Wheel base device for autonomous mobile robot

Abstract

The present invention discloses a wheel base device for an autonomous driving robot that can drive on flat ground as well as overcome obstacles such as stairs by varying the coupling length of the front body and the rear body through a position adjustment locking part, wherein the front body and the rear body are locked or unlocked in a sliding manner to adjust their positions. The disclosed wheel base device for an autonomous driving robot is characterized by comprising a front frame that rotatably supports a pair of front wheels, a rear frame that rotatably supports a pair of rear wheels, a slide connecting part that connects the front frame and the rear frame so that the rear frame is slidably supported on the front frame, and a position adjustment locking part that locks or unlocks the front frame and the rear frame so that the rear frame is fixed to the front frame in a position adjustable at a set interval.

Description

Technology Field

[0001] The present invention relates to a wheel base device for an autonomous driving robot, and more specifically, to a wheel base device for an autonomous driving robot that can drive on flat ground as well as overcome obstacles such as stairs by varying the coupling length of the front body and the rear body by locking or unlocking the front body and the rear body in a sliding manner by means of a position adjustment locking part. Background Technology

[0003] Generally, a robot is a collective term for a mechanical device programmed to perform various tasks automatically. Recently, autonomous driving technology that fuses artificial intelligence and image processing technologies is being developed and utilized, and robots equipped with such autonomous driving technology are also being developed.

[0004] Here, autonomous driving technology refers to technology that can automatically control a vehicle by recognizing the surrounding environment without driver intervention and determining the driving situation based on it.

[0005] As such, various types of autonomous robots equipped with autonomous driving technology are playing important roles in industry and daily life. For example, autonomous robots are used in diverse applications, such as moving goods in logistics warehouses, delivering medicines in hospitals, and performing cleaning tasks in homes.

[0006] However, most conventional wheeled autonomous robots are suitable only for driving on flat terrain, which presents a problem in that they cannot drive stably on steep slopes, speed bumps, or indoor and outdoor stairs of buildings.

[0007] Therefore, there is a need to improve this.

[0008] A related background technology is Korean Registered Patent Publication No. 10-2545742 (Registered June 15, 2023; Title: Stair Climbing Robot and Method of Operation thereof).

[0009] delete The problem to be solved

[0010] The present invention was created in response to the above-mentioned necessity, and aims to provide a wheel base device for an autonomous driving robot that can drive on flat ground as well as overcome obstacles such as stairs by varying the coupling length of the front body and the rear body through a position adjustment locking part, which locks or unlocks the front body and the rear body so that their positions can be adjusted in a sliding manner. means of solving the problem

[0012] To achieve the above objective, the wheel base device for an autonomous driving robot according to the present invention is characterized by comprising a front frame that rotatably supports a pair of front wheels, a rear frame that rotatably supports a pair of rear wheels, a slide connecting part that connects the front frame and the rear frame so that the rear frame is slidably supported on the front frame, and a position adjustment locking part that locks or unlocks the front frame and the rear frame so that the rear frame is fixed to the front frame in a position adjustable at a set interval.

[0013] The position adjustment locking part is characterized by comprising: a locking block fixedly installed on the inner side of the rear frame so as to face each other and having a plurality of locking holes formed along the longitudinal direction; a locking shaft part provided on the lower surface of the front frame so as to be axially movable laterally to be inserted into any one selected of the locking holes; and a driving part that axially moves the locking shaft part so as to be inserted into the locking holes so as to be detachably inserted.

[0014] The above driving unit is characterized by comprising a driving motor having a driving shaft portion protruding in the direction of the bottom surface of the front frame and mounted on the front frame, a link member hinged to the opposite side of the portion inserted into the locking hole portion on the locking shaft portion, and a linked hinge connecting member hinged to the driving shaft portion so as to enable the link member to pull or press the locking shaft portion when the driving shaft portion rotates, and simultaneously hinged to the link member.

[0015] The above interlocking hinge connecting member is characterized by comprising a fitting tube portion that can be fixedly fitted into the drive shaft portion, a hinge bracket that is integrally extended from the fitting tube portion and hinge-connected to the link member, and a locking contact projection portion that is formed protruding from the hinge bracket and contacts the circumferential surface of the link member so as to be caught.

[0016] The above front frame is characterized by having an insertion detection switch that detects whether the locking shaft portion is inserted into the locking hole portion depending on whether the link member is pressed.

[0017] The front frame is provided with a length sensing switch for detecting the maximum combined length of the front frame and the rear frame, and the rear frame is provided with a pressure shaft that presses the length sensing switch to enable operation. Effects of the invention

[0019] According to the wheel base device for an autonomous driving robot according to the present invention, the front body and the rear body are locked or unlocked in a sliding manner by a position adjustment locking part, thereby having a structure that varies the coupling length of the front body and the rear body, so as to have the effect of driving while overcoming obstacles such as stairs as well as flat ground. Brief explanation of the drawing

[0021] FIG. 1 is a perspective view illustrating a wheel base device for an autonomous driving robot according to one embodiment of the present invention. FIG. 2 is a bottom perspective view illustrating a wheel base device for an autonomous driving robot according to one embodiment of the present invention. FIG. 3 is an exploded perspective view illustrating a wheel base device for an autonomous driving robot according to one embodiment of the present invention. FIG. 4 is an operational diagram illustrating the operating state of the position control locking part in a wheel base device for an autonomous driving robot according to one embodiment of the present invention. FIG. 5 is an exploded perspective view illustrating the configuration of a length sensing switch and a compression shaft part in a wheel base device for an autonomous driving robot according to one embodiment of the present invention. FIG. 6 is an operational diagram illustrating the operating state in which the rear frame slides in a wheel base device for an autonomous driving robot according to one embodiment of the present invention. Specific details for implementing the invention

[0022] Hereinafter, an embodiment of a wheel base device for a robot according to the present invention will be described with reference to the attached drawings. In this process, the thickness of lines or the size of components shown in the drawings may be exaggerated for clarity and convenience of explanation.

[0023] Furthermore, the terms described below are defined in consideration of their functions in the present invention, and these may vary depending on the intent or practice of the user or operator. Therefore, the definitions of these terms should be based on the content throughout this specification.

[0025] FIG. 1 is a perspective view illustrating a wheel base device for an autonomous driving robot according to an embodiment of the present invention, FIG. 2 is a bottom perspective view illustrating a wheel base device for an autonomous driving robot according to an embodiment of the present invention, FIG. 3 is an exploded perspective view illustrating a wheel base device for an autonomous driving robot according to an embodiment of the present invention, FIG. 4 is an operation diagram illustrating the operating state of a position control locking part in a wheel base device for an autonomous driving robot according to an embodiment of the present invention, FIG. 5 is an exploded perspective view illustrating the configuration of a length sensing switch and a compression shaft part in a wheel base device for an autonomous driving robot according to an embodiment of the present invention, and FIG. 6 is an operation diagram illustrating the operating state in which a rear frame slides in a wheel base device for an autonomous driving robot according to an embodiment of the present invention.

[0027] As illustrated in FIGS. 1 to 6, a wheel base device for a driving robot according to one embodiment of the present invention includes a front frame (100), a rear frame (200), a slide connecting part (300), and a position adjustment locking part (400).

[0028] The front frame (100) rotatably supports a pair of front wheels (110). The front frame (100) performs the function of driving together with the rear frame (200) while connected to the rear frame (200) through a slide connection part (300) and a position adjustment locking part (400).

[0029] To this end, the front frame (100) includes a body part (100a) and a front wheel support part (100b) which is respectively coupled to both sides of the body part (100a) to rotatably support the front wheel (110). At this time, a front wheel drive motor (120) connected to the front wheel (110) may be mounted on the inner side of the front wheel support part (100b) so that the front wheel (110) can rotate to drive individually.

[0030] And, the rear body (200) is configured to rotatably support a pair of rear wheels (210). This rear body (200) performs the role of driving together with the front frame (100) while connected to the front frame (100) through a slide connection part (300) and a position adjustment locking part (400).

[0031] Here, the rear frame (200) includes a rear wheel support member (200a) that is positioned on both sides of the body part (100a) and rotatably supports the rear wheel (210), and a connecting member (200b) that is interposed between the rear wheel support members (200a) and interconnects the rear wheel support members (200a). At this time, a rear wheel drive motor (220) connected to the rear wheel (210) may be mounted on the inner side of each rear wheel support member (200a) so that the rear wheel (210) can be rotated to drive individually.

[0032] In addition, the slide connecting part (300) connects the front frame (100) and the rear frame (200) so that the rear frame (200) is supported to slide on the front frame (100).

[0033] The slide connecting part (300) includes a pair of slide rails (310) mounted spaced apart on each side of the perimeter of the body part (100a), a plurality of slide members (320) fixedly installed on the inner side of the rear wheel support part (200a) so as to be slidably fitted onto the slide rails (310), and a detachment prevention plate (330) mounted on the end of the body part (100a) so as to prevent the slide members (320) from being detached from the slide rails (320).

[0034] That is, when the slide member (320) slides toward the front wheel (110) while fitted onto the slide rail (310), the combined length of the front frame (100) and the rear frame (200) decreases, and when the slide member (320) slides toward the rear wheel (210) while fitted onto the slide rail (310), the combined length of the front frame (100) and the rear frame (200) increases. At this time, when the slide member (320) slides toward the front wheel (110), movement toward the front is restricted when it comes into contact with the front wheel support member (100b), and when it slides toward the rear wheel (210), movement toward the rear is restricted when it comes into contact with the anti-detachment plate (330).

[0035] Meanwhile, the position adjustment locking unit (400) is configured to lock or unlock the front frame (100) and the rear frame (200) so that the rear frame (200) is fixed to the front frame (100) at set intervals so that the position can be adjusted.

[0036] That is, the position adjustment locking part (400) performs the role of helping to vary the coupling length of the front frame (100) and the rear frame (200) according to the driving position of the wheel base device for a driving robot according to the present invention, and includes a locking block (410), a locking shaft part (420), and a driving part (430).

[0037] Specifically, the locking block (410) is mounted facing each other on the inner side of the rear frame (200), and a plurality of locking hole portions (411) are formed spaced apart along the longitudinal direction. This locking block (410) is formed in a bar shape having a certain length and provides a space through which the locking shaft portion (420) can be inserted so as to be caught. Of course, although the locking hole portions (411) are shown in the drawing as being formed by recessing three at spaced intervals, they are not limited thereto and can be modified to have various numbers and various shapes.

[0038] And, the locking shaft portion (420) is configured to be axially movable laterally on the bottom surface of the front frame (100) so as to be inserted into any one of the selected locking holes (411). At this time, a support bracket (130) is provided on the bottom surface of the body portion (100a) provided on the front frame (10) to guide the locking shaft portion (420) to be axially movable.

[0039] That is, the locking shaft portion (420) performs the function of fixing the position so that sliding movement of the rear body (200) is impossible when inserted into the locking hole portion (411), and allowing sliding movement of the rear body (200) when removed from the locking hole portion (411).

[0040] Additionally, the driving unit (430) is configured to move the locking shaft unit (420) axially so that the locking shaft unit (420) can be inserted into the locking hole unit (411) in a way that allows it to be detachably inserted.

[0041] To this end, the drive unit (430) may include a drive motor (431) having a drive shaft portion (431a) protruding in the direction of the bottom of the front frame (100) and a link member (432) hinged to the opposite side of the part inserted into the locking hole portion (411) in the locking shaft portion (420), and a linked hinge connecting member (433) hinged to the drive shaft portion (431a) so that the link member (432) pulls or presses the locking shaft portion (420) when the drive shaft portion (431a) rotates, and is hinged to the link member (432).

[0042] That is, when the drive shaft portion (431a) is rotated to a set angle by the operation of the drive motor (431), the interlocking hinge connecting member (433) rotates together along the rotation direction of the drive shaft portion (431a), and the link member (432) is positioned so as to be tilted while misaligned from each other or positioned in a straight line along the same line in conjunction with the rotation of the interlocking hinge connecting member (433). At this time, when the link member (432) moves to be positioned tilted while misaligned, the locking shaft portion (420) is pulled toward the drive motor (431) to detach it from the locking hole portion (411), and when it moves to be positioned in a straight line along the same line, the locking shaft portion (420) is pressed to insert it into the locking hole portion (411).

[0043] Here, the interlocking hinge connecting member (433) includes a fitting tube portion (433a) that is fixedly fitted into the drive shaft portion (431a), a hinge bracket (433b) that is integrally extended from the fitting tube portion (433a) and hinge-connected to the link member (432), and a catch contact projection portion (433c) that is protruded from the hinge bracket (433b) and contacts the circumferential surface of the link member (432) so as to be caught.

[0044] Accordingly, when the driving motor (431) stops, the locking contact part (433c) locks and supports the circumferential surface of the link member (432) to restrict the movement of the link member (432) during the process in which the link member (432) is moved to be positioned in an offset and tilted manner by the rotation of the hinge bracket (433b), and when the driving motor (431) is stopped and operated, the locking contact part (433c) presses the circumferential surface of the link member (432) with the rotational force of the hinge bracket (433b) to help the link member (432) move.

[0045] In addition, an insertion detection switch (140) may be provided on the bottom surface of the body part (100a) provided in the front frame (100) to detect whether the locking shaft part (420) is inserted into the locking hole part (411) depending on whether the link member (432) is pressed.

[0046] This insertion detection switch (140) performs the function of transmitting a signal to a control unit (not shown) when it is pressed while in contact with the link member (432) during the process of the link member (432) being positioned in a straight line on the same line while being positioned in a tilted state with the link member (432) offset from each other. That is, when the insertion detection switch (140) is pressed in contact with the link member (432), it detects that the locking shaft part (420) is detached from the locking hole part (411), and when the pressing force of the link member (432) is removed, it detects that the locking shaft part (420) is detached from the locking hole part (411). Thus, through the operation of the insertion detection switch (140), it becomes easy to check whether the locking shaft part (420) is inserted into the locking hole part (411).

[0047] Additionally, a length sensing switch (150) for detecting the maximum combined length of the front frame (100) and the rear frame (200) is fixedly installed on the periphery of the body part (100a) provided on the front frame (100), and a pressure shaft part (230) for operatingly pressing the length sensing switch (150) is provided on the inner side of the rear wheel support part (200a) provided on the rear frame (200).

[0048] This length sensing switch (150) performs the function of transmitting a signal to a control unit (not shown) when it comes into contact with the compression shaft (230) during the process of the rear frame (200) sliding.

[0049] That is, the length detection switch (150) can detect that the combined length of the front frame (100) and the rear frame (200) has been extended to the maximum when it is pressed against the compression shaft (230) by the sliding movement of the rear frame (200). Accordingly, the maximum combined length of the front frame (100) and the rear frame (200) can be easily checked through the operation of the length detection switch (150).

[0051] Although the present invention has been described with reference to an embodiment illustrated in the drawings, this is merely illustrative, and those skilled in the art will understand that various modifications and equivalent alternative embodiments are possible therefrom.

[0052] Therefore, the true technical scope of protection of the present invention should be determined by the claims below. Explanation of the symbols

[0054] 100: Front frame 110: Front wheel 120: Front-wheel drive motor 130: Support bracket 140: Insertion detection switch 150: Length detection switch 200: Rear body 210: Rear wheel 220: Rear-wheel drive motor 230: Pressure shaft section 300: Slide connection part 310: Slide rail 320: Slide member 330: Anti-detachment plate 400: Position adjustment locking part 410: Locking block 411: Locking hole part 420: Locking shaft part 430: Drive unit 431: Drive motor 432: Link member 433: Interlocking hinge connecting member

Claims

Claim 1 A wheel base device for an autonomous driving robot, comprising: a front frame rotatably supporting a pair of front wheels; a rear frame rotatably supporting a pair of rear wheels; a slide connecting part connecting the front frame and the rear frame so that the rear frame is slidably supported on the front frame; and a position adjustment locking part that locks or unlocks the front frame and the rear frame so that the rear frame is fixed to the front frame at a set interval so as to be positionally adjustable; wherein the position adjustment locking part comprises a locking block fixedly installed on the inner side of the rear frame so as to face each other and having a plurality of locking holes formed along the longitudinal direction, a locking shaft part provided on the lower surface of the front frame so as to be axially movable laterally to be inserted into any one selected of the locking holes, and a driving part that axially moves the locking shaft part so that the locking shaft part is inserted into the locking holes so as to be detachably inserted. Claim 2 delete Claim 3 A wheel base device for an autonomous driving robot according to claim 1, wherein the driving unit comprises: a driving motor having a driving shaft portion protruding in the direction of the bottom surface of the front frame and mounted on the front frame; a link member hinged to the opposite side of the portion inserted into the locking hole portion at the locking shaft portion; and a linked hinge connecting member hinged to the link member and connected to the driving shaft portion so as to enable the link member to pull or press the locking shaft portion when the driving shaft portion rotates. Claim 4 A wheel base device for an autonomous driving robot according to claim 3, wherein the interlocking hinge connecting member comprises: a fitting tube portion fixedly fitted to the drive shaft portion; a hinge bracket integrally extended from the fitting tube portion and hinge-connected to the link member; and a catch contact projection portion protruding from the hinge bracket and contacting the circumferential surface of the link member in a manner that can be caught. Claim 5 A wheel base device for an autonomous driving robot according to claim 3, wherein the front frame is provided with an insertion detection switch that detects whether the locking shaft portion is inserted into the locking hole portion depending on whether the link member is pressed. Claim 6 A wheel base device for an autonomous driving robot according to claim 1, characterized in that the front frame is provided with a length sensing switch for detecting the maximum combined length of the front frame and the rear frame, and the rear frame is provided with a pressure shaft for operating the length sensing switch.

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