduce the overall rigidity of the wheel frame 311. Taking this into consideration, ribs (not shown) that reinforce the rigidity may be formed on the inner and outer surfaces of the wheel frame 311, respectively.

[0177] A wheel tire 312 is attached to the outer circumferential surface of the wheel frame 311. The wheel tire 312 may be formed in an annular shape with a diameter that allows it to be inserted into the outer circumferential surface of the wheel frame 311.

[0178] The outer circumferential surface of the wheel tire 312 may have grooves formed in a predetermined pattern to improve the contact force of the wheel tire 312.

[0179] In one embodiment, the wheel tire 312 may be formed of an elastic rubber material.

[0180] The wheel housing 320 may be cylindrical with one side open in the axial direction to accommodate the wheel motor MW inside. In this case, the closed portion of the wheel housing 320 can be coupled to the inner surface of the third link 230. This configuration prevents external foreign matter from flowing into the wheel housing 320.

[0181] On the other hand, the wheel housing 320 may be equipped with a sensor capable of measuring the distance to the ground. For example, the sensor may be a ToF sensor (Time of Flight sensor). With such a configuration, the control unit 510 can determine whether or not the wheel 310 is in contact with the ground.

[0182] The wheel 310 is rotatably connected to the leg portion 200. Specifically, it is rotatably connected to the outer surface of the third link 230 of the wheel 310 (the surface facing the outside of the robot 1).

[0183] The wheel motor MW can provide driving force to the wheel 310. The wheel motor MW can generate rotational force when powered by the battery 560.

[0184] The wheel motor MW may be housed in the wheel housing 320. Alternatively, 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. In other words, the wheel motor MW may be an in-wheel motor.

[0185] 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.

[0186] Upper function module Referring to Figures 1 to 7, the upper functional module 700 in robot 1 according to one embodiment of the present invention is described as follows.

[0187] An upper function module 700 may be detachably attached to the top cover 140 of the robot body 100. The upper function module 700 may be provided in various forms depending on its function.

[0188] For example, the upper functional module may be flat so that an object such as a mobile phone can be placed on it. In this case, the upper functional module may be equipped with a wireless charging unit. The wireless charging unit generates an induced current to wirelessly charge a mobile phone or other device placed on the upper functional module.

[0189] As another example, the upper functional module may be equipped with a storage groove so that cans, bottles, cups, etc. containing fluids can be placed on it and transported. In this case, the upper functional module may be equipped with a temperature control unit. The temperature control unit can release or absorb heat using electrical energy to cool the cans, bottles, cups, etc. contained in the upper functional module. warm It can be hidden.

[0190] As another example, the upper function module 700 may be an interaction upper function module equipped to visually and audibly display the robot 1's responses for emotional interaction with the user.

[0191] In this case, the interaction upper function module 700 may include a display. The display may show facial expressions or pupil shapes so that the user can feel that they are interacting with the robot 1. In this case, the display of the interaction upper function module can be rotated at a preset angle.

[0192] The upper plate motor 525 can provide driving force to the display of the interaction upper function module. The upper plate motor 525 may be located in the upper function module. More specifically, the final output end of the shaft or gear of the upper plate motor 525 is connected to the display. The upper plate motor 525 is driven and rotated according to control commands from the control unit 510, and the display can rotate in accordance with the rotation of the upper plate motor 525.

[0193] The upper function module 700 may be powered by the robot body 100. Although not shown in the figures, the upper function module 700 may be equipped with terminals that can be electrically connected to the robot body 100.

[0194] Furthermore, the upper function module 700 can send and receive signals with the robot body 100. Specifically, although not shown in the diagram, the upper function module 700 may be equipped with terminals that can send and receive signals with the robot body 100.

[0195] On the other hand, in embodiments of the present invention, the upper function module 700 may also have terminals that can receive power from the robot body 100 and terminals that can send and receive signals with the robot body 100. For example, the upper function module 700 may be provided with terminals (not shown) at a position opposite to the pogo pin 142 of the robot body 100.

[0196] Control configuration Figure 12 shows a block diagram illustrating the control configuration of a robot according to one embodiment of the present invention.

[0197] Referring to Figure 12, the robot 1 according to an embodiment of the present invention may include a control unit 510, a motor unit 520, a sensor unit 530, an interface unit 550, a battery 560, a memory 570, and a communication unit 580.

[0198] The components shown in the block diagram of Figure 12 are not essential for the realization of robot 1; therefore, robot 1 described herein may have more or fewer components than those listed above.

[0199] First, the control unit 510 can control the overall operation of the robot 1. The control unit 510 can control the robot 1 to perform various functions based on the setting information stored in the memory 570, which will be described later.

[0200] The control unit 510 may be located on the robot body 100. More specifically, the control unit 510 may be mounted on a PCB located between the left wheel 310 and the right wheel 310.

[0201] The control unit 510 may include any type of device capable of processing data, such as a processor. Here, "processor" may mean a data processing device embedded in hardware that has a physically structured circuit to perform a function expressed as code or instructions contained within a program. Examples of such data processing devices embedded in hardware include microprocessors, central processing units (CPUs), processor cores, multiprocessors, ASICs (application-specific integrated circuits), and FPGAs (field programmable gate arrays), but the scope of the present invention is not limited to these.

[0202] The control unit 510 can receive information about the external environment of the robot 1 from at least one of the configurations of the sensor unit 530, which will be described later. In this case, the information about the external environment may be, for example, information such as the temperature, humidity, and amount of dust in the room in which the robot 1 travels. Alternatively, it may be, for example, information about steps or uneven surfaces. Alternatively, it may be, for example, indoor map information. Of course, the information about the external environment is not limited to the examples described above.

[0203] The control unit 510 can receive information about the current state of the robot 1 from at least one of the components of the sensor unit 530, which will be described later. In this case, the current state may be, for example, tilt information of the robot body 100. Alternatively, it may be, for example, information about the distance between the wheel 310 and the ground. Alternatively, it may be, for example, position information of the wheel motor MW. Alternatively, it may be, for example, position information of the suspension motor MS. Of course, the information about the current state of the robot 1 is not limited to the examples described above.

[0204] The control unit 510 can transmit drive control commands to at least one of the components of the motor unit 520, which will be described later. For example, it can control the rotation of the wheel motor MW for the robot 1 to move. Alternatively, for example, it can control the rotation of the wheel motor MW to maintain the horizontal posture of the robot 1. Alternatively, for example, it can control the rotation of the suspension motor MS to maintain the horizontal posture of the robot 1. Alternatively, for example, it can control the rotation of the upper plate motor 525 to adjust the angle of the upper functional module of the robot 1.

[0205] The control unit 510 may receive user commands through at least one of the configurations of the interface unit 550, which will be described later. For example, the command may be a command to turn the robot 1 on / off. Alternatively, for example, the command may be a command to manually control various functions of the robot 1.

[0206] The control unit 510 can output information related to the robot 1 by at least one of the configurations of the interface unit 550, which will be described later. For example, the output information may be visual information. Alternatively, for example, the output information may be auditory information.

[0207] The motor unit 520 includes at least one motor and can provide driving force to a configuration connected to each motor.

[0208] The motor unit 520 may include a wheel motor MW that provides driving force to the left and right wheels 310. More specifically, the motor unit 520 may include a left wheel motor MW_L that transmits driving force to the left wheel 310 and a right wheel motor MW_R that transmits driving force to the right wheel 310.

[0209] The wheel motors MW may be arranged in the wheel section 300. More specifically, the wheel motors MW may be housed in the wheel housing 320. The wheel motors MW may also be housed in the wheel coupling section 234.

[0210] The wheel motors MW are connected to the wheels 310. More specifically, the final output end of the shaft or gear of the left wheel motor MW_L is connected to the left wheel 310. The final output end of the shaft or gear of the right wheel motor MW_R is connected to the right wheel 310. Each of the left and right wheel motors MW is driven and rotated according to the control commands of the control unit 510, and the robot 1 moves along the ground in accordance with the rotation of the wheels 310 caused by the rotation of the wheel motors MW.

[0211] The motor unit 520 may include a suspension motor MS that provides driving force to the left and right leg units 200. More specifically, the motor unit 520 may include a left suspension motor MS_L that transmits driving force to the left leg unit 200 and a right suspension motor MS_R that transmits driving force to the right leg unit 200.

[0212] The suspension motors MS may be located on the robot body 100. More specifically, the suspension motors MS may be located inside the side frames 130.

[0213] The suspension motor MS is connected to the first link 210. More specifically, the final output end of the shaft or gear of the left suspension motor MS_L is connected to the left first link 210. The final output end of the shaft or gear of the right suspension motor MS_R is connected to the right first link 210. Each of the left and right suspension motor MS is driven and rotates according to the control command of the control unit 510, and as the suspension motor MS rotates, the first link 210 rotates, and the third link 230 connected to the first link 210 rotates, resulting in the wheel 310 connected to the third link 230 rising or falling.

[0214] This allows robot 1 to move its wheels 310 up and down, enabling it to maintain a horizontal posture when climbing obstacles or traveling on curved ground.

[0215] The motor section 520 may include an upper plate motor 525 that provides driving force to the upper functional module. The upper plate motor 525 may be a servo motor. A servo motor is a known motor used where rotation angle control is required and has the advantage of allowing precise position control, although its operating range is limited.

[0216] The upper plate motor 525 can provide driving force to the display of the interaction upper function module. The upper plate motor 525 may be located in the upper function module. More specifically, the final output end of the shaft or gear of the upper plate motor 525 is connected to the display. The upper plate motor 525 is driven and rotated according to control commands from the control unit 510, and the display can rotate in accordance with the rotation of the upper plate motor 525.

[0217] The sensor unit 530 includes at least one sensor, each of which can measure and sense information about the external environment of the robot 1 and / or information about the current state of the robot 1.

[0218] The sensor unit 530 may include the first camera 531.

[0219] The first camera 531 may be a mapping camera. The first camera 531 is provided to map the room in which the robot 1 is moving.

[0220] For this purpose, the first camera 531 may be positioned in front of the robot body 100. More specifically, the first camera 531 may be positioned behind the inner surface of the front cover 110. The first camera 531 may be positioned behind the window 111.

[0221] The first camera 531 can capture images of the interior while the robot is moving in order to perform SLAM (Simultaneous Localization and Mapping). The control unit 510 can implement SLAM based on the information about the surrounding environment captured by the first camera 531 and the information about the current position of the robot 1.

[0222] On the other hand, the method by which the robot 1 according to the embodiment of the present invention implements SLAM may be a method that implements it using only the first camera 531, but is not limited thereto. For example, the robot 1 may also implement SLAM using additional sensors. The additional sensors may be, for example, LDS (Laser Distance Sensor).

[0223] The sensor unit 530 may include a second camera 532.

[0224] The second camera 532 is configured to recognize the user's position and / or face.

[0225] For this purpose, the second camera 532 may be located in the upper function module. More specifically, the second camera 532 may be located adjacent to the display of the upper function module. The second camera 532 may be located above the display. The second camera 532 may be located between the left and right speakers 552.

[0226] The second camera 532 can capture images in front of the display to recognize the user's position. For this purpose, the second camera 532 may be equipped with a depth module and an RGB module, respectively.

[0227] The Depth module can obtain depth information from an image. For example, the depth information may be obtained by measuring the delay or phase shift of the modulated optical signal for all pixels in the captured image to obtain travel time information.

[0228] An RGB module can produce color images. From these color images, edge characteristics, color distribution, frequency characteristics (or wavelet transform), and other parameters can be extracted.

[0229] In this way, distance information to the object to be recognized is obtained from the forward-facing image captured by the second camera 532 through depth information, and by calculating this together with edge characteristics extracted from the color image, it is possible to recognize whether or not a user is present in front of the camera and / or their position.

[0230] The sensor unit 530 may include an IR sensor 533 for detecting infrared light.

[0231] The IR sensor 533 may also be an IR camera that detects infrared light.

[0232] The IR sensor 533 may be located on the robot body 100. More specifically, the IR sensor 533 may be located behind the inner surface of the front cover 110. The IR sensor 533 may be located behind the window 111. The IR sensor 533 is located behind the first camera 53 1 They may be arranged horizontally or vertically.

[0233] The IR sensor 533 can sense infrared light emitted by an IR LED provided on a specific module and approach the module. For example, the module may be a charging stand for charging the robot 1. For example, the module may be a lower functional module that is detachably provided on the lower cover 150 of the robot 1.

[0234] The control unit 510 can control the IR sensor 533 to start sensing the IR LED when the charge level of robot 1 is below a preset level. The control unit 510 can also control the IR sensor 533 to start sensing the IR LED when it receives a command from the user to find a specific module.

[0235] The sensor unit 530 may include a wheel motor sensor 534.

[0236] The wheel motor sensor 534 can measure the position of the wheel motor MW. For example, the wheel motor sensor 534 may be an encoder. As is well known, an encoder can detect the position of a motor and also detect the rotational speed of the motor.

[0237] The wheel motor sensors 534 may be located on the left and right wheel motors MW, respectively. More specifically, the wheel motor sensors 534 may be connected to the final output end of the shaft or gear of the wheel motor MW and housed together with the wheel motor MW inside the wheel housing 320.

[0238] The sensor unit 530 may include an upper plate motor sensor 535.

[0239] The upper plate motor sensor 535 can measure the angle of rotation of the display of the Interaction Upper Function Module. For example, the upper plate motor sensor 535 may be a variable resistor (potentiometer) that measures the rotation angle.

[0240] The upper plate motor sensor 535 may be located in the interaction upper function module. More specifically, the upper plate motor sensor 535 may be connected to the final output end of the shaft or gear of the upper plate motor 525 and located behind the display together with the upper plate motor 525.

[0241] The sensor unit 530 may include a tilt sensing sensor 536.

[0242] The tilt sensor 536 can measure the tilt angle of the robot body 100.

[0243] The tilt sensor 536 may be, for example, a 3-axis accelerometer. An accelerometer is a sensor that detects the gravitational acceleration of an object when it is stationary. Since the gravitational acceleration changes depending on the angle at which the object is tilted, the tilt angle can be obtained by measuring the gravitational acceleration. However, it has the disadvantage that it cannot obtain an accurate value when the object is moving and accelerating, rather than when it is stationary.

[0244] The tilt sensor 536 may be, for example, a 3-axis gyro sensor. A gyro sensor is a sensor that measures angular velocity. Integrating the angular velocity over the total time yields the tilt angle. However, the angular velocity measured by the gyro sensor is subject to persistent errors due to noise and other reasons, and such errors cause errors in the integrated value to accumulate and occur over time.

[0245] As a result, when robot 1 remains stationary for a long period of time, the accelerometer can accurately measure the inclination, but errors occur in the gyro sensor. When moving, robot 1 can accurately measure the inclination value with the gyro sensor, but the accelerometer does not provide the correct value.

[0246] Preferably, the tilt sensor 536 may be an IMU (Inertial Measurement Unit) sensor. As is well known, an IMU sensor is a sensor that incorporates a 3-axis accelerometer, a 3-axis gyroscope, and a geomagnetic sensor, and is also called an inertial measurement sensor. Using an IMU sensor can compensate for the shortcomings of the accelerometer and gyroscope sensors mentioned above.

[0247] Hereinafter, this specification will describe embodiments in which an IMU sensor is provided as the tilt sensing sensor 536.

[0248] The IMU sensor may be located on the robot body 100. More specifically, the IMU sensor may be located adjacent to the control unit 510. The IMU sensor may also be mounted on a PCB inside the robot body 100. To improve the accuracy of measuring the tilt angle and direction, it is preferable to position the IMU sensor close to the central region of the robot body 100.

[0249] The IMU sensor is located on the 3rd of the robot body 100. shaft At least one of the acceleration, triaxial angular velocity, and triaxial geomagnetic data may be measured and transmitted to the control unit 510.

[0250] The control unit 510 can calculate the tilt direction and tilt angle of the robot body 100 using at least one of the acceleration, angular velocity, and geomagnetic data received from the IMU sensor. Based on this, the control unit 510 can perform horizontal attitude maintenance control of the robot body 100, as described later.

[0251] The sensor unit 530 may include a fall prevention sensor 537 for detecting steps or uneven surfaces.

[0252] The fall prevention sensor 537 may be configured to sense the distance between the robot 1 and the ground in front of it as it travels. The fall prevention sensor 537 may be configured in various ways within a range that allows it to sense the relative distance between the point where the fall prevention sensor 537 is formed and the ground.

[0253] For example, the fall prevention sensor 537 may include a light-emitting unit that emits light and a light-receiving unit that receives reflected light. The fall prevention sensor 537 may be configured as an infrared sensor. The fall prevention sensor 537 may also be called a cliff sensor.

[0254] The fall prevention sensor 537 may be located on the robot body 100. More specifically, the fall prevention sensor 537 may be located inside the front cover 110 of the robot body 100. Preferably, it may be located inside a downward-sloping surface provided on the front cover 110. This allows the fall prevention sensor 537 to shine light toward the floor surface in front of the robot 1. In other words, the fall prevention sensor 537 located inside the forward-sloping surface can sense in advance whether or not there is a step in front of the robot 1 in the direction of travel.

[0255] The light-emitting part of the fall prevention sensor 537 can emit light at an angle toward the floor surface in front. The light-receiving part of the fall prevention sensor 537 can receive light that is reflected from the floor surface and incident on its own. Based on the difference between the time of light emission and the time of light reception, the distance between the ground in front and the fall prevention sensor 537 can be measured.

[0256] If the distance measured by the fall prevention sensor 537 exceeds a predetermined value or exceeds a predetermined range, it may indicate that the ground in front suddenly drops in height. Based on this principle, a step can be detected.

[0257] The control unit 510 may control the wheel motor MW so that the robot 1 avoids the detected step when it detects a step ahead. In this case, the control of the wheel motor MW may be stop control. Alternatively, the control of the wheel motor MW may be rotation direction switching control.

[0258] The fall prevention sensor 537 may be further positioned inside the rear cover 120 of the robot body 100. Preferably, it may be positioned inside a downward-sloping surface provided on the rear cover 120. This allows the fall prevention sensor 537 to shine light toward the floor surface behind the robot 1. In other words, the fall prevention sensor 537 positioned inside the rear sloped surface can sense in advance whether or not there is a step behind the robot 1 when it is moving backward.

[0259] The sensor unit 530 may include a contact sensing sensor 538.

[0260] The contact sensor 538 can detect whether or not the wheel 310 is in contact with the ground.

[0261] The contact sensing sensor 538 may include a TOF sensor 538a that measures the distance between the wheel 310 of the robot 1 and the ground. The TOF sensor 538a may be a 3D camera to which TOF (Time of Flight) technology is applied. As is well known, TOF technology is a technique that measures the distance to an object based on the round-trip flight time it takes for light shone towards the object to reflect back.

[0262] The TOF sensor 538a may be located on the wheel portion 300. For example, the contact sensing sensors 538 may be located on the left and right wheel housings 320, respectively. The distance measured by the TOF sensor 538a can be used to determine whether the wheel 310 is in contact with the ground. If the distance measured by the TOF sensor 538a is less than a preset distance (or less than the lower limit of a preset distance range), the wheel 310 is in contact with the ground. If the distance measured by the TOF sensor 538a is greater than or equal to a preset distance (or greater than or equal to the upper limit of a preset distance range), the wheel 310 is separated from the ground.

[0263] The contact sensing sensor 538 may include a load cell 538b that measures the magnitude of the force applied to a part of the robot 1.

[0264] As is well known, when a force is applied to a load cell 538b, the resistance value of the strain gauge on its surface changes. At this time, the magnitude of the force applied to the load cell 538b can be measured by the change in the resistance value.

[0265] The load cell 538b may be arranged in the leg portion 200. Preferably, the load cells 538b may be arranged in the left and right third link bodies 231, respectively. In a state where the wheel 310 is in contact with the floor, the third link 230 is deformed by a vertical resistance force applied from the ground. The measured value of the load cell 538b appears as a value different from the initial value due to the deformation of the third link 230. Thereby, it is possible to determine whether or not the wheel 310 is in contact with the ground.

[0266] The sensor unit 530 may include an environmental sensor 539.

[0267] The environmental sensor 539 may be configured to measure various environmental conditions outside the robot 1, that is, inside the house where the robot 1 travels. The environmental sensor 539 may include at least one of a temperature sensor 539a, a humidity sensor 539b, and a dust sensor 539c.

[0268] The environmental sensor 539 may be arranged on the robot body 100. More specifically, the environmental sensor 539 may be arranged behind the robot body 100. As a possible embodiment, the information measured by the environmental sensor 539 may be visually displayed on the display unit 554.

[0269] The interface unit 550 includes at least one configuration for interaction between the user and the robot 1, and each configuration may be provided to input commands from the user and / or output information to the user.

[0270] The interface unit 550 may include a microphone 551.

[0271] The microphone 551 is configured to recognize the user's voice, and multiple microphones 551 may be provided. The microphone 551 may be arranged in the upper functional module. More specifically, the microphone 551 may be arranged in the interaction upper functional module. The microphone 551 may be arranged adjacent to the display of the interaction upper functional module. Preferably, two microphones 551 may be arranged respectively above and below the display, and a total of four microphones 551 may be arranged.

[0272] The voice signal received by the microphone 551 can be used to track the user's position. At this time, a known sound source tracking algorithm may be applied. For example, the sound source tracking algorithm may be a three-point measurement method (triangulation method) using the time difference of the voice signals received by multiple microphones 551. It is a principle of calculating the position of the sound source using the positions of each microphone 551 and the speed of sound waves.

[0273] On the other hand, by the microphone 551 and the second camera 532 described above cooperating with each other, even when the user calls the robot 1 from a distance, the robot 1 can be made to come to the user's position.

[0274] The interface unit 550 may include a speaker 552.

[0275] The speaker 552 may be arranged in the upper functional module. For example, the speaker 552 may be arranged adjacent to the display of the interaction upper functional module. The speaker 552 may be arranged above the display and may be provided on the left and right sides respectively.

[0276] The speaker 552 can send out the information of the robot 1 as sound. The source of the sound sent out by the speaker 552 may be the sound data pre-stored in the robot 1. For example, the pre-stored sound data may be the voice data of the robot 1. For example, the pre-stored sound data may be a notification sound guiding the state of the robot 1.

[0277] The interface unit 550 may include the operation unit 553.

[0278] The control unit 553 may receive commands from the user to switch the power of the robot 1 on or off.

[0279] The power-on operation may mean supplying power to the control unit 510. The power-off operation may mean cutting off the power supply to the control unit 510. Power is supplied from the battery 560.

[0280] Turning off the power to robot 1 by the control unit 553 means a complete power cut-off, which may differ in meaning from the power-saving mode that temporarily stops the power supply to each functional module. The power-saving mode can be controlled by the control unit 510 while the power is on.

[0281] On the other hand, since it is rare to completely cut off the power to the robot 1 that performs the role of a pet or butler, it is preferable that the operating unit 553 be located behind the robot body 100.

[0282] A user command to the control unit 553 may be an action to pivot the control unit 553 in the vertical or horizontal direction. When the user pivots the control unit 553 to one side, the power to the robot 1 can be turned on. When the user pivots the control unit 553 to the other side, opposite to the first side, the power to the robot 1 can be turned off.

[0283] However, the form of the operating unit 553 is not limited. As another example, the operating unit 553 may be a button to which an on / off command is input by a user's push action. As yet another example, the operating unit 553 may be a slide button to which an on / off command is input by a user's sliding action. As yet another example, the operating unit 553 may be a touchscreen to which an on / off command is input by a user's touch action.

[0284] The interface unit 550 may include a display unit 554 and an input unit 555.

[0285] The display unit 554 may include displays located in one or more modules. The display unit 554 may include a first display located on the front cover 110 of the robot body 100. The display unit 554 may include a second display located on the upper functional module.

[0286] The first and second displays may be formed from any of the following elements: light-emitting diodes (LEDs), liquid crystal displays (LCDs), plasma display panels, or organic light-emitting diodes (OLEDs).

[0287] The first or second display may show information such as the operating time of the robot 1 and the power information of the battery 560.

[0288] The second display may show the facial expression of robot 1. Alternatively, the second display may show the eyes of robot 1. The current state of robot 1 may be personified and expressed as an emotion through the shape of the face or eyes displayed on the second display. For example, when the user goes out and returns home, a smiling face or the shape of smiling eyes may be displayed on the second display. This has the effect of giving the user a sense of communication with robot 1.

[0289] The input unit 555 may be configured to receive control commands from the user for controlling the robot 1. For example, the control commands may be commands to change various settings of the robot 1. For example, the settings may be the volume of the sound, the brightness of the display, the power saving mode setting, etc.

[0290] The input unit 555 may be arranged on the front cover 110 of the robot main body 100. The input unit 555 may be arranged adjacent to the first display or on the first display.

[0291] The input unit 555 generates key input data input by the user to control the operation of the robot 1. For this purpose, the input unit 555 may be composed of a key pad, a dome switch, a touch pad (static pressure / electrostatic), etc. In particular, when the touch pad forms an interlayer structure with the first display, it can be called a touch screen.

[0292] The battery 560 is configured to supply power to other components of the robot 1.

[0293] The battery 560 may be arranged in the robot main body 100. More specifically, the battery 560 may be arranged on the rear side of the robot main body 100. The battery 560 may be arranged behind the suspension motor MS.

[0294] The battery 560 can be charged by an external power source. For this purpose, a charging terminal 152 for charging the battery 560 may be provided on one side of the robot main body 100 or on the battery 560 itself. As in the embodiment of the present invention, the charging terminal 152 may be arranged on the bottom cover 150 of the robot main body 100. Thereby, the robot 1 can easily be coupled to the charging station in a manner of approaching the charging station and fixing the charging terminal 152 to the corresponding terminal of the charging station from above.

[0295] The memory 570 is configured to store various data for driving and operating the robot 1.

[0296] Memory 570 may store application programs for autonomous navigation of robot 1 and various related data. Memory 570 may also store data sensed by the sensor unit 530, and may also store setting information for various settings selected or entered by the user.

[0297] The memory 570 may include a magnetic storage medium or a flash storage medium, but the scope of the present invention is not limited to these. Such a memory 570 may include an internal memory and / or external memory, and may include volatile memory such as DRAM, SRAM, or SDRAM; non-volatile memory such as OTPROM (one-time programmable ROM), PROM, EPROM, EEPROM, mask ROM, flash ROM, NAND flash memory, or NOR flash memory; a flash drive such as an SSD, CF (compact flash) card, SD card, Micro-SD card, Mini-SD card, Xd card, or memory stick; or a storage device such as an HDD.

[0298] The memory 570 may be included in the control unit 510, or it may be provided as a separate component.

[0299] A communication unit 580 may be provided to transmit signals between the various internal components of the robot 1. The communication unit 580 can, for example, support CAN (Controller Area Network) communication. The signals may, for example, be control commands transmitted from the control unit 510 to other components.

[0300] The communication unit 580 can support wireless communication with other devices located outside the robot 1. A short-range communication module or a long-range communication module may be provided as a wireless communication module to support wireless communication.

[0301] Examples of short-range communication include Bluetooth communication and NFC (Near Field Communication) communication.

[0302] Examples of long-distance communication include Wireless LAN (WLAN), DLNA (Digital Living Network Alliance: registered trademark), Wibro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access: WiMAX), GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), CDMA2000 (Code Division Multi Access 2000), EV-DO (Enhanced Voice-Data Optimized or Enhanced Voice-Data Only), WCDMA (Wideband CDMA: registered trademark), HSDPA (High Speed ​​Downlink Packet Access), HSUPA (High Speed ​​Uplink Packet Access), IEEE 802.16, Long Term Evolution (LTE), LTEA (Long Term Evolution-Advanced), Wireless Mobile Broadband Service (WMBS), BLE (Bluetooth Low Energy), Zigbee, and RF (Radio Frequency). Examples include Frequency (Frequency) and LoRa (Long Range).

[0303] Robot balance using 4-bar linkage Figures 13 and 14 show diagrams illustrating the change in wheel position due to leg movement in a robot according to one embodiment of the present invention; Figure 15 shows a diagram illustrating the arrangement of the wheels and the arrangement relationship for coupling with the lower functional module in a robot according to one embodiment of the present invention; and Figure 16 shows a schematic diagram illustrating how the load of the robot body is transmitted to the wheels in a robot according to one embodiment of the present invention.

[0304] In an embodiment of the present invention, the robot 1 supports the robot body 100 through a four-bar link structure, and can maintain the balance of the robot body 100.

[0305] Referring to Figures 13 and 14, the balance of the robot 1 in the front-rear direction according to an embodiment of the present invention will be described as follows.

[0306] Leg sections 200 are provided on both sides of the robot body 100. Specifically, a first link 210 and a second link 220 are rotatably connected to the side frames 130 provided on both sides of the robot body 100, and the first link 210 and the second link 220 are linked to a third link 230. In other words, the robot 1 is supported by a four-bar linkage consisting of the side frames 130, the first link 210, the second link 220, and the third link 230.

[0307] In this configuration, as shown in Figures 13 and 14, when viewing the side of the robot body 100, the robot body 100 may be positioned vertically above the wheel 310. With this configuration, the wheel 310 can stably support the load of the robot body 100.

[0308] In particular, the motor coupling section 212 may be positioned vertically above the wheel 310. With this configuration, the wheel 310 can stably support the motor coupling section 212, to which the load of the robot body 100 is concentrated, and the balance of the robot 1 can be maintained.

[0309] On the other hand, as shown in Figures 13 and 14, when viewing the side of the robot body 100, the coupling bar 151 may be positioned vertically above the wheel 310. With this configuration, even when the lower functional module 800 is coupled 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.

[0310] On the other hand, in the embodiment of the present invention, the gravity compensation unit 215 generates a restoring force in the direction that lifts the robot body 100. Therefore, even when the suspension motor MS is not driven, the pair of leg units 200 can maintain a state in which the robot body 100 is lifted to a predetermined height from the ground.

[0311] On the other hand, in the embodiment of the present invention, when the robot 1 lifts one of the pair of wheels 310 to overcome an obstacle, or when lowering the height of the robot body 100 for charging or the like, it can drive the suspension motor MS to maintain balance.

[0312] When the suspension motor MS is driven, the first link 210 rotates around the motor coupling portion 212 as an axis, and the link coupling portion 213 moves upward. The third link 230 also moves in accordance with the rotation of the first link 210. The second link 220 is also 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.

[0313] This configuration allows the range of movement of the wheel 310 in the front-to-back direction to be limited, even when the wheel 310 is moved vertically. Therefore, the robot 1 can maintain stable balance.

[0314] Therefore, the robot 1 according to the present invention has the effect of being able to overcome obstacles of various heights using a four-bar link structure.

[0315] In the robot 1 according to an 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. Also, 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. Also, 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. Also, 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. Furthermore, the center C3 of the third link coupling hole 232 of the third link 230 and the center C5 of the wheel coupling portion 234 of the third link 230 may be arranged with a predetermined fifth distance d5 between them.

[0316] 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 the fifth distance d5. The second distance d2 may be 0.95 times or more and 1.05 times or less the fifth distance d5. The third distance d3 may be 1.1 times or more and 1.2 times or less the fifth distance d5. The fourth distance d4 may be 0.2 times or more and 0.3 times or less the fifth distance d5.

[0317] With this configuration, even when the suspension motor MS is driven and the third link 230 moves, the longitudinal movement distance of the wheel coupling portion 234 can be maintained within a predetermined deviation ΔD. For example, even when the third link 230 moves, the longitudinal movement distance of the center C5 of the wheel coupling portion 234 can be maintained within 2% of the fifth distance d5.

[0318] Therefore, during the movement of the robot 1, the center of gravity of the robot body 100 can be positioned vertically above the wheel 310. This prevents the robot 1 from swaying back and forth during movement and helps maintain balance.

[0319] Furthermore, according to the robot 1 of the present invention, even if the wheel 310 is lifted upward when overcoming an obstacle, the front-to-back position of the wheel 310 does not change, and balance can be maintained.

[0320] Referring to Figures 15 and 16, the left-right balance of the robot 1 according to the embodiment of the present invention will be described as follows.

[0321] As shown in Figures 15 and 16, the robot body 100 is supported by a pair of leg sections 200 and wheel sections 300.

[0322] The load of the robot body 100 is transmitted to the wheel 310 via the leg portion 200, and the wheel 310 can support the leg portion 200 and the robot body 100.

[0323] In this case, the pair of leg portions 200 may be arranged symmetrically (line symmetrically). In particular, the parts of the pair of leg portions 200 that are linked together may be arranged side by side.

[0324] Specifically, the motor coupling portions 212 of a pair of first links 210 may be arranged side by side. The link coupling portions 213 of a pair of first links 210 may be arranged side by side. The frame coupling portions 222 of a pair of second links 220 may be arranged side by side. The link coupling portions 223 of a pair of second links 220 may be arranged side by side. The wheel coupling portions 234 of a pair of third links 230 may be arranged side by side.

[0325] With this configuration, a module coupling space 153 having a predetermined width ΔS is formed on the underside of the robot body 100. The module coupling space 153 may be formed alongside a pair of leg portions 200. Alternatively, the module coupling space 153 may be formed alongside a pair of wheels 310.

[0326] The robot body 100 is equipped with at least one motor, including a suspension motor MS, and a battery 560. When the robot 1 is placed on the ground, the entire load of the robot body 100, including the motor and battery 560, may be applied to the leg section 200.

[0327] In particular, in the robot 1 according to one embodiment of the present invention, since the leg portions 200 are provided 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 leg portions 200.

[0328] In this case, as shown in Figure 15, the side frame 130 and the leg portion 200 may both be positioned vertically above the wheel portion 300, based on the perspective of viewing the front of the robot 1 from the front of the robot 1.

[0329] For example, as shown in Figure 15, when viewing the front of the robot 1, the side frame 130 and leg portion 200 may be arranged in a virtual space extending along the vertical direction of the wheel 310.

[0330] In other words, as shown in Figure 15, the side frame 130 and the leg portion 200 may be positioned between a virtual line a1 extending vertically from the axial outer end of the wheel 310 and a virtual line a2 extending vertically from the axial inner end of the wheel 310.

[0331] Specifically, each side frame 130 may be positioned between a virtual line a1 extending vertically from the axial outer end of the wheel 310 and a virtual line a2 extending vertically from the axial inner end of the wheel 310.

[0332] The first link 210 may be positioned between a virtual line a1 extending vertically from the axial outer end of the wheel 310 and a virtual line a2 extending vertically from the axial inner end of the wheel 310.

[0333] The second link 220 may be positioned between a virtual line a1 extending vertically from the axial outer end of the wheel 310 and a virtual line a2 extending vertically from the axial inner end of the wheel 310.

[0334] The third link 230 may be connected, at least in part, to the axial inner end of the wheel 310. The third link 230 may be positioned in a virtual space extending vertically along the wheel portion 300. For example, the third link may be positioned between a virtual line a1 extending vertically along the axial outer end of the wheel 310 and a virtual line extending vertically along the axial inner end of the wheel housing 320.

[0335] Furthermore, the thickness of the leg section 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) △W.

[0336] With this configuration, the entire load of the robot body 100 applied to the side frame 130 and leg section 200 can be supported by the wheel 310 positioned on the lower side in the direction of gravity.

[0337] As shown in Figure 16, the entire load (F1) of the robot body 100 can be distributed to a pair of side frames 130 located on both sides of the robot body 100.

[0338] At this time, since the pair of side frames 130 are connected to the first link 210 and the second link 220, the total load (F1) of the robot body 100 can be distributed toward the point where the side frame 130 and the first link 210 are connected, and the point where the side frame 130 and the second link 220 are connected (F2).

[0339] Furthermore, the distributed force (F2) may be applied toward the ground along the first link 210 and the second link 220 (F3). The force (F3) applied along the first link 210 and the second link 220 is transmitted along the wheel 310 toward the ground. of You can press (F4).

[0340] In this case, since the thickness of the wheel 310 is greater than the thickness of the side frame 130 and the leg portion 200, the force pushing against the ground can be stably distributed, and the balance of the robot 1 can be stably maintained.

[0341] On the other hand, the load of the robot body 100 applied along the first link 210 and the second link 220 can be supported by the third link 230 (F5). Furthermore, the force pushing the first link 210 due to the load of the robot body 100 is offset by the gravity compensation unit 215, so that the robot 1 can be stably supported.

[0342] Therefore, according to the robot 1 of 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, the balance of the robot body 100 can be stably maintained.

[0343] Furthermore, the load from the robot body 100 can apply pressure to the leg section 200 vertically downward, preventing load from being applied to the robot 1 in the left-right direction, thereby preventing the robot 1 from swaying from side to side.

[0344] Lower function module Figure 17 shows a diagram illustrating the state in which a robot according to one embodiment of the present invention is coupled with a lower functional module, and Figures 18 to 23 show diagrams illustrating the process by which the coupling bar of the robot body and the lower functional module are coupled in a robot according to one embodiment of the present invention.

[0345] Referring to Figures 17 to 23, the lower functional module 800 of the robot 1 according to one embodiment of the present invention is described as follows.

[0346] The lower function module 800 is a component that, when coupled to the robot body 100, provides the robot 1 with various functions.

[0347] The lower functional module 800 is detachably coupled to the robot body 100. Specifically, the lower functional module 800 may be detachably coupled to the lower side (bottom) of the bottom cover 150. Alternatively, the lower functional module 800 may be detachably coupled to the robot body 100 in the space formed between the pair of leg sections 200 and the pair of wheel sections 300.

[0348] With this configuration, various functions can be performed by attaching the lower function module 800 to the underside of the robot body 100 according to the user's needs or circumstances.

[0349] Furthermore, after separating the lower function module 800 that was previously connected, its function may be changed by connecting it with another lower function module 800 that performs a different function, or a new function may be added by attaching an additional lower function module 800 while it is connected to the upper function module 700.

[0350] The lower function module 800 may be placed on the floor (ground) before being coupled to the robot body 100. Alternatively, the lower function module 800 may be coupled to the robot body 100 and move along the floor (ground). Furthermore, the lower function module 800 can be placed on the floor (ground) after being separated from the robot body 100.

[0351] Here, the lower function module 800 may be primarily configured to perform functions that are advantageous when placed closer to the floor than the upper function module 700. That is, in the case of the upper function module 700, since it is placed on top of the robot body 100, it is preferable to provide a function that maintains a predetermined height, such as placing a cup at a height that is easily visible to the user or easily reachable by the user, or placing an object such as a mobile phone at a position that is easily accessible to the user. In contrast, it is preferable to provide a function that allows the lower function module 800 to be placed on the floor or at a position lower than the robot body 100.

[0352] For example, the lower function module 800 may include a battery (not shown), a suction nozzle 830, and a dust container 837. With this configuration, when the lower function module 800 is connected to the robot body 100, the robot 1 can perform dry cleaning.

[0353] As another example, the lower functional module 800 may include a mop that rotates around a pivot axis and a water tank that stores the water supplied to the mop. With such a configuration, when the lower functional module 800 is connected to the robot body 100, the robot 1 can perform wet cleaning.

[0354] As another example, the lower functional module 800 may include an arm and a gripper. With such a configuration, when the lower functional module 800 is connected to the robot body 100, the gripper can grasp and lift objects such as mobile phones or large objects and transport them to another location.

[0355] To avoid redundant explanations, the following description will be based on the lower function module 800 with a dry cleaning function, but it is not limited to this module and can be applied to all lower function modules 800 with other functions.

[0356] The lower function module 800 includes a lower function module body 810. The lower function module body 810 may be configured to form the outer shape of the lower function module 800. For example, the lower function module body 810 may be a rectangular parallelepiped that is extended along the front-rear direction. With such a configuration, the lower function module body 810 may be positioned below the bottom cover 150 and between the pair of leg portions 200.

[0357] The lower function module body 810 may be coupled with a device that provides functionality to the lower function module 800 (for example, a suction nozzle 830). The lower function module body 810 may also have internal components such as a battery and a motor.

[0358] On the other hand, the lower functional module 800 may include a lamp 815. The lamp 815 can indicate the position of the lower functional module 800 by emitting light. For example, the lamp 815 may be an infrared (IR) LED (light emitting diode).

[0359] For reference, the rear of the lower functional module 800 may refer to the direction in which the lamp 815 is positioned relative to the corresponding terminal 825. The front of the lower functional module 800 may refer to the opposite direction from the rear (for example, the direction in which the suction nozzle 830 is positioned).

[0360] The lower functional module body 810 may be equipped with a robot body fastening portion 820, which will be described later.

[0361] The lower functional module 800 includes a robot body fastening portion 820 that connects to the robot body 100.

[0362] The robot body fastening portion 820 may be connected to the upper side of the lower functional module body 810. Alternatively, the robot body fastening portion 820 may be connected to the lower side of the robot body 100. Specifically, the robot body fastening portion 820 is connected to the coupling bar 151 and charging terminal 152 provided on the lower cover 150.

[0363] In a robot 1 according to one embodiment of the present invention, the robot body fastening portion 820 includes a fastening portion body 821.

[0364] The fastening section body 821 is connected to the lower functional module body 810, and the connecting bar 151 of the robot body 100 can be accommodated when the robot body 100 and the lower functional module 800 are connected.

[0365] Specifically, a bar accommodating groove 821a may be formed in the fastening part body 821. The bar accommodating groove 821a may be formed as a recess on the lower side of the upper surface of the fastening part body 821.

[0366] The bar accommodating groove 821a can accommodate at least a portion of the connecting bar 151. The bar accommodating groove 821a may be formed to correspond to the shape of the connecting bar 151. For example, the bar accommodating groove 821a may be formed along the left-right direction of the lower functional module 800 to correspond to the shape of the cylindrical connecting bar 151.

[0367] With this configuration, the connecting bar 151 can be accommodated in the bar housing groove 821a while the robot body 100 and the lower functional module 800 are connected. In addition, the upper surface of the fastening part body 821 can be supported by contacting the lower surface of the lower cover 150. Therefore, even if the robot body 100 moves while the robot body 100 and the lower functional module 800 are connected, the lower functional module 800 can be prevented from shaking.

[0368] The robot body fastening section 820 includes a coupling hook 822. The coupling hook 822 may be rotatably coupled to the fastening section body 821 and, as it rotates, coupled to the coupling bar 151 housed in the bar housing groove 821a.

[0369] Specifically, the coupling hook 822 includes a coupling hook body 822a, a bar support portion 822b, a bar guide portion 822c, a hooking projection 822d, a shaft 822e, and a housing groove 822f.

[0370] The coupling hook body 822a is rotatably coupled to the fastening body 821. A bar support portion 822b may be formed protruding from one longitudinal side of the coupling hook body 822a. A bar guide portion 822c may be formed protruding from the coupling hook body 822a at a predetermined distance from the bar support portion 822b. A hook projection 822d may be formed on the other side of the coupling hook body 822a. A shaft 822e may be rotatably coupled to the coupling hook body 822a. A accommodating groove 822f may be formed in the coupling hook body 822a between the bar support portion 822b and the bar guide portion 822c.

[0371] For example, the coupling hook body 822a may be formed in the shape of a block having a predetermined thickness. The coupling hook body 822a may rotate around the shaft 822e as an axis. With this configuration, the rotation of the coupling hook body 822a can cause the bar support portion 822b, the bar guide portion 822c, and the hooking projection 822d to rotate.

[0372] The bar support portion 822b may be formed as an extension protruding from the coupling hook body 822a and may come into contact with the coupling bar 151. For example, the bar support portion 822b may be formed as an extension protruding from one side of the coupling hook body 822a to a predetermined thickness and length. In this case, at least a portion of the bar support portion 822b may be positioned above the bar guide portion 822c in the direction of gravity.

[0373] The bar support portion 822b may rotate around the shaft 822e connected to the coupling hook body 822a. For example, the bar support portion 822b may rotate downward by contacting the lower surface of the lower cover 150. As another example, when the bar guide portion 822c is pressed downward by the coupling bar 151, the bar support portion 822b can rotate together with the coupling hook body 822a in accordance with the rotation of the bar guide portion 822c. As yet another example, the bar support portion 822b can rotate together with the coupling hook body 822a by the elastic force of the torsion spring 826.

[0374] The bar support portion 822b prevents the connecting bar 151 from detaching from the lower functional module 800 by contacting and supporting the connecting bar 151. The bar support portion 822b may be positioned above the connecting bar 151 when the connecting bar 151 is connected to the robot body fastening portion 820.

[0375] When the robot body 100 is lifted upward, the connecting bar 151 can also move upward. Furthermore, the connecting bar 151 that moves upward can be supported by the bar support part 822b.

[0376] With this configuration, even if the robot body 100 is lifted upward, the bar support 822b prevents the lower functional module 800 and the robot body 100 from separating arbitrarily.

[0377] The bar guide portion 822c may be formed as an extension protruding from the coupling hook body 822a and may come into contact with the coupling bar 151. For example, the bar guide portion 822c may be formed as an extension protruding from one side of the coupling hook body 822a to a predetermined thickness and length. In this case, at least a portion of the bar guide portion 822c may be positioned below the bar support portion 822b in the direction of gravity.

[0378] The bar guide portion 822c may rotate around the shaft 822e connected to the coupling hook body 822a. For example, the bar guide portion 822c may be in contact with the coupling bar 151 and may rotate under downward pressure from the coupling bar 151. As another example, when the bar support portion 222b is pressed downward by the lower surface of the lower cover 150, the bar guide portion 822c can rotate together with the coupling hook body 822a in accordance with the rotation of the bar support portion 822b. As yet another example, the bar guide portion 822c can rotate together with the coupling hook body 822a due to the elastic force of the torsion spring 826.

[0379] The bar guide portion 822c can guide the movement of the connecting bar 151. For example, when the connecting bar 151 descends, the bar guide portion 822c can rotate downwards in contact with the connecting bar 151. The bar guide portion 822c can also rotate due to the elastic force of the torsion spring 826 to guide the upward movement of the connecting bar 151.

[0380] The hook projection 822d may protrude from the coupling hook body 822a and may come into contact with the support stopper 823, which will be described later. The hook projection 822d may also protrude from the other side of the coupling hook body 822a. For example, the hook projection 822d may be positioned on the opposite side of the bar support portion 822d with respect to the coupling hook body 822a.

[0381] The hook projection 822d may rotate around the shaft 822e connected to the coupling hook body 822a. For example, the hook projection 822d can rotate together with the coupling hook body 822a when the bar support portion 822b or the bar guide portion 822c is pressurized and rotated. As another example, the hook projection 822d can rotate together with the coupling hook body 822a due to the elastic force of the torsion spring 826.

[0382] The hook projection 822d may be coupled to the support stopper 823. For example, the hook projection 822d may rotate together with the coupling hook body 822a and be housed in a hook projection housing portion 823b formed on the support stopper 823 at a predetermined position. With this configuration, when the hook projection 822d is housed in the hook projection housing portion 823b, the coupling hook 822 and the support stopper 823 are supported in contact with each other, and the coupling can be released and rotated only when an external force of a predetermined magnitude or greater is applied.

[0383] The shaft 822e is rotatably coupled to the coupling hook body 822a. The shaft 822e can provide an axis from which the coupling hook body 822a rotates.

[0384] The accommodating groove 822f is formed in the coupling hook body 822a and can accommodate the coupling bar 151. The accommodating groove 822f may be formed between the bar support portion 822b and the bar guide portion 822c. For example, the accommodating groove 822f may be located between the bar support portion 822b and the bar guide portion 822c, which are formed to protrude from the coupling hook body 822a. That is, the accommodating groove 822f may mean a recessed groove formed between the bar support portion 822b and the bar guide portion 822c.

[0385] With this configuration, when the robot body 100 descends to connect to the lower functional module 800, the connecting bar 151 descends and is housed in the accommodating groove 822f formed between the bar support portion 822b and the bar guide portion 822c.

[0386] The space formed in the accommodating groove 822f may communicate with the space formed in the bar accommodating groove 821a. The connecting bar 151 can be accommodated in the aforementioned communicating space.

[0387] The support stopper 823 is rotatably coupled to the fastening body 821, and fastens with the connecting hook 822 when the connecting hook 822 rotates to a predetermined position.

[0388] The support stopper 823 includes a stopper body 823a, a hook projection housing portion 823b, a switch contact portion 823c, and a shaft 823d.

[0389] The stopper body 823a is rotatably coupled to the fastening body 821. A hook projection housing portion 823b may be formed on one longitudinal side of the stopper body 823a. A switch contact portion 823c may be formed on the other side of the stopper body 823a. A shaft 823d may be rotatably coupled to the stopper body 823a.

[0390] For example, the stopper body 823a may be formed in the shape of a block having a predetermined thickness. The stopper body 823a may rotate around the shaft 823d. With such a configuration, the rotation of the stopper body 823a can cause the hook projection housing portion 823b and the switch contact portion 823c to rotate.

[0391] The hook projection housing portion 823b is formed in the stopper body 823a and can accommodate the hook projection 822d of the connecting hook 822.

[0392] For example, the hook projection housing portion 823b may be formed on one side of the stopper body 823a. In this case, the hook projection housing portion 823b may be formed to protrude from the stopper body 823a and have a groove formed therein that can accommodate the hook projection 822d. That is, the hook projection housing portion 823b may be formed as a step on one side in the longitudinal direction of the support stopper body 823a.

[0393] With this configuration, when the hook projection 822d rotates to a predetermined position, it is housed in a groove formed in the hook projection housing portion 823b. Furthermore, with the hook projection 822d housed in the hook projection housing portion 823b, the coupling hook 822 and the support stopper 823 are in contact with each other and supported, and the coupling is released and rotation is possible only when an external force of a predetermined magnitude or greater is applied.

[0394] The switch contact portion 823c is formed on the stopper body 823a and is subjected to external force via a switch 824, which will be described later.

[0395] The switch contact portion 823c may be formed as an extension protruding from the other side of the stopper body 823a. For example, the switch contact portion 823c may be positioned on the opposite side of the hook projection housing portion 823b with respect to the stopper body 823a.

[0396] At least a portion of the switch contact portion 823c may be positioned on the linear movement region of the switch 824. With this configuration, the switch contact portion 823c can be pressed when the switch 824 moves linearly.

[0397] The length of the switch contact portion 823c extending from the stopper body 823a may be longer than the length of the hook projection housing portion 823b extending from the stopper body 823a. Therefore, with the rotation center of the support stopper 823 as the origin, the distance to the position where the support stopper 823 and the switch 824 come into contact with each other may be greater than the distance to the position where the coupling hook 822 comes into contact with the support stopper 823. With this configuration, the force with which the switch 824 pushes the support stopper 823 can be used to release the fastening between the coupling hook 822 and the support stopper 823.

[0398] The shaft 823d is rotatably coupled to the stopper body 823a. The shaft 823d can provide the axis on which the stopper body 823a rotates.

[0399] The switch 824 is mounted on the fastening body 821 so as to be linearly movable, and the support stopper 823 can be rotated through linear movement.

[0400] For example, the switch 824 may be provided for the user to press. The switch 824 may be formed in a cylindrical shape, with one end in the axial direction (longitudinal direction) exposed to the outside of the fastening body 821 and the other end in the axial direction located inside the fastening body 821.

[0401] As another example, the switch 824 may be equipped with an actuator (not shown), and may move linearly by the operation of the actuator.

[0402] With this configuration, the linear movement of the switch 824 can pressurize the support stopper 823, and the rotation of the support stopper 823 can release the fastening between the support stopper 823 and the coupling hook 822.

[0403] The corresponding terminal 825 is located on the fastening body 821, and when the robot body 100 and the lower function module 800 are connected, it can come into contact with the charging terminal 152 located on the bottom cover 150.

[0404] The charging terminal 152 connects to the corresponding terminal 825, thereby electrically connecting the lower function module 800 to the robot body 100.

[0405] The corresponding terminal 825 may be formed to correspond to the shape of the charging terminal 152. For example, the corresponding terminal 825 may be positioned on a groove formed by recessing downward on the upper surface of the fastening part body 821, corresponding to the shape of the charging terminal 152 which is formed to protrude downward on the lower cover 150.

[0406] With this configuration, when the robot body 100 and the lower function module 800 are connected, the charging terminal 152 and the corresponding terminal 825 can be connected in the correct position. In addition, it is possible to prevent the lower function module 800 from shaking or becoming detached while it is connected to the robot body 100.

[0407] The torsion spring 826 can apply a restoring force to the coupling hook 822 when the coupling hook 822 rotates. The torsion spring 826 may be wound around the outer circumferential surface of the shaft 822e of the coupling hook 822. In this case, both ends of the torsion spring 826 may be connected to the shaft 822e and the coupling hook body 822a, respectively.

[0408] Therefore, when the coupling bar 151 descends and rotates the coupling hook 822, an elastic force may be generated in the torsion spring 826. At this time, the elastic force of the torsion spring 826 may be less than the support force (coupling force) between the coupling hook 822 and the support stopper 823. Thus, the state in which the robot body 100 and the lower functional module 800 are coupled can be maintained.

[0409] Furthermore, when an external force is applied via the switch 824 and the coupling between the coupling hook 822 and the support stopper 823 is released, the torsion spring 826 can apply a rotational force to the coupling hook 822.

[0410] In a robot according to one embodiment of the present invention, the process by which the lower cover 150 of the robot body and the robot body fastening portion 820 of the lower functional module 800 are connected and separated is described below.

[0411] When the robot body 100 descends to connect with the lower functional module 800, the connecting bar 151 and the charging terminal 152 descend together with the lower cover 150. At this time, the connecting hook 822 is positioned vertically below the connecting bar 151, and the corresponding terminal 825 is positioned vertically below the charging terminal 152 (see Figure 18).

[0412] As the robot body 100 descends, the coupling bar 151 comes into contact with the bar guide portion 822c of the coupling hook 822, allowing the coupling bar 151 to push against the bar guide portion 822c. Furthermore, as the bar guide portion 822c is pushed downward, the coupling hook body 822a, the bar support portion 822b, and the hook projection 822d connected to the bar guide portion 822c can all rotate.

[0413] At this time, when the coupling bar 151 begins to contact the bar guide portion 822c, the charging terminal 152 and the corresponding terminal 825 may be in a non-contact state. Also, the hook projection 822d can be rotated by pushing the support stopper 823 (see Figure 19).

[0414] Subsequently, as the robot body 100 descends further, the hooking projection 822d is inserted into the hooking projection housing 823b, and the charging terminal 152 and the corresponding terminal 825 come into contact with each other. Therefore, the rotation of the coupling hook 822 is limited by the support stopper 823.

[0415] The lower functional module 800 can be physically connected to the robot body 100 by the coupling bar 151 of the lower cover 150 hooking onto the coupling hook 822 of the lower functional module 800. Furthermore, the charging terminal 152 and the corresponding terminal 825 can be electrically connected. The coupling bar 151 is housed in the housing groove 822f and can be prevented from detaching by the bar support portion 822b (see Figure 20).

[0416] On the other hand, when the robot body 100 and the lower functional module 800 are coupled, if the switch 824 moves in a straight line, the switch 824 can press the switch contact portion 823c of the support stopper 823. This causes the support stopper 823 to rotate, releasing the connection between the support stopper 823 and the coupling hook 822. Once the connection between the support stopper 823 and the coupling hook 822 is released, the torsion spring 826 can apply a rotational force to the coupling hook 822 (see Figure 21).

[0417] On the other hand, unless the robot body 100 moves upward while the fastening between the support stopper 823 and the coupling hook 822 is released, the coupling bar 151 will not separate from the coupling hook 822.

[0418] On the other hand, when the robot body 100 moves upward with the fastening between the support stopper 823 and the coupling hook 822 released, the coupling bar 151 moves upward, and the coupling hook 822 rotates due to the restoring force of the torsion spring 826, thereby opening the path for the coupling bar 151 to move. At this time, the electrical connection between the charging terminal 152 and the corresponding terminal 825 can be terminated (see Figure 22).

[0419] Subsequently, as the robot body 100 moves further upward, the coupling bar 151 detaches from the coupling hook 822, and the robot body 100 can be physically separated from the lower functional module 800 (see Figure 23).

[0420] On the other hand, Figure 24 shows a perspective view illustrating the robot body fastening portion of the lower functional module in a robot according to another embodiment of the present invention, Figure 25 shows an exploded perspective view illustrating the robot body fastening portion of the lower functional module in a robot according to another embodiment of the present invention, Figure 26 shows a diagram illustrating the shape of the guide hole in a robot according to another embodiment of the present invention, and Figures 27 to 30 show diagrams illustrating the relationship between the movement of the support pin and the rotation of the coupling hook due to the movement of the fastening portion body in a robot according to another embodiment of the present invention.

[0421] Referring to Figures 24 to 30, the lower functional module 1800 in the robot 1 according to another embodiment of the present invention will be described as follows.

[0422] On the other hand, in order to avoid redundant explanations, the configuration and effects of the lower functional module 800 according to one embodiment of the present invention are the same, except for the parts specifically described in this embodiment, and can therefore be applied here.

[0423] The lower functional module 1800 of this embodiment may also include a robot body fastening portion 1820.

[0424] The robot body fastening portion 1820 may be connected to the upper side of the lower functional module body 1810. Alternatively, the robot body fastening portion 1820 may be connected to the robot body 1 It connects to the lower side of 100. Specifically, the robot body fastening part 1820 connects to the connecting bar 1151 and the charging terminal 1152 provided on the lower cover 1150.

[0425] In a robot 1 according to one embodiment of the present invention, the robot body fastening portion 1820 includes a fastening portion body 1821.

[0426] The fastening body 1821 can accommodate and connect the connecting bar 1151. For example, the fastening body 1820 may be formed in the shape of a block having a predetermined volume.

[0427] The fastening part body 1821 may be connected to at least one or more springs 1826. For example, at least one or more springs 1826 may be connected to the lower side surface of the fastening part body 1821. With this configuration, the fastening part body 1821 can be connected to the upper side surface of the lower functional module body 1810 via the springs 1826.

[0428] Furthermore, the fastening body 1821 can move vertically in contact with the connecting bar 1151.

[0429] A bar accommodating groove 1821a may be formed in the fastening part body 1821. The bar accommodating groove 1821a may be formed as a recess on the upper side of the fastening part body 1821 toward the lower side. For example, a pair of bar accommodating grooves 1821a may be formed side by side on the upper side of the fastening part body 1821.

[0430] The bar accommodating groove 1821a can accommodate at least a portion of the connecting bar 1151. The bar accommodating groove 1821a may be formed to correspond to the shape of the connecting bar 1151. For example, the connecting bars 1151 may be provided in pairs side by side and arranged on the bottom cover 1150, and the bar accommodating groove 1821a may be formed in pairs side by side to correspond to the shape of the cylindrical connecting bar 1151.

[0431] On the other hand, the fastening part body 1821 may accommodate at least a portion of the connecting link 1823. For example, the fastening part body 1821 may have a groove formed therein that accommodates at least a portion of the connecting link body 1823a.

[0432] Furthermore, a link coupling hole 1821b may be formed in the fastening part body 1821. A hinge pin 1823b that connects to the connecting link 1823 may be rotatably connected through the link coupling hole 1821b.

[0433] On the other hand, a guide housing groove 1821c may be formed in the fastening body 1821. A pin guide portion 1827 may be housed in the guide housing groove 1821c.

[0434] The guide accommodating groove 1821c may be formed on a surface of the fastening part body 1821 that is different from the surface to which the connecting link 1823 is connected. For example, if the connecting link 1823 is connected to both the left and right sides of the fastening part body 1821, the guide accommodating groove 1821c may be formed on the front surface of the fastening part body 1821.

[0435] The guide housing groove 1821c may be formed in accordance with the shape of the pin guide portion 1827. For example, if the pin guide portion 1827 is formed in the shape of a rectangular block, the guide housing groove 1821c may be formed in the shape of a rectangular groove. Also, if the pin guide portion 1827 has a projection or the like that that guides the coupling position, the guide housing groove 1821c may have a groove formed at a position opposite to the projection or the like that that accommodates the projection or the like.

[0436] On the other hand, a link guide hole 1821d may be formed in the fastening part body 1821. For example, the link guide hole 1821d is long It may be formed in the shape of a hole. A shaft provided on the coupling hook 1822 may be inserted into the link guide hole 1821d, and the shaft may move along the link guide hole 1821d.

[0437] The robot body fastening section 1820 includes a coupling hook 1822. The coupling hook 1822 may be rotatably coupled to the fastening section body 1821 and, as it rotates, coupled to the coupling bar 1151 housed in the bar housing groove 1821a. For example, multiple coupling hooks 1822 may be provided and coupled to both sides of the fastening section body 1821, respectively.

[0438] The connecting hook 1820 connects to the connecting link 1823 and rotates in conjunction with the rotation of the connecting link 1823, thereby preventing the connecting bar 1151 from detaching. For example, multiple connecting hooks 1820 may be provided so as to connect to the connecting links 1823 which are connected to both sides of the fastening body 1821.

[0439] Specifically, the connecting hook 1822 includes a connecting hook body 1822a, a bar support portion 1822b, and a hinge portion 1822c.

[0440] The coupling hook body 1822a is formed in the shape of a block having a predetermined thickness, and a bar support portion 1822b may be formed as an extension on one side of the coupling hook body 1822a. On the other hand, a hinge portion 1822c may be formed as a protruding extension on the coupling hook body 1822a. In this case, the bar support portion 1822b may be arranged at a predetermined angle with respect to the hinge portion 1822c.

[0441] The connecting hook body 1822a may rotate around the hinge portion 1822c as an axis. With this configuration, the rotation of the connecting hook body 1822a allows the bar support portion 1822b to rotate.

[0442] The bar support portion 1822b may be formed as an extension of the coupling hook body 1822a and may come into contact with the coupling bar 1151. For example, the bar support portion 1822b may be formed as an extension of a predetermined thickness and length from one side of the coupling hook body 1822a.

[0443] The bar support portion 1822b is rotatably coupled to the connecting link 1823. For example, a hole may be formed in the bar support portion 1822b so that the hook pin 1823c of the connecting link 1823 can pass through and be coupled to it. With this configuration, when the connecting link 1823 rotates, the hook pin 1823c rotates, and the bar support portion 1822b can rotate in conjunction with the hook pin 1823c.

[0444] The bar support portion 1822b may rotate around the hinge portion 1822c as an axis. For example, when the fastening body 1821 is pressed downward by the connecting bar 1151, the connecting link 1823 rotates, and the bar support portion 1822b can rotate in accordance with the rotation of the connecting link 1823.

[0445] The bar support portion 1822b supports the connecting bar 1151 in contact with it, thereby connecting the connecting bar to the lower functional module 1800.1 This prevents the detachment of 151. When the connecting bar 1151 is connected to the robot body fastening part 1820, a bar support part 1822b may be positioned above the connecting bar 1151.

[0446] At this time, the robot body 1 When 100 is lifted upward, the connecting bar 1151 can also move upward. Furthermore, the connecting bar 1151 moving upward can be supported by the bar support portion 1822b.

[0447] With this configuration, even if the robot body 1100 is lifted upward, the bar support section 1822b will support the lower functional module 1800 and the robot body. 1 This prevents 100 from being arbitrarily separated.

[0448] The hinge portion 1822c may be formed as an extension of the connecting hook body 1822a. For example, the hinge portion 1822c may be formed as an extension of the connecting hook body 1822a, and the thickness of the protruding hinge portion 1822c may be less than the thickness of the connecting hook body 1822a.

[0449] The hinge portion 1822c may be movably connected to the fastening portion body 1821. A shaft may be inserted and connected to the hinge portion 1822c, and the shaft may be housed in a link guide hole 1821d formed in the fastening portion body 1821.

[0450] With this configuration, when the connecting link 1823 rotates, the hinge portion 1822c moves along the link guide hole 1821d and can rotate at a predetermined position in the link guide hole 1821d.

[0451] The robot body fastening section 1820 includes a connecting link 1823. The connecting link 1823 can link the fastening section body 1821 and the coupling hook 1822.

[0452] The connecting link 1823 includes a connecting link body 1823a, a hinge pin 1823b, and a hook pin 1823c.

[0453] For example, the connecting link body 1823a may be formed in a rod shape that has been bent at least once. In this case, the connecting link body 1823a may be bent outward in a convex shape with respect to the fastening body 1821.

[0454] A hinge pin 1823b may be inserted and connected to one longitudinal side of the connecting link body 1823a, and a hook pin 1823c may be inserted and connected to the other longitudinal side of the connecting link body 1823a.

[0455] Therefore, one side of the connecting link body 1823a in the longitudinal direction may be housed in the fastening body 1821. Alternatively, the connecting link body 1823a may be rotatably connected to the fastening body 1821 by a hinge pin 1823b. That is, the connecting link body 1823a can rotate about the hinge pin 1823b as an axis.

[0456] Alternatively, the connecting link body 1823a may be connected to the coupling hook 1822 by a hook pin 1823c so as to be rotatable relative to it.

[0457] At least a portion of the other longitudinal side of the connecting link body 1823a moves in accordance with the rotation of the connecting link body 1823a. - The connecting link body 1823a may be positioned vertically above the connecting bar 1151 housed in the groove 1821a. With this configuration, the connecting link body 1823a can prevent the connecting bar 1151 from detaching unintentionally.

[0458] The support pin 1824 is located in the pin guide portion 182 7 It can be inserted and coupled to guide the movement of the fastening part body 1821.

[0459] The support pin 1824 is connected to one side of the pin link 1825, and the pin guide portion 182 7The support pins may be housed in guide holes 1827a to 1827h formed therein. For example, the support pins 1824 may be formed in the shape of a rod. The support pins 1824 may move along the guide holes 1827a to 1827h.

[0460] The pin link 1825 may be rotatably coupled to the lower functional module body 1810. For example, the pin link 1825 may have a support pin 1824 coupled to one side in the longitudinal direction, and the other side in the longitudinal direction may be rotatably coupled to the lower functional module body 1810.

[0461] With this configuration, when the support pin 1824 moves along the guide holes 1827a to 1827h formed in the pin guide portion 1827, pin Link 1825 can rotate. Therefore, the shortest distance between the lower surface of the fastening body 1821 and the upper surface of the lower functional module body 1810 may change as the pin link 1825 rotates.

[0462] The spring 1826 can apply an elastic force to the fastening body 1821 when the fastening body 1821 moves along the vertical direction.

[0463] Specifically, at least one spring 1826 is positioned between the lower surface of the fastening body 1821 and the upper surface of the lower functional module body 1810, and can generate a restoring force when the distance between the lower surface of the fastening body 1821 and the upper surface of the lower functional module body 1810 changes. For example, the spring 1826 may be a coil spring, with one end of the coil spring coupled to the lower surface of the fastening body 1821 and the other end of the coil spring coupled to the upper surface of the lower functional module body 1810.

[0464] With this configuration, when the robot body 1100 moves downward, causing the connecting bar 1151 to push against the fastening part body 1821, the spring 1826 can generate an elastic force (restoring force) in the direction that lifts the fastening part body 1821.

[0465] The robot body fastening section 1820 includes a pin guide section 1827. The pin guide section 1827 guides the movement of the support pin 1824.

[0466] The pin guide portion 1827 is connected to the fastening portion body 1821 and can movably house the support pin 1824.

[0467] Specifically, the pin guide portion 1827 is connected to the guide housing groove 1821c of the fastening portion body 1821, and guide holes 1827a to 1827h are formed to guide the movement of the support pin.

[0468] Guide holes 1827a to 1827h may represent spaces in which the support pin 1824 is housed and can move. Guide holes 1827a to 1827h may be formed in the shape of a closed curve.

[0469] For example, guide holes 1827a to 1827h include the first guide hole 1827a, the second guide hole 1827b, the third guide hole 1827c, the fourth guide hole 1827d, the fifth guide hole 1827e, the sixth guide hole 1827f, the seventh guide hole 1827g, and the eighth guide hole 1827h.

[0470] The first guide hole 1827a may be formed at a predetermined angle with respect to the ground. The second guide hole 1827b may communicate with the first guide hole 1827a and be formed along a direction perpendicular to the ground. The third guide hole 1827c may communicate with the second guide hole 1827b, be formed at a predetermined angle with respect to the ground, and be located further from the ground than the first guide hole 1827a.

[0471] The fourth guide hole 1827d communicates with the third guide hole 1827c and may be formed along a direction perpendicular to the ground. The fifth guide hole 1827e communicates with the fourth guide hole 1827d and may be formed at a predetermined angle with respect to the ground, located further from the ground than the first guide hole 1827a and closer to the ground than the third guide hole 1827c. The sixth guide hole 1827f communicates with the fifth guide hole 1827e and may be formed at a predetermined angle with respect to the ground, with its height gradually increasing from the point where it communicates with the fifth guide hole 1827e.

[0472] The seventh guide hole 1827g communicates with the sixth guide hole 1827f and may be formed along a direction perpendicular to the ground. The eighth guide hole 1827h communicates with the seventh guide hole 1827g and the first guide hole 1827a and may be formed inclined at a predetermined angle with respect to the ground.

[0473] The support pin 1824 is held either by the fastening body 1821 being pressurized by the connecting bar 1151, or by the fastening body 1821 being supported by the spring 1826. above If possible, the fastening part body 1821 can move relative to the guide holes 1827a to 1827h.

[0474] In other words, when the fastening part body 1821 moves downward due to pressure from the connecting bar 1151, the support pin 1824 can move relatively upward within the guide holes 1827a to 1827h. Also, the fastening part body 1821 is held by the spring 1826. above If possible, the support pin 1824 can move downward relative to the guide holes 1827a to 1827h.

[0475] Therefore, the guide holes 1827a to 1827h may include a region in which the support pin 1824 moves relatively upward with respect to the fastening body 1821, and a region in which the support pin 1824 moves relatively downward. In addition, the guide holes 1827a to 1827h may also include a region in which the support pin 1824 stops.

[0476] Referring to Figures 26 to 30, the process by which the support pin 1824 moves relative to the fastening body 1821, and the coupling hook 1822 moves to the coupling bar 1 The process of combining with 151 is explained as follows:

[0477] First, before the robot body 1100 and the lower functional module 1800 are joined, the support pin 1824 is stopped at the point where the first guide hole 1827a and the eighth guide hole 1827h connect.

[0478] Robot body 1 As 100 descends, the connecting bar 1151 descends and pushes the fastening body 1821, causing the fastening body 1821 to descend, and the support pin 1824 can move relatively upward along the first guide hole 1827a, the second guide hole 1827b, and the third guide hole 1827c. That is, the support pin 1824 may move inclined upward along the first guide hole 1827a, or move vertically upward along the second guide hole 1827b, or move inclined upward along the third guide hole 1827c.

[0479] At this time, the fastening body 1821 may descend, and the connecting link 1823 may rotate around the hinge pin 1823b as an axis, so that the hook pin 1823c is positioned vertically above the connecting bar 1151. Alternatively, the connecting hook 1822 may have its bar support portion 1822b positioned vertically above the connecting bar 1151 as the hook pin 1823c rotates, and the hinge portion 1822c may move along the link guide hole 1821d.

[0480] Subsequently, when the downward movement of the robot body 1100 stops, the elastic force (restoring force) of the spring 1826 causes the fastening part body 1821 to move upward, and the support pin 1824 can move relatively downward along the fourth guide hole 1827d and the fifth guide hole 1827e. That is, the support pin 1824 may move vertically downward along the fourth guide hole 1827d, or it may move inclined downward along the fifth guide hole 1827e.

[0481] Furthermore, the support pin 1824 stops at the point where the fifth guide hole 1827e and the sixth guide hole 1827f connect, and the robot body 1 The connection between 100 and the lower functional module 1800 can be fixed.

[0482] Subsequently, the robot body 1100 may move downward to release the connection between the robot body 1100 and the lower functional module 1800. When the robot body 1100 moves downward, the support pin 1824 may move inclined upward relative to the sixth guide hole 1827f.

[0483] Furthermore, when the support pin 1824 is positioned above the seventh guide hole 1827g and the robot body 1100 has finished descending, the fastening part body 1821 moves upward due to the elastic force (restoring force) of the spring 1826, and the support pin 1824 can move downward relative to the seventh guide hole 1827g and the eighth guide hole 1827h. That is, the support pin 1824 may move vertically downward along the seventh guide hole 1827g, or it may move inclined downward along the eighth guide hole 1827h.

[0484] At this time, the fastening body 1821 moves upward and the connecting link 1823 rotates around the hinge pin 1823b as an axis, allowing the hook pin 1823c to disappear from the vertically upper side of the connecting bar 1151. Also, the connecting hook 1822 can disappear from the vertically upper side of the connecting bar 1151.

[0485] Simultaneously, when the robot body 1100 moves upward, the robot body 1100 can separate from the lower functional module 1800.

[0486] Subsequently, when the connection between the robot body 1100 and the lower functional module 1800 is released, the support pin 1824 can stop at the point where the first guide hole 1827a and the eighth guide hole 1827h connect.

[0487] The process of connecting the robot body and the lower functional module. Figure 31 shows a procedure diagram illustrating the process by which a robot according to one embodiment of the present invention senses the position of a lower functional module and moves to connect with the lower functional module; Figure 32 shows a diagram illustrating how a robot according to one embodiment of the present invention approaches to connect with a lower functional module; and Figure 33 shows a diagram illustrating the state in which a robot according to one embodiment of the present invention is connected with a lower functional module.

[0488] Referring to Figures 31 to 33, the overall process by which the robot body 100 is coupled with the lower functional module 800 in the robot 1 according to one embodiment of the present invention is as follows.

[0489] The robot body 100 can be coupled with the lower function module 800 when the user commands or preset conditions are met (S10).

[0490] Robot 1 can receive commands from a user. For example, commands may be received from the user via the input unit 555. For another example, commands may be received from the user via the microphone 551. For yet another example, commands may be received via the communication unit 580.

[0491] Robot 1 may receive commands to perform predetermined functions using the lower function module 800. For example, robot 1 may receive a command to perform a dry cleaning function using the lower function module 800. As another example, robot 1 may receive a command to perform a wet cleaning function using the lower function module 800. As yet another example, robot 1 may receive a command to perform a transport function using the lower function module 800.

[0492] In contrast, conditions for coupling with the lower functional module 800 may be pre-set in the robot 1. For example, conditions for coupling with the lower functional module 800 may be pre-set in the memory 570.

[0493] When robot 1 receives a command to use the lower function module 800, the lamp 815 provided in the lower function module 800 can be activated (S20). For example, the lamp 815 can emit infrared (IR) light.

[0494] In this case, the lower function module 800 may operate the lamp 815 according to a preset pattern. Specifically, if there are multiple lower function modules 800 having different functions from each other, each lower function module 800 can operate the lamp 815 in a different pattern from each other.

[0495] When the lamp 815 of the lower function module 800 is activated, the IR sensor 533 provided on the robot body 100 can detect the light emitted from the lamp 815 (S30). For example, the IR sensor 533 can detect infrared light emitted from the lamp 815. Therefore, the robot body 100 can detect the position of the lower function module 800.

[0496] On the other hand, if there are multiple lower function modules 800 having different functions from each other, the control unit 510 can recognize the light patterns sensed from each lower function module 800 via the IR sensor 533 and distinguish the functions of each lower function module 800.

[0497] After the IR sensor 533 detects the light emitted from the lamp 815, the robot body 100 can move toward the lamp 815 (S40). For example, the IR sensor 533 is positioned in front of the robot body 100 and changes the direction of movement of the robot body 100 so that the lamp 815 is positioned in front of the robot body 100, allowing the robot body 100 to move toward the lamp 815.

[0498] After the robot body 100 moves toward the lamp 815, the distance from the robot body 100 to the lamp 815 can be measured (S50). At this time, if the distance from the robot body 100 to the lamp 815 is greater than or equal to a preset distance, the IR sensor 533 can detect the light from the lamp 815 again.

[0499] If the distance from the robot body 100 to the ramp 815 is less than or equal to a preset distance, the first camera 531 provided on the robot body 100 will photograph the lower function module 800 and sense the specific position and shape of the lower function module 800 (S60). In other words, when the first camera 531 photographs the lower function module 800, the control unit 510 can sense the specific position and shape of the lower function module 800.

[0500] After sensing the specific position and shape of the lower functional module 800, the control unit 510 can set the direction in which the robot body 100 approaches the lower functional module 800 (S70).

[0501] Specifically, after sensing the shape of the lower function module 800, the control unit 510 can set the direction in which the lower function module 800 is positioned (S71). For example, the control unit 510 may set the position where the lamp 815 is positioned as the rear of the lower function module 800, or it may set the front-to-back direction along the longitudinal direction of the lower function module body 810 with the lamp 815 as the reference. In other words, the control unit 510 can sense the shape of the lower function module 800 and set the front-to-back direction (vector) of the lower function module 800 along the longitudinal direction of the lower function module 800.

[0502] Furthermore, the control unit 510 can set the direction in which the robot body 100 enters the upper side of the lower function module 800 in order to connect with the lower function module 800 (S72). For example, the control unit 510 can control the robot body 100 to enter the lower function module 800 from the rear.

[0503] Subsequently, the robot body 100 can move above the lower functional module 800 (S80). For example, after passing vertically above the ramp 815, the robot body 100 can move so that the coupling bar 151 is positioned vertically above the bar housing groove 821a. It can also move so that the charging terminal 152 is positioned vertically above the corresponding terminal 825.

[0504] Subsequently, when the charging terminal 152 on the lower cover 150 of the robot body 100 and the corresponding terminal 825 on the lower function module 800 are positioned to overlap vertically, the robot body 100 descends, and the charging terminal 152 comes into contact with the corresponding terminal 825, electrically connecting the robot body 100 and the lower function module 800. The coupling hook 822 then catches on the coupling bar 151, allowing the robot body 100 to be physically coupled to the lower function module 800 (S90).

[0505] Although the present invention has been described in detail above through specific embodiments, this is for the purpose of specifically illustrating the present invention, and it is clear that the present invention is not limited thereto, and that it can be modified or improved by a person with ordinary skill in the art within the technical concept of the present invention.

[0506] Any simple modifications and alterations of the present invention fall within the scope of the invention, and the specific scope of protection of the present invention will become clear from the appended claims.

[0507] [Claims when filing an international patent application] [Claim 1] It is a robot, The robot body contains a motor and battery inside; The outermost part of the robot body is connected to the leg sections, which face each other; A wheel portion is rotatably coupled to the leg portion and positioned between the leg portion and the ground; It comprises a lower functional module that is detachably coupled to the robot body in the space formed between the pair of leg portions and the pair of wheel portions; The lower side of the robot body is provided with a coupling bar that can be detachably connected to the lower functional module. The aforementioned lower functional module is A fastening body having a bar-accommodating groove formed therein, in which at least a portion of the connecting bar is accommodated, A robot comprising a coupling hook that is rotatably coupled to the fastening body and which, as it rotates, engages with the coupling bar housed in the bar housing groove. [Claim 2] The robot according to claim 1, wherein the lower functional module further comprises a support stopper that is rotatably coupled to the fastening body and fastens with the fastening hook when the fastening hook rotates to a predetermined position. [Claim 3] The robot according to claim 2, wherein the lower functional module is provided on the fastening body so as to be linearly movable, and further comprises a switch for rotating the support stopper when moving linearly. [Claim 4] The aforementioned connecting hook is A coupling hook body that is rotatably coupled to the fastening body, The robot according to claim 1, further comprising a support portion that extends outward from the coupling hook body and contacts the coupling bar when the coupling hook body rotates. [Claim 5] The aforementioned connecting hook is A coupling hook body that is rotatably coupled to the fastening body, The robot according to claim 2, further comprising a hooking projection formed to protrude from the coupling hook body so as to be fastened with the support stopper. [Claim 6] The aforementioned support stopper is, A support stopper body rotatably coupled to the fastening body, The robot according to claim 5, comprising: a hook projection housing portion formed in a step on one longitudinal side of the support stopper body for housing the hook projection. [Claim 7] The robot according to claim 1, wherein the lower functional module further comprises a torsion spring that applies a restoring force to the coupling hook when the coupling hook rotates. [Claim 8] The aforementioned lower functional module is The lower function module body and A pin guide portion is connected to the fastening body and has a guide hole formed therein, The robot according to claim 1, further comprising a support pin inserted into the pin guide portion and supporting the fastening portion body. [Claim 9] The robot according to claim 8, wherein the lower functional module further comprises a pin link on one longitudinal side to which the support pin is coupled and on the other longitudinal side to which it is rotatably coupled to the lower functional module body. [Claim 10] The robot according to claim 8, characterized in that the guide hole movably accommodates the support pin and is formed in a closed curve shape. [Claim 11] The guide hole is positioned relative to the fastening body. In the region where the support pin moves relatively upward, The region in which the support pin moves downward relative to it, The robot according to claim 8, characterized by comprising a region in which the support pin stops. [Claim 12] The aforementioned guide hole is A first guide hole formed at a predetermined angle relative to the ground, A second guide hole, which communicates with the first guide hole and is formed along a direction perpendicular to the ground, A third guide hole is formed to communicate with the second guide hole, is inclined at a predetermined angle with respect to the ground, and is located further from the ground than the first guide hole, A fourth guide hole, which communicates with the third guide hole and is formed along a direction perpendicular to the ground, A fifth guide hole is formed to communicate with the fourth guide hole, is inclined at a predetermined angle with respect to the ground, and is positioned between the first guide hole and the third guide hole, A sixth guide hole is formed in communication with the fifth guide hole, is inclined at a predetermined angle relative to the ground, and gradually increases in height from the point communicating with the fifth guide hole, A seventh guide hole, which communicates with the sixth guide hole and is formed along a direction perpendicular to the ground, The robot according to claim 11, further comprising: an eighth guide hole communicating with the seventh guide hole and the first guide hole, and formed at a predetermined angle with respect to the ground. [Claim 13] The robot according to claim 8, wherein the lower functional module includes a connecting link that links the fastening body and the coupling hook. [Claim 14] It is a robot, The robot body contains a motor and battery inside; Leg portions that are attached to both sides of the robot body; A wheel portion rotatably coupled to the leg portion; The robot body comprises a lower functional module that is detachably attached to the lower side of the robot body; The aforementioned lower functional module is The lower function module body and A robot comprising a lamp that emits infrared rays, which is provided on the main body of the lower functional module. [Claim 15] The lamp is located at the rear end of the lower functional module body, The robot according to claim 14, characterized in that the robot body passes vertically above the ramp, then moves downward and connects with the lower functional module. [Explanation of symbols]

[0508] 1: Robot 100: Robot body 151: Joining bar 800, 1800: Lower function module 810, 1810: Lower function module body 820, 1820: Robot body fastening section 821, 1821: Fastening part body 822, 1822: Connecting hooks 823: Support stopper 824: Switch 826: Torsion spring 1823: Connection Link 1824: Support pin 1825: Pin Link 1826: Spring 1827: Pin guide section

Claims

1. It is a robot, The robot body contains a motor and battery inside; The outermost part of the robot body is connected to the leg sections, which face each other; A wheel portion is rotatably coupled to the leg portion and positioned between the leg portion and the ground; A lower functional module that is detachably coupled to the robot body in the space formed between a pair of leg portions and a pair of wheel portions; The lower side of the robot body is provided with a coupling bar that can be detachably connected to the lower functional module. The aforementioned lower functional module is A fastening body having a bar-accommodating groove formed therein, in which at least a portion of the connecting bar is accommodated, A robot comprising a coupling hook that is rotatably coupled to the fastening body and which, as it rotates, engages with the coupling bar housed in the bar housing groove.

2. The robot according to claim 1, wherein the lower functional module is rotatably coupled to the fastening body and further comprises a support stopper that fastens with the fastening hook when the fastening hook rotates to a predetermined position.

3. The robot according to claim 2, wherein the lower functional module is provided on the fastening body so as to be linearly movable, and further comprises a switch for rotating the support stopper when moving linearly.

4. The aforementioned connecting hook is A coupling hook body that is rotatably coupled to the fastening body, The robot according to claim 1, further comprising a support portion that extends outward from the coupling hook body and contacts the coupling bar when the coupling hook body rotates.

5. The aforementioned connecting hook is A coupling hook body that is rotatably coupled to the fastening body, The robot according to claim 2, further comprising a hooking projection formed to protrude from the coupling hook body so as to be fastened with the support stopper.

6. The aforementioned support stopper is, A support stopper body rotatably coupled to the fastening body, The robot according to claim 5, further comprising: a hook projection housing portion formed in a step on one longitudinal side of the support stopper body for housing the hook projection.

7. The robot according to claim 1, wherein the lower functional module further comprises a torsion spring that applies a restoring force to the coupling hook when the coupling hook rotates.

8. The aforementioned lower functional module is The lower function module body and A pin guide portion is connected to the fastening body and has a guide hole formed therein, The robot according to claim 1, further comprising a support pin inserted into the pin guide portion and supporting the fastening portion body.

9. The robot according to claim 8, wherein the lower functional module further comprises a pin link on one longitudinal side to which the support pin is coupled and on the other longitudinal side to which it is rotatably coupled to the lower functional module body.

10. The robot according to claim 8, characterized in that the guide hole movably accommodates the support pin and is formed in a closed curve shape.

11. The guide hole is positioned relative to the fastening body. In the region where the support pin moves relatively upward, The region in which the support pin moves downward relative to it, The robot according to claim 8, characterized by comprising a region in which the support pin stops.

12. The aforementioned guide hole is A first guide hole formed at a predetermined angle relative to the ground, A second guide hole, which communicates with the first guide hole and is formed along a direction perpendicular to the ground, A third guide hole is formed to communicate with the second guide hole, is inclined at a predetermined angle with respect to the ground, and is located further from the ground than the first guide hole, A fourth guide hole, which communicates with the third guide hole and is formed along a direction perpendicular to the ground, A fifth guide hole is formed to communicate with the fourth guide hole, is inclined at a predetermined angle with respect to the ground, and is positioned between the first guide hole and the third guide hole, A sixth guide hole is formed in communication with the fifth guide hole, is inclined at a predetermined angle relative to the ground, and is gradually higher in height from the point communicating with the fifth guide hole, A seventh guide hole, which communicates with the sixth guide hole and is formed along a direction perpendicular to the ground, The robot according to claim 11, further comprising: an eighth guide hole that communicates with the seventh guide hole and the first guide hole and is formed at a predetermined angle with respect to the ground.

13. The robot according to claim 8, wherein the lower functional module includes a connecting link that links the fastening body and the coupling hook.

14. It is a robot, The robot body contains a motor and battery inside; Leg portions that are attached to both sides of the robot body, respectively; A wheel portion rotatably coupled to the leg portion; The robot comprises a lower functional module that is detachably attached to the lower side of the robot body; The aforementioned lower functional module is The lower function module body and The lower functional module body is equipped with a lamp that emits infrared rays, The robot is characterized in that the robot body passes vertically above the ramp, then moves downward and connects with the lower functional module.

15. The robot according to claim 14, characterized in that the lamp is located at the rear end of the lower functional module body.

Images