Driving robot

Abstract

A driving robot according to one embodiment of the present invention may include: a robot body; a first wheel coupled to the robot body; a first link coupled to the robot body and extending forward of the first wheel; a second link having one side connected to the first link; a second wheel connected to the first link and the second link and positioned in front of the first wheel; and a third link connected to the other side of the second link and coupled to the robot body.

Description

Technology Field

[0001] The present invention relates to a driving robot. Background Technology

[0003] Recently, the use of mobile robots has been increasing across various industrial sectors, and the development of delivery robots capable of transporting goods in outdoor environments is particularly active. Delivery robots can navigate diverse outdoor environments, such as roads, sidewalks, and parks, and play a role in safely and efficiently transporting goods to their destinations.

[0004] Conventional outdoor delivery robots adopt large-diameter wheels to enhance their ability to overcome uneven terrain. However, as wheel size increases, the robot's entire system grows larger, which can lead to issues such as increased weight, higher energy consumption, and reduced mobility efficiency. Furthermore, the increased wheel size may limit the robot's overall dimensions, posing difficulties in navigating confined spaces or utilizing the robot in specific environments.

[0005] Therefore, a new technology is needed that can optimize the overall system size while maintaining the existing delivery robot's ability to overcome height differences. The problem to be solved

[0007] In order to solve at least some of the above-mentioned problems, the driving robot of one embodiment is intended to provide a structure capable of driving on roads with high steps or obstacles by utilizing a link structure.

[0008] The objectives of the present invention are not limited to those mentioned above, and other unmentioned objectives will be clearly understood by those skilled in the art from the description below. means of solving the problem

[0010] A driving robot according to one embodiment of the present invention for achieving the above objective may include: a robot body; a first wheel coupled to the robot body; a first link coupled to the robot body and extending forward of the first wheel; a second link having one side connected to the first link; a second wheel connected to the first link and the second link and positioned in front of the first wheel; and a third link connected to the other side of the second link and coupled to the robot body.

[0011] The third link extends in the direction of movement of the robot body, and the length from the robot body to one side of the third link may be longer than the radius of the first wheel.

[0012] The above third link can slide in the direction of movement of the robot body.

[0013] The diameter of the second wheel may be smaller than the diameter of the first wheel.

[0014] It may further include a battery electrically connected to at least one of the first wheel or the second wheel.

[0015] The first link and the robot body can be connected by a rotary joint.

[0016] The first link and the second link can be connected by a rotary joint.

[0017] The second wheel and the third link are connected by the second link,

[0018] When the third link is pushed backward, the second wheel can move toward the first wheel.

[0019] The above-described driving robot may further include an elastic member that applies a restoring force to cause the third link to move forward.

[0020] The above-described driving robot may further include a stopper that limits the third link from being pushed backward. Effects of the invention

[0022] A driving robot according to one embodiment of the present invention can drive on a road with a high step or obstacles by utilizing a link structure.

[0023] The effects of the present invention are not limited to those described above, and other unmentioned effects will be clearly recognized by a person skilled in the art from the description below. Brief explanation of the drawing

[0025] FIG. 1 is a perspective view showing a driving robot according to one embodiment of the present invention. FIG. 2 is an enlarged perspective view of a part of a driving robot according to one embodiment of the present invention. FIG. 3 is a side view showing the driving appearance of a driving robot according to one embodiment of the present invention. FIG. 4 is a side view showing the driving appearance of a driving robot according to one embodiment of the present invention. FIG. 5 is a side view showing the driving appearance of a driving robot according to one embodiment of the present invention. FIG. 6 is a side view showing the driving appearance of a driving robot according to one embodiment of the present invention. Specific details for implementing the invention

[0026] The present invention is capable of various modifications and may have various embodiments, and specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the invention to specific embodiments, and it should be understood that the invention includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention.

[0027] Terms such as "first," "second," etc., may be used to describe various components, but said components should not be limited by said terms. These terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component. The term "and / or" includes a combination of a plurality of related described items or any of a plurality of related described items.

[0028] Terms such as "~part," "~section," "~part," etc. may be used to describe various components, but said components should not be limited by said terms. These terms may refer not only to physically or visibly distinguishable components but also to descriptions of the function or configuration of a relevant part, even if the distinction or division is not clearly defined.

[0029] The terms used in this application are used merely to describe specific embodiments and are not intended to limit the invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, terms such as "comprising" or "having" are intended to specify the presence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0030] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the present invention pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this application.

[0031] In the description below, terms related to direction such as "forward," "rear," "side," "front," "back," "up and down," "up," "upper," "top," "bottom," "lower," "bottom," and "left and right" are defined based on the mobile robot (RB). "Forward" may refer to the direction of movement of the mobile robot (RB). "Backward" may refer to the direction opposite to the direction of movement of the mobile robot (RB). In this specification, the mobile robot (RB) is described under the assumption that it is moving forward.

[0032] Additionally, terms such as "first," "second," etc., may be used to describe various components, but the order, size, location, or importance of these components is not limited by terms such as "first," "second," etc., and they are named solely for the purpose of distinguishing one component from another.

[0033] Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the attached drawings.

[0034] In the drawing, D1 may be referred to as the first direction, and D2, which intersects the first direction (D1), may be referred to as the second direction. The first direction (D1) may be referred to as the axial direction. The direction opposite to the first direction (D1) may be referred to as the opposite axial direction. The horizontal direction may include both the first direction (D1) and the direction opposite to the first direction (D1). Additionally, the second direction (D2) may be referred to as the vertical direction.

[0036] FIG. 1 is a perspective view showing a driving robot (RB) according to one embodiment of the present invention, and FIG. 2 is an enlarged perspective view showing a part of the driving robot (RB) according to one embodiment of the present invention.

[0037] Referring to FIGS. 1 and 2, a driving robot (RB) according to one embodiment may include a robot body (1), a first wheel (21), a first link (31), a second link (32), a second wheel (22), and a third link (33). A driving robot (RB) according to one embodiment may optionally include a battery (4), a control unit (5), an elastic member (6), and a stopper (7).

[0038] The robot body (1) can support various configurations of the driving robot (RB). For example, the robot body (1) can support a first wheel (21), a battery (4), and a control unit (5). The robot body (1) can be connected to a first link (31). The robot body (1) may have a plurality of legs (11), and in this specification, the robot body (1) may have four legs (11). Each leg (11) can be connected to a first wheel (21).

[0039] The battery (4) can supply power to the driving robot (RB). More specifically, the battery (4) can supply power by being electrically connected to at least one of the first wheel (21) or the second wheel (22). By supplying power to the first wheel (21) with the battery (4), the driving robot (RB) can drive. By supplying power to the second wheel (22) with the battery (4), the second wheel (22) rotates, allowing the driving robot (RB) to climb over obstacles. By supplying power to the control unit (5) with the battery (4), the control unit (5) can control the rotational speed and rotational direction of the first wheel (21) and the second wheel (22).

[0040] A driving robot (RB) according to one embodiment of the present invention may include a control unit (5) connected to a robot body (1). The control unit (5) may be located on the robot body (1), but is not limited thereto. The control unit (5) may be located at any position on the robot body (1). The control unit (5) may be electrically connected to a first wheel (21). The control unit (5) may be connected to each of a plurality of first wheels (21). However, for convenience of explanation, the plurality of first wheels (21) will be described as a single unit. The control unit (5) may control each of the plurality of first wheels (21). The control unit (5) may individually control the rotational speed and rotational direction of the first wheels (21). In this specification, the control unit (5) may be connected to all first wheels (21), but is not limited thereto.

[0041] The control unit (5) may be electrically connected to the second wheel (22). The control unit (5) may be connected to each of the multiple second wheels (22). However, for convenience of explanation, the multiple second wheels (22) will be described as a single unit. The control unit (5) may control each of the multiple second wheels (22). The control unit (5) may individually control the rotational speed and rotational direction of the second wheels (22). In this specification, the control unit (5) may be connected to all of the second wheels (22), but is not limited thereto.

[0042] A control unit (5) according to one embodiment may include at least one of a microprocessor, a microcontroller unit (MCU), a digital signal processor (DSP), a system on chip (SoC), an application processor, an embedded memory, a dynamic random access memory (DRAM), a static random access memory (SRAM), an electrically erasable programmable read-only memory (EPROM), a ferroelectric random access memory (FRAM), a magnetoresistive random access memory (MRAM), or a non-volatile random access memory (NVRAM). However, the types of electronic components included in the control unit (5) are not limited thereto.

[0043] The first wheel (21) can be attached to the robot body (1). The first wheel (21) can be attached to the leg of the robot body (1). The first wheel (21) can move the driving robot (RB). The driving robot (RB) can move by rotating the first wheel (21). Multiple first wheels (21) may be provided. In this specification, the driving robot (RB) includes four first wheels (21), and the following description of the first wheels (21) may apply equally to all first wheels (21). A tire may be attached to the outer surface of the first wheel (21).

[0044] The first link (31) can be connected to the robot body (1). One side of the first link (31) can be connected to the robot body (1). One side of the first link (31) can be connected to the leg (11) of the robot body (1). The first link (31) and the robot body (1) can be connected by a rotational joint. The first link (31) can rotate relative to the robot body (1).

[0045] The first link (31) may extend forward of the first wheel (21). The first link (31) may extend from the robot body (1) toward the direction of movement of the driving robot (RB). The other side of the first link (31), which is located opposite one side of the first link (31), may be located in front of the first wheel (21).

[0046] The second link (32) can be connected to the first link (31). The second link (32) can be connected to the first link (31) by a rotational joint. One side of the second link (32) can be connected to the other side of the first link (31). The other side of the second link (32), located opposite to one side of the second link (32), can be connected to the third link (33). The second link (32) can connect the first link (31) and the third link (33). As one side of the second link (32) is also connected to one side of the first link (31), one side of the second link (32) can be positioned ahead of the first wheel (21).

[0047] The second wheel (22) can be connected to the first link (31) and the second link (32). The first link (31) and the second link (32) can be combined with the second wheel (22). The other side of the first link (31) and one side of the second link (32) can be combined with the second wheel (22). The second wheel (22) can be positioned ahead of the first wheel (21). By positioning the second wheel (22) ahead of the first wheel (21), the second wheel (22) can come into contact with an obstacle before the first wheel (21).

[0048] The diameter of the second wheel (22) may be smaller than the diameter of the first wheel (21). The level of the lower surface of the second wheel (22) may be higher than the level of the lower surface of the first wheel (21). The second wheel (22) may be spaced apart from the floor.

[0049] Multiple second wheels (22) may be provided. In this specification, the driving robot (RB) includes four second wheels (22), and the description of the second wheels (22) below may be applied equally to all second wheels (22).

[0050] The third link (33) can be combined with the robot body (1). The third link (33) can be connected to the robot body (1) by a linear motion joint. The third link (33) can slide relative to the robot body (1). The third link (33) can slide in the driving direction of the robot body (1).

[0051] The third link (33) may extend in the driving direction of the robot body (1). One side of the third link (33) may refer to a portion that extends toward the driving direction of the robot body (1). The length from the robot body (1) to one side of the third link (33) may be longer than the radius of the first wheel (21). The third link (33) may come into contact with an obstacle before the first wheel (21).

[0052] The level of the third link (33) may be lower than the level of the second wheel (22). Even if the third link (33) comes into contact with an obstacle, the second wheel (22), which is positioned higher than the third link (33), may not come into contact with the obstacle. However, due to the third link (33) and the second wheel (22), the driving robot (RB) can overcome obstacles with a step. This driving mechanism will be described later.

[0053] The elastic member (6) can apply a restoring force to cause the third link (33) to move forward when the third link (33) is pushed backward upon contact with an obstacle (OB). The elastic member (6) can be coupled to the robot body (1). The elastic member (6) is positioned on the robot body (1) and can apply a restoring force to the third link (33) when the third link (33) is pushed backward. However, the position of the elastic member (6) is not limited thereto, and the elastic member (6) can be coupled to the third link (33). The elastic member (6) is coupled to the third link (33) and can apply a restoring force to cause the third link (33) to move forward when the third link (33) is pushed backward. The elastic member (6) may include a spring, but the configuration of the elastic member (6) is not limited thereto. The elastic member (6) may include various configurations capable of applying a restoring force to the third link (33).

[0054] The stopper (7) can restrict the movement of the third link (33). The stopper (7) can restrict the movement of the third link (33) so that when the third link (33) moves backward in contact with an obstacle (OB), the stopper (7) does not move backward beyond a certain level. The stopper (7) can be combined with at least one of the robot body (1) or the third link (33).

[0056] FIG. 3 is a side view showing the driving appearance of a driving robot (RB) according to one embodiment of the present invention, FIG. 4 is a side view showing the driving appearance of a driving robot (RB) according to one embodiment of the present invention, FIG. 5 is a side view showing the driving appearance of a driving robot (RB) according to one embodiment of the present invention, and FIG. 6 is a side view showing the driving appearance of a driving robot (RB) according to one embodiment of the present invention.

[0057] Referring to FIG. 3, a driving robot (RB) can be shown driving without encountering an obstacle (OB). The driving robot (RB) can drive by means of the first wheel (21). The third link (33) and the second wheel (22) may not come into contact with the obstacle (OB). In this specification, the height of the obstacle (OB) may be higher than the height of the third link (33). However, the height of the obstacle (OB) is not limited to this, and the driving robot (RB) can overcome obstacles (OB) of various shapes and heights.

[0058] Referring to FIGS. 4, 5, and 6, a driving robot (RB) in contact with an obstacle (OB) can be shown. Referring to FIGS. 4 and 5, when the third link (33) comes into contact with the obstacle (OB), the third link (33) may be pushed backward by the obstacle (OB). The third link (33) may slide backward by the obstacle (OB). As the other side of the second link (32) connected to the third link (33) also moves backward, the second wheel (22) coupled to one side of the second link (32) may move toward the first wheel (21). When the third link (33) moves backward, the distance between the second wheel (22) and the first wheel (21) may decrease. The backward movement of the third link (33) may be restricted by a stopper (7).

[0059] As the second wheel (22) moves toward the first wheel (21), the second wheel (22) may come into contact with an obstacle (OB). The second wheel (22) may be rotated by the control unit (5), but is not limited thereto. The second wheel (22) may not rotate before coming into contact with the obstacle (OB). However, in this specification, the second wheel (22) is described as rotating by the control unit (5). By rotating the second wheel (22), the driving robot (RB) can easily overcome the obstacle (OB) that has a step. The second wheel (22) can assist the movement of the first wheel (21) until the first wheel (21) has sufficiently risen over the obstacle (OB). The second wheel (22) can assist the movement of the first wheel (21) until the third link (33) is separated from the obstacle (OB).

[0060] Referring to FIG. 6, a driving robot (RB) with the first wheel (21) moving over an obstacle (OB) may be provided. When the first wheel (21) moves over the obstacle (OB) to a certain level or higher, the third link (33) may not come into contact with the obstacle (OB). When the third link (33) is separated from the obstacle (OB), the third link (33) may return to its original position by means of an elastic member (6). At this time, the second wheel (22) may also move to its original position. The distance between the second wheel (22) and the first wheel (21) may increase.

[0062] According to the driving robot (RB) in accordance with exemplary embodiments of the present invention, the driving performance of the driving robot (RB) can be improved. In the case of a general robot, the ability to overcome a step difference may be determined by the diameter of the wheel. A robot moving outdoors must drive in various environments, and the driving robot (RB) can drive over obstacles (OB) having various steps by using the first link (31), the second link (32), the third link (33), and the second wheel (22). The driving robot (RB) can overcome obstacles (OB) that it could not overcome when only the first wheel (21) was present by using the other links (31, 32, 33) and the second wheel (22). For example, when the diameter of the first wheel (21) is about 170 mm, the height of the surmountable obstacle (OB) is about 75 mm, but by providing other links (31, 32, 33) and the second wheel (22), the driving robot (RB) can also overcome obstacles (OB) with a height of up to about 110 mm.

[0064] Although the invention has been described with reference to the above embodiments, those skilled in the art will understand that various modifications and changes can be made to the invention without departing from the spirit and scope of the invention as described in the following claims. Explanation of the symbols

[0066] RB: Mobile Robot OB: Obstacle 1 : Robot body 11 : Legs 21: 1st Wheel 22: 2nd Wheel 31 : 1st link 32 : 2nd link 33 : 3rd link 4 : Battery 5 : Control unit 6 : Elastic member 7 : Stopper

Claims

Claim 1 A driving robot comprising: a robot body; a first wheel coupled to the robot body; a first link coupled to the robot body and extending forward of the first wheel; a second link having one side connected to the first link; a second wheel connected to the first link and the second link and positioned in front of the first wheel; and a third link connected to the other side of the second link and coupled to the robot body. Claim 2 A driving robot according to claim 1, wherein the third link extends in the direction of movement of the robot body, and the length from the robot body to one side of the third link is longer than the radius of the first wheel. Claim 3 In claim 2, the third link is a driving robot that slides in the driving direction of the robot body. Claim 4 A driving robot according to claim 1, wherein the diameter of the second wheel is smaller than the diameter of the first wheel. Claim 5 A driving robot according to claim 1, further comprising a battery electrically connected to at least one of the first wheel or the second wheel. Claim 6 In claim 1, the first link and the robot body are connected by a rotary joint to form a driving robot. Claim 7 In claim 1, the first link and the second link are connected by a rotary joint to form a driving robot. Claim 8 A driving robot according to claim 1, wherein the second wheel and the third link are connected by the second link, and when the third link is pushed backward, the second wheel moves toward the first wheel. Claim 9 A driving robot according to claim 8, further comprising an elastic member that applies a restoring force to cause the third link to move forward. Claim 10 A driving robot according to claim 8, further comprising a stopper that limits the third link from being pushed backward.

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