Robot with Stable Ground

Abstract

The present invention relates to a robot having stable grounding, and is an invention concerning a technology that enables a drive wheel unit, which receives power and rotates to move the robot, to stably ground itself in response to terrain having various shapes. Specifically, the main components include: a robot body (100); a driving wheel section (210) formed to face in the width direction of the robot body (100) and rotated by power, and a robot body moving section (200) formed on both sides of the driving wheel section (210) in the length direction of the robot body (100) and freely rotating; and a grounding elastic section (300) that supplies elasticity in the direction of the ground to enable the robot body moving section (200) to make contact.

Description

Technology Field

[0001] The present invention relates to a robot having stable grounding, and is an invention concerning a technology that enables a drive wheel unit, which receives power and rotates to move the robot, to stably ground itself in response to terrain having various shapes. Background Technology

[0002] Patent Document 1 presents a technology comprising: a body part; a moving part capable of sliding in the longitudinal direction of the body part; a front driving part rotatably mounted on the body part and the moving part and rotatable by contact friction; and a rear driving part rotatably mounted on the body part and the moving part and rotatable by contact friction; wherein the load of the front driving part and the rear driving part is shared through the moving part, and the body part comprises: a body housing part having a length in the left-right direction; and a body space part formed in the longitudinal direction of the body housing part and providing a movement space for the moving part.

[0003] Patent Document 2 presents a driving robot comprising a main body frame having a front wheel supported on the front side of the driving direction, a plurality of driving units that are driven independently of each other and a wheel frame connecting and supporting the driving wheel and the rear wheel, and a linkage hinge unit that pivotally supports the wheel frame of each driving unit on the main body frame, wherein a suspension unit is provided between the main body frame and the wheel frame to elastically bias the driving wheel toward the driving surface side, and the wheel frame is composed of a main frame supporting the driving wheel, a subframe supporting the rear wheel, and a link member connecting the main frame and the subframe respectively, and the linkage hinge unit is provided between both ends of the main frame, and the suspension unit is connected to the main frame on the driving wheel side rather than the linkage hinge unit.

[0004] Patent Document 3 comprises a main body; and a driving unit including a driving wheel that drives the main body. The driving unit comprises a housing; a driving motor that generates a rotational force to drive the driving wheel; a driving arm that rotates around a pivot point so that the driving wheel is supported to protrude downward from the main body; and an elastic member that is supported between a first support point provided on one side of the driving arm and a second support point provided on the housing. The invention provides a technology in which the angle formed by the first support point, the pivot point, and the second support point maintains an acute angle while the driving arm rotates.

[0005] Patent Document 4 presents a technology comprising: a vehicle body capable of moving on an uneven terrain surface, the vehicle body including a storage space capable of accommodating an external mounting member, a left main hinge portion protruding from the center of the left side, and a right main hinge portion protruding from the center of the right side; a power supply unit mounted in the storage space of the vehicle body and supplying power to a variable link and a wheel; a left link assembly including a pivot frame hinge mounted to the left main hinge portion so as to be rotatable by a predetermined angle, wherein the link shape changes according to the shape of the uneven terrain surface; and a right link assembly including a pivot frame hinge mounted to the right main hinge portion so as to be rotatable by a predetermined angle, wherein the link shape changes according to the shape of the uneven terrain surface. Prior art literature

[0006] (Patent Document 0001) KR 10-2023-0120816 A (Publication Date: August 17, 2023)(Patent Document 0002) KR 10-0757842 B1 (Registration Date: September 5, 2007)(Patent Document 0003) KR 10-2016-0121844 A (Publication Date: October 21, 2016)(Patent Document 0004) KR 10-1423224 B1 (Registration Date: July 18, 2014) The problem to be solved

[0007] The present invention relates to a robot having stable grounding, and is an invention concerning a technology that enables a drive wheel unit, which receives power and rotates to move the robot, to stably ground itself in response to terrain having various shapes. means of solving the problem

[0008] The present invention relates to a robot having stable grounding, comprising: a robot body (100); a robot body moving part (200) including a driving wheel part (210) formed to face in the width direction of the robot body (100) and rotated by power, and a caster wheel part (220) formed on both sides of the driving wheel part (210) in the length direction of the robot body (100) and rotated freely; and a grounding elastic part (300) that supplies elasticity in the direction of the ground to enable grounding of the robot body moving part (200).

[0009] The present invention relates to a robot having stable grounding, wherein the grounding elastic member (300) comprises a first grounding elastic member (310) including a first vertical connecting member (311) formed to have a certain length in the vertical direction and coupled to the robot body (100), a first horizontal connecting member (312) formed to be rotatably coupled to the first vertical connecting member (311) and having one end and the other end in the longitudinal direction formed to rotatably connect the driving wheel member (210) and a selected caster wheel member (220), and a first elastic means (313) formed to have the other end in the longitudinal direction coupled to one side in the longitudinal direction of the first horizontal connecting member (312) to supply elasticity in the longitudinal direction.

[0010] The present invention relates to a robot having stable grounding, wherein the grounding elastic member (300) comprises a second vertical connecting member (321) formed to have a certain length in the vertical direction and coupled to the robot body (100), a second horizontal connecting member (322) formed to be rotatably coupled to the second vertical connecting member (321) and having one end and the other end in the longitudinal direction formed to rotatably connect the driving wheel member (210) and the selected caster wheel member (220), and a second elastic means (323) formed at the position where the second vertical connecting member (321) and the second horizontal connecting member (322) are coupled and supply elasticity in the rotational direction of the second horizontal connecting member (322), and a second grounding elastic member (320).

[0011] The present invention relates to a robot having stable grounding, wherein the grounding elastic part (300) comprises a third grounding elastic part (330) including a third vertical connecting part (331) which is coupled to the robot body (100) and coupled to the driving wheel part (210) and the selected caster wheel part (220) in the vertical direction, and a third elastic means (332) formed to supply elasticity in the longitudinal direction to the third vertical connecting part (331). Effects of the invention

[0012] The present invention has the effect of enabling stable movement on terrain of various shapes by ensuring that the drive wheel unit, which receives power and rotates to move the robot, stably contacts the ground in response to terrain of various shapes. The present invention has the effect of enabling stable steering on terrain of various shapes. Since the present invention measures the terrain shape in the direction of travel and controls the elasticity for contact using this information, it has the effect of not only ensuring stable contact but also minimizing the impact transmitted to the robot, thereby increasing the lifespan of the robot and preventing the loaded object from falling off. Brief explanation of the drawing

[0013] FIG. 1 is a side view of a robot having stable grounding according to the present invention. FIG. 2 is a partial perspective view of a robot having stable grounding according to the present invention. FIG. 3 is a partial side view of a robot having stable grounding according to the present invention. FIG. 4 is a conceptual diagram of the first grounding elastic part of the present invention. FIG. 5 is another conceptual diagram of the first grounding elastic part of the present invention. FIG. 6 is a conceptual diagram of the second grounding elastic part of the present invention. FIG. 7 is a conceptual diagram of the third grounding elastic part of the present invention. Specific details for implementing the invention

[0014] Hereinafter, the most preferred embodiment of the present invention is described in detail to enable a person skilled in the art to easily practice the present invention. The reference numbers of the embodiments are not limited to designated numbers, and all numbers may be accepted. The configurations presented in the embodiments may be extended to objects that produce the same purpose and effect. Sub-concepts of the configurations presented in the embodiments may be deemed implied even if they are not explicitly stated.

[0015] (Example 1-1) The present invention relates to a robot having stable grounding, comprising: a robot body (100); a robot body moving part (200) including a driving wheel part (210) formed to face in the width direction of the robot body (100) and rotated by power, and a caster wheel part (220) formed on both sides of the driving wheel part (210) in the length direction of the robot body (100) and rotated freely; and a grounding elastic part (300) that supplies elasticity in the direction of the ground to enable grounding of the robot body moving part (200).

[0016] (Example 1-2) The present invention relates to a robot having stable grounding, wherein in Example 1-1, the robot body moving part (200) includes a power supply part (211) that supplies power to the driving wheel part (210).

[0017] (Examples 1-3) The present invention relates to a robot having stable grounding, and in Example 1-2, the power supply unit (211) is formed as a motor that supplies power corresponding to the number of the drive wheel unit (210).

[0018] (Examples 1-4) The present invention relates to a robot having stable grounding, and in Example 1-2, the robot body moving part (200) is formed to steer through the difference in rotational speed between the driving wheel part (210).

[0019] (Examples 1-5) The present invention relates to a robot having stable grounding, and in Example 1-4, the caster wheel part (220) is formed to be rotatable in a selected direction in the width direction of the robot body (100) according to the difference in rotational speed of the drive wheel part (210).

[0020] (Examples 1-6) The present invention relates to a robot having stable grounding, and in Example 1-4, the diameter of the drive wheel part (210) is formed to be relatively larger than the diameter of the caster wheel part (220).

[0021] (Example 1-7) The present invention relates to a robot having stable grounding, and in Example 1-1, the driving wheel part (210) is formed of a material having relatively lower hardness than the caster wheel part (220).

[0022] (Examples 1-8) The present invention relates to a robot having stable grounding, wherein in Example 1-1, the driving wheel part (210) includes a driving wheel grounding assist part formed in a shape surrounding a circumferential surface and formed from a material with relatively low hardness.

[0023] (Examples 1-9) The present invention relates to a robot having stable grounding, wherein in Example 1-8, the drive wheel grounding assist part is formed to be connectable and detachable to the circumferential surface of the drive wheel part (210).

[0024] Referring to FIG. 1 and FIG. 2, the present invention relates to a robot capable of moving to a selected position, wherein the robot performs stable contact with the ground when moving on a stepped ground, an inclined ground, or a ground with uneven surfaces, thereby enabling stable driving in response to the shape of the ground.

[0025] The present invention includes a robot body (100), a robot body moving part (200) that operates to move the robot body (100), and a grounding elastic part (300) that operates to perform grounding of the robot body moving part (200).

[0026] The robot body (100) is formed in various shapes suitable for the selected purpose of the robot. In particular, the upper or internal part of the robot body (100) may include a loading space capable of loading objects including cargo.

[0027] The robot body movement unit (200) includes a drive wheel unit (210) and a caster wheel unit (200).

[0028] The drive wheel section (210) is formed as a pair facing each other in the width direction of the robot body (100).

[0029] The drive wheel unit (210) enables the robot body (100) to move by rotating by the supplied power.

[0030] To this end, the robot body moving part (200) includes a power supply part (211) that supplies power for the rotation of the drive wheel part (210). The power supply part (211) may be formed with a motor corresponding to the number of drive wheel parts (210).

[0031] The caster wheel section (220) is formed on both sides of the drive wheel section (210) in the longitudinal direction of the robot body (100) and is formed to rotate freely.

[0032] That is, the robot body moving part (200) includes a driving wheel part (210) that rotates by power supplied from a power supply part (211), and a caster wheel part (220) that rotates freely by the rotation of the driving wheel part (210) and performs movement and support of the robot body (100), thereby performing stable support and movement of the robot body (100).

[0033] In addition, the robot body movement unit (200) is formed to steer by controlling the rotational speed of the opposing drive wheel units (210). That is, a speed difference is generated between the drive wheel units (210) through power control supplied by the power supply unit (211), and the caster wheel unit (220) is formed to rotate in a selected direction by the force generated from the speed difference of the drive wheel units (210), thereby steering the direction of movement of the robot body (100).

[0034] More specifically, the caster wheel section (220) is capable of rotating in all directions (360 degrees) and is formed to automatically adjust the rotation angle within ±90 degrees depending on the speed difference of the drive wheel section (210). This allows for stable direction changes even in narrow spaces.

[0035] At this time, the drive wheel part (210) rotates by power to efficiently move the robot body (100), and must be able to perform movement and steering movements through contact with the ground even if the ground being driven is uneven. Therefore, the diameter of the drive wheel part (210) can be formed to be larger than the diameter of the caster wheel part (220).

[0036] More specifically, the diameter of the drive wheel portion (210) is formed to have a diameter of 1.5 to 2 times the diameter of the caster wheel portion (220). Through this, as described above, ground contact stability is increased even on uneven, sloped ground, and the loss of frictional force with the ground can be minimized.

[0037] In addition, the drive wheel portion (210) may be formed from a material with relatively lower hardness than the caster wheel portion (220). That is, the drive wheel portion (210) is formed from a material with lower hardness, so that it is formed into a softer tire shape than the caster wheel portion (220), thereby increasing the contact area with the ground and allowing it to make contact with the ground more easily than the caster wheel portion (220). At this time, the drive wheel portion (210) may be formed from materials such as hard urethane or rubber.

[0038] Additionally, the drive wheel part (210) may be formed of a material with relatively low hardness and may include a drive wheel contact assist part formed in a shape that surrounds the circumferential surface of the drive wheel part (210). Since the drive wheel contact assist part is formed of a material with relatively low hardness and is softer than the drive wheel part (210), it is formed in a shape that surrounds the circumferential surface of the drive wheel part (210), so it can assist in contact between the drive wheel part (210) and the ground.

[0039] At this time, the drive wheel grounding assist member is formed to be detachably coupled to the circumferential surface of the drive wheel member (210). Through this, the drive wheel grounding assist member can be easily replaced due to wear caused by continuous use or easily operated for maintenance. That is, stable grounding operation can be performed using the drive wheel grounding assist member, and the lifespan of the surrounding drive wheel member (210) can be increased, so the overall management of the robot can be easily managed and the effect of reducing operating costs can be obtained.

[0040] The ground elastic part (300) is formed to supply elasticity so that the driving wheel part (210) can make contact. The ground elastic part (300) is formed to supply elasticity in the direction of contact, that is, in the direction of the ground. By doing so, even if the ground on which the robot body (100) moves is not flat and has an uneven shape, the ground pressure of the driving wheel part (210) is maintained at a constant level, thereby preventing interference with the operation of the robot body (100) even if the shape of the ground is deformed.

[0041] (Example 2-1) The present invention relates to a robot having stable grounding. In Example 1-1, the grounding elastic member (300) comprises a first vertical connecting member (311) formed to have a certain length in the vertical direction and coupled to the robot body (100), a first horizontal connecting member (312) formed to be rotatably coupled to the first vertical connecting member (311) and having one end and the other end in the longitudinal direction formed to rotatably connect the driving wheel member (210) and the selected caster wheel member (220), and a first elastic means (313) formed to have the other end in the longitudinal direction coupled to one side in the longitudinal direction of the first horizontal connecting member (312) to supply elasticity in the longitudinal direction.

[0042] (Example 2-2) The present invention relates to a robot having stable grounding, wherein in Example 2-1, the first elastic means (313) is coupled to one side in the longitudinal direction of the first vertical connection coupling part (311-1), the longitudinal end of which is formed perpendicularly to the first vertical connection part (311).

[0043] (Example 2-3) The present invention relates to a robot having stable grounding, and in Example 2-2, the longitudinal direction of the first elastic means (313) is formed at an angle selected with respect to the direction of gravity.

[0044] (Example 2-4) The present invention relates to a robot having stable grounding, wherein in Example 2-1, the first elastic means (313) has one end in the longitudinal direction connected to a position selected in the longitudinal direction of the first vertical connection part (311).

[0045] (Example 2-5) The present invention relates to a robot having stable grounding, wherein in Example 2-4, the longitudinal direction of the first elastic means (313) is formed at an angle selected with respect to the direction of gravity.

[0046] (Example 2-6) The present invention relates to a robot having stable grounding, wherein in Example 2-1, the first elastic means (313) is formed of one or more springs selected from a coil spring, a leaf spring, a torsion bar spring, and an air spring.

[0047] (Example 2-7) The present invention relates to a robot having stable grounding, and in Example 2-6, the first elastic means (313) is formed as a suspension including the spring and the shock absorber.

[0048] (Example 2-8) The present invention relates to a robot having stable grounding, and in Example 2-7, the first elastic means (313) is formed as an electronically controlled suspension (ECS) that controls the elasticity of a spring.

[0049] (Example 2-9) The present invention relates to a robot having stable grounding, and in Example 2-8, the first elastic means (313) operates by obtaining information from a vision sensor that measures the terrain in the driving direction of the robot body (100).

[0050] Referring to FIGS. 1 to 5, the grounding elastic member (300) of the present invention comprises a first vertical connecting member (311) formed to have a certain length in the vertical direction and coupled to a robot body (100), a first horizontal connecting member (312) formed to be rotatably coupled to the first vertical connecting member (311) and formed to rotatably connect a driving wheel member (210) and a selected caster wheel member (220) at one end in the longitudinal direction, and a first elastic means (313) formed to be coupled to one side in the longitudinal direction of the first horizontal connecting member (312) and to supply elasticity in the longitudinal direction.

[0051] That is, when the robot moves to an inclined position, a stepped position, or a position with an uneven surface, a difference in height occurs between the driving wheel unit (210) and the caster wheel unit (220). At this time, the first elastic means (313) supplies elasticity to one side in the longitudinal direction, i.e., the driving wheel unit (210) side, of the first horizontal connecting unit (312), thereby allowing the driving wheel unit (210) to stably make contact with the ground. Through this, the driving wheel unit (210) helps to make contact with the ground even on surfaces of various shapes, enabling the robot to drive stably.

[0052] The first vertical connecting part (311) is connected to the robot body (100) and formed to have a certain length in the vertical direction. At this time, it is preferable that the first vertical connecting part (311) be formed to have a length in the direction of gravity, but depending on the purpose of the robot and the moving ground, it may be formed in a shape that extends with an angle selected relative to the direction of gravity.

[0053] As described above, the first horizontal connecting part (312) has one end in the longitudinal direction rotatably connected to the driving wheel part (210) and the other end in the longitudinal direction rotatably connected to the selected caster wheel part (220), so that the angle in the longitudinal direction of the first horizontal connecting part (312) can be changed by elastic supply according to the shape of the ground, thereby controlling the height position between the driving wheel part (210) and the caster wheel part (220).

[0054] The first elastic means (313) is formed as an elastic means that supplies elasticity to the first horizontal connecting part (312), and by supplying elasticity to the first horizontal connecting part (312), the driving wheel part (210) can be made to contact the ground in accordance with the shape of the ground.

[0055] At this time, as described above, the first elastic means (313) may be formed such that its longitudinal end is connected to one side in the longitudinal direction of the first horizontal connecting part (312), and its longitudinal end is connected to one side in the longitudinal direction of the first vertical connecting part (311-1), which is formed perpendicular to the first vertical connecting part (311). It is preferable that the longitudinal direction of the first elastic means (313) be formed in the direction of gravity, but it is not limited thereto and may be formed by connecting the longitudinal direction to the first vertical connecting part (311-1) and the first horizontal connecting part (312) at an angle selected relative to the direction of gravity.

[0056] Additionally, as described above, the first elastic means (313) may be formed such that one end in the longitudinal direction is connected to one side in the longitudinal direction of the first horizontal connecting part (312), and one end in the longitudinal direction is connected to a selected position in the longitudinal direction of the first vertical connecting part (311). The first elastic means (313) may be formed by connecting to the first vertical connecting part (311) and the first horizontal connecting part (312) at an angle selected with respect to the direction of gravity.

[0057] In addition, the first elastic means (313) may be formed from one or more springs selected from a coil spring, a leaf spring, a torsion bar spring, and an air spring. Of course, the first elastic means (313) can be formed from various springs, not just the springs described above, as long as they can smoothly and continuously supply elasticity for grounding of the drive wheel part (210).

[0058] In addition, the first elastic means (313) can be formed as a suspension including a shock absorber in a spring.

[0059] In particular, the first elastic means (313) formed by suspension can be formed as an electronically controlled suspension (ECS). Since the first elastic means (313) formed by electronically controlled suspension can control the elasticity of the spring by electronic control, when driving on a surface of various shapes such as an inclined surface or an uneven surface, stable contact is achieved through the control of the spring's elasticity, and the force transmitted to the robot body (100) and the shaking of the robot body (100) are minimized, thereby preventing the load object from falling off the robot body (100) and allowing for stable driving.

[0060] In addition, the first elastic means (313) receives terrain information from a vision sensor that measures terrain in the driving direction of the robot body (100), and can minimize the impact transmitted to the robot body (100) and the stable grounding of the driving wheel part (210) through elastic control of the spring.

[0061] (Example 3-1) The present invention relates to a robot having stable grounding. In Example 1-1, the grounding elastic member (300) comprises a second vertical connecting member (321) formed to have a certain length in the vertical direction and coupled to the robot body (100), a second horizontal connecting member (322) formed to be rotatably coupled to the second vertical connecting member (321) and having one end and the other end in the longitudinal direction rotatably connected to the driving wheel member (210) and the selected caster wheel member (220), and a second elastic means (323) formed at the position where the second vertical connecting member (321) and the second horizontal connecting member (322) are coupled and supply elasticity in the rotational direction of the second horizontal connecting member (322).

[0062] (Example 3-2) The present invention relates to a robot for stable grounding, and in Example 3-1, the second elastic means (323) is formed as a spring which is a torsion spring that supplies elasticity in the rotational direction of the second horizontal connecting part (322).

[0063] (Example 3-3) The present invention relates to a robot having stable grounding, wherein in Example 3-2, the second elastic means (323) is formed as a suspension including the spring and the shock absorber.

[0064] (Example 3-4) The present invention relates to a robot having stable grounding, and in Example 3-2, the second grounding elastic part (320) includes a second elastic means rotation control part formed to supply force in the rotational direction of the second elastic means (323).

[0065] (Examples 3-5) The present invention relates to a robot having stable grounding, and in Example 3-4, the second elastic means rotation control unit is formed by one or more selected from a solenoid actuator and a cylindrical cam actuator that perform a stroke operation to supply force in the rotational direction by being coupled to the end of the second elastic means (323).

[0066] (Example 3-6) The present invention relates to a robot having stable grounding, and in Example 3-4, the second elastic means rotation control unit operates by obtaining information from a vision sensor that measures the terrain in the driving direction of the robot body (100).

[0067] Referring to FIG. 6, the grounding elastic member (300) of the present invention includes a second vertical connecting member (321) formed to have a certain length in the vertical direction and coupled to the robot body (100), a second horizontal connecting member (322) formed to be rotatably coupled to the second vertical connecting member (321) and formed to rotatably connect a driving wheel member (210) and a selected caster wheel member (220) at one end and the other end in the longitudinal direction, and a second elastic means (323) formed at the position where the second vertical connecting member (321) and the second horizontal connecting member (322) are coupled and supply elasticity in the rotational direction of the second horizontal connecting member (322).

[0068] That is, the second grounding elastic part (320) supplies elasticity in the rotational direction of the second horizontal connecting part (322) so that the driving wheel part (210) can be grounded on the ground, thereby allowing the driving wheel part (210) to be stably grounded on the ground when the robot moves to an inclined position, a stepped position, or a position with an uneven surface. Through this, the driving wheel part (210) is helped to be grounded on a surface with various shapes, enabling the robot to drive stably.

[0069] The second vertical connecting part (321) is formed in a shape such that one end is connected to the robot body (100) and extends downward for a certain length, similar to the first vertical connecting part (311) described above.

[0070] At this time, the second vertical connecting part (321) is preferably formed in a shape that extends in the direction of gravity, but may be formed in a shape that extends at an angle selected according to the purpose of the robot and the moving ground.

[0071] The second horizontal connecting part (322), like the first horizontal connecting part (312) described above, has one end in the longitudinal direction rotatably connected to the driving wheel part (210) and the other end in the longitudinal direction rotatably connected to the selected caster wheel part (220), so that the longitudinal angle of the second horizontal connecting part (322) can be changed by elastic supply according to the shape of the ground, thereby controlling the height position between the driving wheel part (210) and the caster wheel part (220).

[0072] The second elastic means (323) is formed as an elastic means that supplies elasticity in the rotational direction of the second horizontal connecting part (322), and the driving wheel part (210) can be made to touch the ground by the force resulting from the elastic supply in the rotational direction of the second horizontal connecting part (322).

[0073] At this time, the second elastic means (323) is formed as a spring that is a torsion spring that supplies elasticity in the rotational direction of the second horizontal connecting part (322).

[0074] The torsion spring is a spring that elastically deforms by receiving torsion, and is formed at a position where it is coupled with the second vertical connection part (321), which is the center point where the second horizontal connection part (322) rotates, and by having one end in the longitudinal direction coupled to the second horizontal connection part (322), the driving wheel part (210) can be easily grounded on the ground by the force of torsion.

[0075] At this time, the second elastic means (323) may be formed as a suspension including a spring and a shock absorber. This allows the shock transmitted to the robot body (100) to be minimized as the robot travels on irregular terrain.

[0076] In addition, the second grounding elastic member (320) includes a second elastic means rotation control unit formed to supply force in the rotational direction of the second elastic means (323). By supplying force in the rotational direction to the second elastic means (323), which is formed as a torsion spring, the second elastic means rotation control unit can additionally supply force for grounding the drive wheel member (210).

[0077] At this time, the second elastic means rotation control unit can be formed by various means, but it is preferable to be formed by one or more selected from a solenoid actuator and a cylindrical cam actuator that are combined with the end of the second elastic means (323) and stroke-driven to supply force in the rotational direction.

[0078] In addition, the second elastic means rotation control unit can operate by acquiring terrain information from a vision sensor that measures the terrain in the driving direction of the robot body (100). That is, since the elasticity of the second elastic means (323) can be controlled to ensure that the driving wheel unit (210) makes contact with the ground according to the terrain, it can move stably by making contact with various terrains and minimize the impact transmitted to the robot body (100).

[0079] (Example 4-1) The present invention relates to a robot having stable grounding. In Example 1-1, the grounding elastic part (300) comprises a third grounding elastic part (330) including a third vertical connecting part (331) which is coupled to the robot body (100) and coupled to the driving wheel part (210) and the selected caster wheel part (220) in the vertical direction, and a third elastic means (332) formed to supply elasticity in the longitudinal direction to the third vertical connecting part (331).

[0080] (Example 4-2) The present invention relates to a robot having stable grounding, wherein in Example 4-1, the third elastic means (332) is formed of one or more springs selected from a coil spring, a leaf spring, a torsion bar spring, and an air spring.

[0081] (Example 4-3) The present invention relates to a robot having stable grounding, wherein in Example 4-2, the third elastic means (332) is formed as a suspension including the spring and the shock absorber.

[0082] (Example 4-4) The present invention relates to a robot having stable grounding, wherein in Example 4-3, the third elastic means (332) is formed as an electronic control suspension (ECS).

[0083] (Examples 4-5) The present invention relates to a robot having stable grounding. In Example 4-4, the third elastic means (332) operates by obtaining information from a vision sensor that measures the terrain in the driving direction of the robot body (100).

[0084] Referring to FIG. 7, the ground elastic member (300) of the present invention includes a third ground elastic member (330) comprising a third vertical connection member (331) which is coupled to the robot body (100) and is coupled to the driving wheel member (210) and the selected caster wheel member (220) in the vertical direction, and a third elastic means (332) formed in the third vertical connection member (331) to supply elasticity in the longitudinal direction.

[0085] The third grounding elastic part (300) supplies elasticity in the direction of gravity to the selected caster wheel part (220) as well as to the driving wheel part (210), so that when the robot moves to an inclined position, a stepped position, or a position with an uneven surface, the driving wheel part (210) can be stably grounded to the ground, and by assisting the grounding of the caster wheel part (220), it can perform stable steering operations in response to ground having various shapes.

[0086] In addition, since the driving wheel part (210) and the caster wheel part (220) can perform individual grounding operations, interference between them due to the grounding operation of the robot body moving part (200) can be prevented.

[0087] In addition, the third grounding elastic part (300) can control grounding not only on the driving wheel part (210) but also on the caster wheel part (220), thereby preventing the load from being concentrated in any one direction along the length of the robot body (100) and allowing the load to be balanced as the robot body (100) moves, thus preventing the load from falling off.

[0088] The third vertical connecting part (331) is formed such that one end is connected to the robot body (100), and the other end in the vertical direction is connected to the driving wheel part (210) and the selected caster wheel part (220). At this time, it is preferable for the third vertical connecting part (331) to be formed in a shape having a certain length in the direction of gravity, but it may be formed in a shape extending at an angle selected from the direction of gravity depending on the purpose of the robot and the moving ground.

[0089] The third elastic means (332) may be formed from one or more springs selected from a coil spring, a leaf spring, a torsion bar spring, and an air spring. Of course, the third elastic means (332) can be formed from various springs, not just the springs described above, as long as they can smoothly and continuously supply elasticity for grounding of the drive wheel part (210) and the caster wheel part (220).

[0090] In addition, the third elastic means (332) can be formed as a suspension including a shock absorber in a spring.

[0091] In addition, the third elastic means (332) can be formed as an electronically controlled suspension, just like the first elastic means (313) described above. Since the third elastic means (332) formed as an electronically controlled suspension can control the elasticity of the spring by electronic control, when driving on surfaces of various shapes such as inclined surfaces or uneven surfaces, stable contact of the driving wheel part (210) and caster wheel part (220) through the elasticity control of the spring and the force transmitted to the robot body (100) and the shaking of the robot body (100) are minimized, thereby preventing the load object from falling off the robot body (100) and allowing for stable driving.

[0092] In addition, the third elastic means (332) receives terrain information from a vision sensor that measures terrain in the driving direction of the robot body (100), and can minimize the impact transmitted to the robot body (100) and the grounding of the selected caster wheel part (220) through elastic control of the spring. Explanation of the symbols

[0093] 100 : Robot body 200: Robot body movement unit 210: Drive wheel unit 211: Power supply unit 220: Caster wheel unit 300 : Grounding elastic part 310: First grounding elastic part 311: First vertical connection part 311-1: First vertical connection joint part 312: First horizontal connecting part 313: First elastic means 320: Second grounding elastic part 321: Second vertical connection part 322 : Second horizontal connecting part 323 : Second elastic means 330 : 3rd Grounding Elastic Part 331: Third vertical connection part 332: Third elastic means

Claims

Claim 1 A robot body (100); a robot body moving part (200) comprising a driving wheel part (210) formed to face in the width direction of the robot body (100) and rotated by power, and a caster wheel part (220) formed on both sides of the driving wheel part (210) in the length direction of the robot body (100) and rotated freely; and a grounding elastic part (300) that supplies elasticity in the direction of the ground so that the robot body moving part (200) can make contact with the ground; wherein the grounding elastic part (300) comprises a first vertical connecting part (311) formed to have a certain length in the vertical direction and coupled to the robot body (100), and a first horizontal connecting part (312) formed to be rotatably coupled to the first vertical connecting part (311) and having one end and the other end in the length direction formed to rotatably connect the driving wheel part (210) and the selected caster wheel part (220). The first grounding elastic member (310) includes a first elastic means (313) formed such that the longitudinal end is coupled to one longitudinal side of the first horizontal connecting member (312) to supply elasticity in the longitudinal direction, the caster wheel member (220) is formed to be rotatable in a selected direction in the width direction of the robot body (100) according to the difference in rotational speed of the drive wheel member (210), the drive wheel member (210) is formed of a material having relatively lower hardness than the caster wheel member (220), and the drive wheel member (210) includes a drive wheel grounding auxiliary member formed of a material having relatively lower hardness and in a shape surrounding the circumferential surface, the drive wheel grounding auxiliary member is formed to be coupled and detachable to the circumferential surface of the drive wheel member (210), and the first elastic means (313) has a longitudinal end formed perpendicular to the first vertical connecting member (311). A robot having stable grounding, comprising a first vertical connection joint (311-1) coupled to one side in the longitudinal direction, wherein the longitudinal direction of the first elastic means (313) is formed at an angle selected based on the direction of gravity, and wherein the first elastic means (313) operates by acquiring information from a vision sensor that measures terrain in the driving direction of the robot body (100). Claim 2 delete Claim 3 delete Claim 4 delete Claim 5 A robot body (100); a robot body moving part (200) comprising a driving wheel part (210) formed to face in the width direction of the robot body (100) and rotated by power, and a caster wheel part (220) formed on both sides of the driving wheel part (210) in the length direction of the robot body (100) and rotated freely; and a ground elastic part (300) that supplies elasticity in the direction of the ground so that the robot body moving part (200) can make contact with the ground; wherein the ground elastic part (300) comprises a second vertical connecting part (321) formed to have a certain length in the vertical direction and coupled to the robot body (100), and a second horizontal connecting part (322) formed to be rotatably coupled to the second vertical connecting part (321) and having one end and the other end in the length direction formed to rotatably connect the driving wheel part (210) and the selected caster wheel part (220), and the The second grounding elastic member (320) includes a second elastic means (323) formed at the position where the second vertical connecting member (321) and the second horizontal connecting member (322) are joined, and which supplies elasticity in the rotational direction of the second horizontal connecting member (322); the second elastic means (323) is formed as a spring that is a torsion spring that supplies elasticity in the rotational direction of the second horizontal connecting member (322); the second grounding elastic member (320) includes a second elastic means rotation control member formed to supply force in the rotational direction of the second elastic means (323); the second elastic means rotation control member is formed as one or more selected from a solenoid actuator and a cylindrical cam actuator that perform a stroke operation to supply force in the rotational direction by being joined to the end of the second elastic means (323); and the A robot having stable grounding, comprising a second elastic means rotation control unit that operates by acquiring information from a vision sensor that measures terrain in the driving direction of the robot body (100). Claim 6 A robot body (100); a robot body moving part (200) comprising a driving wheel part (210) formed to face in the width direction of the robot body (100) and rotated by power, and a caster wheel part (220) formed on both sides of the driving wheel part (210) in the length direction of the robot body (100) and rotated freely; and a grounding elastic part (300) that supplies elasticity in the direction of the ground to enable the robot body moving part (200) to make contact with the ground; wherein the grounding elastic part (300) comprises a third vertical connecting part (331) that is coupled to the robot body (100) and coupled to the driving wheel part (210) and the selected caster wheel part (220) in the vertical direction, and a third grounding elastic part (330) comprising a third elastic means (332) formed to supply elasticity in the length direction to the third vertical connecting part (331). A robot having stable grounding, wherein the third elastic means (332) is formed as an electronically controlled suspension, and the third elastic means (332) receives terrain information from a vision sensor that measures terrain in the driving direction of the robot body (100), and transmits it to the grounding of the driving wheel part (210) and the selected caster wheel part (220) and to the robot body (100).

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