Robot

Abstract

A robot is disclosed. The robot of the present disclosure comprises: a tray; a frame supporting the weight of the tray; driving wheels which are rotatable at the lower side of the frame, and on which the frame is hanged; a plate spaced apart from the frame; sub-wheels which are rotatably coupled to the plate and support the plate; and a buffering unit connecting the plate and the frame.

Description

robot

[0001] The present disclosure relates to a robot. In particular, the present disclosure relates to a robot used to move a loaded object to a specific location.

[0002] A robot is a machine capable of performing tasks autonomously. Robots have played a significant role in production automation and have recently evolved into intelligent robots. Intelligent robots are robots that perceive their external environment, assess situations, and autonomously execute necessary tasks.

[0003] Intelligent robots can be broadly divided into industrial robots and service robots. Unlike conventional industrial robots, which perform tasks in isolated environments, collaborative robots can assist or even replace human tasks in the same space. These collaborative robots enhance productivity by physically interacting with humans in the same space. Service robots provide various services within social infrastructure, enhancing the convenience of human life. Recently, extensive research has been conducted on these intelligent robots.

[0004] In particular, logistics robots are used to transport loaded items to specific locations. These robots are equipped with suspensions to absorb road shock and ensure wheel traction. However, when a logistics robot is loaded with a heavy object exceeding the suspension's limits, not only is the road shock transmitted to the robot unabated, but the robot also struggles to maintain traction on uneven roads.

[0005] The present disclosure aims to solve the above-mentioned and other problems.

[0006] Another goal may be to provide a robot that can maintain sufficient traction by directly transferring the load of the loaded object to the driving wheels.

[0007] Another purpose may be to provide a structure that can cushion road shocks for moving robots.

[0008] Another goal may be to provide a structure that can maintain the robot's horizontal posture as much as possible.

[0009] According to one aspect of the present disclosure for achieving the above or other purposes, a robot may include: a tray; a frame supporting a load of the tray; a drive wheel rotatable at a lower side of the frame and on which the frame is suspended; a plate spaced apart from the frame; a sub-wheel rotatably coupled to the plate and supporting the plate; and a buffer unit connecting the plate and the frame.

[0010] The effects of the robot according to the present disclosure are described as follows.

[0011] According to at least one of the embodiments of the present disclosure, a robot can be provided that can maintain sufficient ground contact by directly transferring the load of a loaded object to a driving wheel.

[0012] According to at least one of the embodiments of the present disclosure, a structure capable of alleviating road impact on a moving robot can be provided.

[0013] According to at least one of the embodiments of the present disclosure, a structure capable of maintaining a horizontal posture of a robot as much as possible can be provided.

[0014] Further scope of the applicability of the present disclosure will become apparent from the detailed description below. However, since various modifications and variations within the spirit and scope of the present disclosure will become apparent to those skilled in the art, it should be understood that the detailed description and specific examples, such as preferred embodiments of the present disclosure, are given by way of example only.

[0015] Figures 1 to 16 are drawings illustrating examples of robots according to embodiments of the present disclosure.

[0016] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Regardless of the drawing numbers, identical or similar components are given the same reference numbers and redundant descriptions thereof will be omitted.

[0017] The suffixes "module" and "part" used for components in the following description are given or used interchangeably only for the convenience of writing specifications, and do not have distinct meanings or roles in themselves.

[0018] In addition, when describing the embodiments disclosed in this specification, if it is determined that a detailed description of a related known technology may obscure the gist of the embodiments disclosed in this specification, the detailed description thereof will be omitted. In addition, the attached drawings are only intended to facilitate easy understanding of the embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited by the attached drawings, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and technical scope of the present disclosure.

[0019] Terms that include ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by these terms. These terms are used solely to distinguish one component from another.

[0020] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components intervening. Conversely, when a component is referred to as being "directly connected" or "connected" to another component, it should be understood that there are no other components intervening.

[0021] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0022] In this application, terms such as “include” or “have” are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but should be understood not to exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0023] The direction indications of up (U), down (D), left (Le), right (Ri), front (F), and back (R) shown in the drawings are only for convenience of explanation, and the technical ideas disclosed in this specification are not limited thereby.

[0024]

[0025] Referring to FIGS. 1 and 2, a robot (1) can move on the ground, and an object (Ob) can be loaded onto the robot (1). The robot (1) can move on its own, and can move the object (Ob) loaded onto the robot (1) to a specific location. For example, the control unit of the robot (1) can control the movement of the robot (1) based on information acquired from a sensor that detects the surroundings, such as a camera or a lidar. The robot (1) may be referred to as a logistics robot (1) or a delivery robot (1).

[0026] The robot (1) may include a body (10), a back (20), a neck (30), a head (40), and wheel assemblies (100, 200). The body (10) and the back (20) may be formed as one body. The neck (30) and the head (40) may be omitted.

[0027] The body (10) may have an overall block shape. The body (10) may be referred to as a cabinet (10) or a cart (10). The body (10) may include a frame (Fr), electronic components (E), and a housing (19). The frame (Fr) may form a skeleton of the body (10). The main PCB (P) and the battery (B) may be mounted on the frame (Fr). The lidar (L) and the charging terminal (T) may be mounted on the frame (Fr). The battery (B) may provide power to other electronic components of the robot (1) and may be charged by an external power source connected to the charging terminal (T). The housing (19) may accommodate the frame (Fr), electronic components (E), the lidar (L), and the charging terminal (T), and may form the exterior of the body (10). The lidar (L) can detect the outside of the body (10) through the hole (19L) of the housing (19), and the charging terminal (T) can be exposed to the outside of the body (10) through the hole (19T) of the housing (19).

[0028] The back (20) may have an overall flat block shape. The back (20) may be coupled to the upper end of the body (10). The back (20) may include a flat plate (21) and a pad (22) covering the upper surface of the flat plate (21). The flat plate (21) and the pad (22) may be formed as one body. Object(s) may be placed on the pad (22). The back (20) may be referred to as a tray (20) or a loading pointer (20).

[0029] The neck (30) may extend upward from the back (20). The neck (30) may be adjacent to the edge of the back (20) and may be coupled to the back (20) and / or the body (10). A camera (C) and a speaker (S) may be mounted on the neck (30). The camera (C) may capture the front of the neck (30), and the speaker (S) may output sound to the front of the neck (30).

[0030] The head (40) may be provided with a display panel (D) for displaying an image. The first part (31) of the neck (30) may be extended vertically, and the second part (32) of the neck (30) may be bent from the first part (31). The head (40) may be positioned on the second part (32) of the neck (30) and may be coupled to the third part (33) of the neck (30) provided at the end of the second part (32).

[0031] The wheel assemblies (100, 200) can be mounted on the frame (Fr) of the body (10) and can protrude downward from the bottom of the body (10). That is, the bottom of the body (10) can be spaced upward from the ground. The wheel assemblies (100, 200) can roll on the ground.

[0032]

[0033] Referring to FIGS. 3 and 4, the frame (Fr) of the body (10) may include a main frame (11) and a sub-frame (12).

[0034] The main frame (11) may be a lower frame of the body (10). The main frame (11) may be referred to as a horizontal frame (11) or a main plate (11). The main frame (11) may be bent multiple times. The main frame (11) may include a flat plate (110), a first press portion (110L), a second press portion (110R), a first mounting portion (111), and a second mounting portion (112).

[0035] The flat plate (110) can form the center of the main frame (11) and can be formed flat with respect to a horizontal plane. The flat plate (110) can be spaced apart from the ground upward by a certain distance (Df). The first press portion (110L) and the second press portion (110R) can be formed by pressing upward from the lower surface of the flat plate (110) and can be spaced apart from each other in the width direction of the flat plate (110).

[0036] The first part (110La) of the first press section (110L) can be bent upward from the left side of the flat plate section (110), the second part (110Lb) of the first press section (110L) can be bent leftward from the first part (110La), and the third part (110Lc) of the first press section (110L) can be bent downward from the second part (110Lb). The first mounting section (111) can be bent leftward from the third part (110Lc) and form the left side of the main frame (11).

[0037] The first part (110Ra) of the second press portion (110R) can be bent upward from the right side of the flat portion (110), the second part (110Rb) of the second press portion (110R) can be bent to the right from the first part (110Ra), and the third part (110Rc) of the second press portion (110R) can be bent downward from the second part (110Rb). The second mounting portion (112) can be bent to the right from the third part (110Rc) and form the right side of the main frame (11).

[0038] The sub-frame (12) may extend vertically and may be a side frame of the body (10). The sub-frame (12) may be referred to as a vertical frame (12) or a vertical bar (12). The lower end of the sub-frame (12) may be fixed on the first and second press parts (110L, 110R) of the main frame (11). The upper end of the sub-frame (12) may support the back (20). A plurality of sub-frames (12) may be adjacent to the edge of the back (20) and may be spaced apart from each other in the circumferential direction of the back (20). The first sub-frame (121) may be fixed to the second part (110Lb) adjacent to the rear end of the first press part (110L) and may be coupled to the lower surface of the back (20). The second sub-frame (122) can be fixed to the second part (110Lb) adjacent to the front end of the first press part (110L) and can be coupled to the lower surface of the back (20). The third sub-frame (not shown) can be fixed to the second part (110Rb) adjacent to the rear end of the second press part (110R) and can be coupled to the lower surface of the back (20). The fourth sub-frame (124) can be fixed to the second part (110Rb) adjacent to the front end of the second press part (110R) and can be coupled to the lower surface of the back (20).

[0039] The driving wheel assembly (100) may be provided as a pair. The first driving wheel assembly (100a) and the second driving wheel assembly (100b) may be symmetrical left and right. Alternatively, the driving wheel assembly (100) may be provided as one, and one driving wheel assembly (100) may be installed at the center of the bottom of the body (10). Alternatively, three or more driving wheel assemblies (100) may be provided.

[0040] A first drive wheel assembly (100a) may include a drive wheel (101), a rotation shaft (102), and a mount (103). The drive wheel (101) may have an in-wheel motor. The drive wheel (101) may be positioned on the left side of the first mounting portion (111), and the mount (103) may be fixed on the first mounting portion (111). The rotation shaft (102) of the drive wheel (101) may be parallel to the left and right directions and may be rotatably coupled to the mount (103). Accordingly, the drive wheel (101) may roll back and forth on the ground. In addition, the frame (Fr) may be suspended from the rotation shaft (102) of the drive wheel (101). That is, the load of the frame (Fr) and the load applied to the frame (Fr) may be transmitted to the rotation shaft (102) of the drive wheel (101).

[0041] The second drive wheel assembly (100b) may include a drive wheel (101), a rotation shaft (102), and a mount (103). The drive wheel (101) may have an in-wheel motor. The drive wheel (101) may be positioned on the right side of the second mounting portion (112), and the mount (103) may be fixed on the second mounting portion (112). The rotation shaft (102) of the drive wheel (101) may be parallel to the left and right directions and may be rotatably coupled to the mount (103). Accordingly, the drive wheel (101) may roll back and forth on the ground. In addition, the frame (Fr) may be suspended from the rotation shaft (102) of the drive wheel (101). That is, the load of the frame (Fr) and the load applied to the frame (Fr) may be transmitted to the rotation shaft (102) of the drive wheel (101).

[0042] For example, the driving wheel (101) of the first driving wheel assembly (100a) and the driving wheel (101) of the second driving wheel assembly (100b) can be spaced apart left and right. Whether the driving wheel (101) of the first driving wheel assembly (100a) rotates, the direction of rotation, and the rotation speed can be implemented independently from whether the driving wheel (101) of the second driving wheel (100b) rotates, the direction of rotation, and the rotation speed. The robot (1) can freely move in all directions by the driving wheels (101) and the sub wheels described below.

[0043] The load (F) of the object (Ob) loaded on the back (20) can be transmitted to the driving wheels (101) through the subframe (12), the main frame (11), and the mount (103). The load (Fa) applied to the driving wheel (101) of the first driving wheel assembly (100a) and the load (Fb) applied to the driving wheel (101) of the second driving wheel assembly (100b) can be equal to half of the load (F).

[0044] That is, the total weight of the components of the robot (1) other than the body (10) and the driving wheels (101) and the object (Ob) loaded on the robot (1) can be transferred to the driving wheels (101). Accordingly, the driving wheels (101) can have a ground contact force corresponding to the total weight with respect to the ground. The ground contact force of the driving wheels (101) can be proportional to the total weight.

[0045] In contrast, if a portion of the total weight is also transferred to the sub-wheel assemblies (200) described below, the drive wheels (101) may spin or not rotate due to the frictional force of the sub-wheel assemblies (200). However, as described above and in the present disclosure described below, since the total weight is entirely transferred to the drive wheels (101), the drive wheels (101) can have a ground contact force corresponding to the total weight, and as a result, can exert sufficient driving force corresponding to the total weight.

[0046]

[0047] Referring to FIG. 5, a plurality of sub-wheel assemblies (200) may be provided. The driving wheel assembly (100) may be positioned between the sub-wheel assemblies (200). The plurality of sub-wheel assemblies (200) may have the same structure. The sub-wheel assemblies (200) may be provided in a total of four, two each in front and behind the driving wheels (101). Alternatively, the sub-wheel assemblies (200) may be provided in a total of two, one each in front and behind the driving wheels (101).

[0048] A plurality of sub-wheel assemblies (200) can be positioned on the ground and can adjust the horizontal posture of the robot (1). The sub-wheel assembly (200) can be referred to as an auxiliary wheel assembly (200), a guide wheel assembly (200), or a cast wheel assembly (200).

[0049] Meanwhile, when one driving wheel (101) is arranged at the center of the bottom of the body (10), a plurality of sub-wheel assemblies (200) can be arranged along the circumference of the driving wheel (101). Alternatively, one sub-wheel assembly (200) can be provided, in which case one sub-wheel assembly (200) can level the robot (1) together with the driving wheels (101).

[0050]

[0051] Referring to FIGS. 6 and 7, the body (10) may further include a plate (13). The plate (13) may be provided in one or two or more pieces depending on the number and arrangement of the sub-wheel assemblies (200). The plate (13) may be referred to as a support plate (13) or a cast plate (13). The first plate (13a) may extend long in the front-rear direction like the first mounting portion (111) and may be spaced upward from the first mounting portion (111). The second plate (13b) may extend long in the front-rear direction like the second mounting portion (112) and may be spaced upward from the second mounting portion (112).

[0052] The first sub-wheel assembly (200a) may be positioned at the rear of the first driving wheel assembly (100a). The first sub-wheel assembly (200a) may be coupled to the first plate (13a) by passing through the first hole (111a) of the first mounting portion (111). The diameter of the sub-wheel (201) of the first sub-wheel assembly (200a) may be smaller than the diameter of the driving wheel (101) of the first driving wheel assembly (100a). The sub-wheel (201) may be referred to as a cast wheel (201).

[0053] The second sub-wheel assembly (200b) may be positioned in front of the first driving wheel assembly (100a). The second sub-wheel assembly (200b) may be coupled to the first plate (13a) by passing through the second hole (111b) of the first mounting portion (111). The diameter of the sub-wheel (201) of the second sub-wheel assembly (200b) may be smaller than the diameter of the driving wheel (101) of the first driving wheel assembly (100a). The sub-wheel (201) may be referred to as a cast wheel (201).

[0054] Accordingly, the first plate (13a) can connect the first sub-wheel assembly (200a) and the second sub-wheel assembly (200b). The distance between the first plate (13a) and the bottom dead point of the sub-wheel (201) of the first sub-wheel assembly (200a) can be equal to the distance between the first plate (13a) and the bottom dead point of the sub-wheel (201) of the second sub-wheel assembly (200b), and can be constant. Meanwhile, the first and second sub-wheel assemblies (200a, 200b) can be positioned inside the frame (Fr) relative to the first driving wheel assembly (100a).

[0055] The third sub-wheel assembly (200c) may be positioned at the rear of the second driving wheel assembly (100b). The third sub-wheel assembly (200c) may be coupled to the second plate (13b) by passing through the first hole (112c) of the second mounting portion (112). The diameter of the sub-wheel (201) of the third sub-wheel assembly (200c) may be smaller than the diameter of the driving wheel (101) of the second driving wheel assembly (100b). The sub-wheel (201) may be referred to as a cast wheel (201).

[0056] The fourth sub-wheel assembly (200d) may be positioned in front of the second driving wheel assembly (100b). The fourth sub-wheel assembly (200d) may be coupled to the second plate (13b) by passing through the second hole (112d) of the second mounting portion (112). The diameter of the sub-wheel (201) of the fourth sub-wheel assembly (200d) may be smaller than the diameter of the driving wheel (101) of the second driving wheel assembly (100b). The sub-wheel (201) may be referred to as a cast wheel (201).

[0057] Accordingly, the second plate (13b) can connect the third sub-wheel assembly (200c) and the fourth sub-wheel assembly (200d). The distance between the second plate (13b) and the bottom dead point of the sub-wheel (201) of the third sub-wheel assembly (200c) can be equal to the distance between the second plate (13b) and the bottom dead point of the sub-wheel (201) of the fourth sub-wheel assembly (200d), and can be constant. Meanwhile, the third and fourth sub-wheel assemblies (200c, 200d) can be positioned inside the frame (Fr) relative to the second driving wheel assembly (100b).

[0058]

[0059] Referring to FIGS. 8 and 9, the second sub-wheel assembly (200b) may include a sub-wheel (201), a rotating shaft (202), a bridge (203), a stem (204), a fastening member (205), an upper plate (206), a lower plate (207), upper balls (206a), and lower balls (207a).

[0060] The sub wheel (201) can rotate around a rotation shaft (202). The rotation shaft (202) can extend horizontally.

[0061] The bridge (203) may have a tongs shape overall. The bridge (203) may include a bridge body (203a), a first wing (203b), and a second wing (203b). A hole (203ah) may be formed in the center of the bridge body (203a), and the stem (204) may pass through the hole (203ah). The first wing (203b) may protrude downward from one side of the bridge body (203a) and may face one surface of the sub-wheel (201). The second wing (203c) may protrude downward from the other side of the bridge body (203a) and may face the other surface of the sub-wheel (201). The rotating shaft (202) may pass through the sub-wheel (201). One end of the rotating shaft (202) can be coupled to the first wing (203b), and the other end of the rotating shaft (202) can be coupled to the second wing (203c).

[0062] The stem (204) can be extended vertically and can penetrate the first plate (13a) adjacent to the front end of the first plate (13a). The engaging portion (204a) of the stem (204) can be engaged with the lower surface of the first plate (13a). A fastening member (205), such as a nut, can be opposite the engaging portion (204a) of the stem (204) with respect to the first plate (13a) and can be screw-connected to the outer circumferential surface of the stem (204). That is, the stem (204) can be coupled to the first plate (13a).

[0063] The upper plate (206) and the lower plate (207) may protrude radially from the outer surface of the stem (204) and may be positioned below the first plate (13a). The bridge body (203a) may be positioned between the upper plate (206) and the lower plate (207).

[0064] The upper balls (206a) may be sandwiched between the upper plate (206) and the bridge body (203a). The lower balls (207a) may be sandwiched between the lower plate (207) and the bridge body (203a).

[0065] Accordingly, the bridge (203) and the sub-wheel (201) coupled thereto can swivel around the longitudinal axis (A1) of the stem (204). The longitudinal axis (A1) of the stem (204) can be offset by a certain distance (ec) from the longitudinal axis (A2, i.e., the axis around which the sub-wheel (201) rotates) of the rotating shaft (202).

[0066] The above-described second sub-wheel assembly (200b) can be equally applied to the remaining sub-wheel assemblies (200a, 200c, 200d, see FIGS. 6 and 7). The sub-wheel assemblies (200a, 200b, 200c, 200d) can be referred to as swivel casters (200a, 200b, 200c, 200d, swivel casters).

[0067] Specifically, referring to FIG. 6, the stem (204) of the first sub-wheel assembly (200a) can be coupled to the first plate (13a) adjacent to the rear end of the first plate (13a), and the sub-wheel (201) can be swiveled around the longitudinal axis of the stem (204). In addition, the sub-wheel (201) of the first sub-wheel assembly (200a) can be rotated around a rotation shaft (202) extending in a horizontal direction.

[0068] Specifically, referring to FIG. 7, the stem (204) of the third sub-wheel assembly (200c) can be coupled to the second plate (13b) adjacent to the rear end of the second plate (13b), and the sub-wheel (201) can be swiveled around the longitudinal axis of the stem (204). In addition, the sub-wheel (201) of the third sub-wheel assembly (200c) can be rotated around a rotation shaft (202) extending in the horizontal direction.

[0069] Specifically, referring to FIG. 7, the stem (204) of the fourth sub-wheel assembly (200d) can be coupled to the second plate (13b) adjacent to the front end of the second plate (13b), and the sub-wheel (201) can be swiveled around the longitudinal axis of the stem (204). In addition, the sub-wheel (201) of the fourth sub-wheel assembly (200d) can be rotated around a rotation shaft (202) extending in the horizontal direction.

[0070]

[0071] Referring again to FIGS. 6 and 7, the number of buffer units (300) may be equal to the number of sub-wheel assemblies (200). The buffer units (300) may be provided in multiple numbers. The multiple buffer units (300) may be adjacent to the multiple sub-wheel assemblies (200). The multiple buffer units (300) may have the same structure. The buffer unit (300) may be referred to as a support unit (300) or a damping unit (300).

[0072] The first buffer unit (300a) may be positioned at the rear of the first sub-wheel assembly (200a). One side of the first buffer unit (300a) may be adjacent to the rear end of the first plate (13a) and coupled to the first plate (13a). The other side of the first buffer unit (300a) may provide buffering force to a portion adjacent to the rear end of the first mounting portion (111). At this time, the first buffer unit (300a) may be adjacent to the first sub-wheel assembly (200a), and as a result, deformation of a portion of the first plate (13a) located between the first buffer unit (300a) and the first sub-wheel assembly (200a) may be minimized.

[0073] The second buffer unit (300b) may be positioned in front of the second sub-wheel assembly (200b). One side of the second buffer unit (300b) may be adjacent to the front end of the first plate (13a) and coupled to the first plate (13a). The other side of the second buffer unit (300b) may provide buffering force to a portion adjacent to the front end of the first mounting portion (111). At this time, the second buffer unit (300b) may be adjacent to the second sub-wheel assembly (200b), and as a result, deformation of a portion of the first plate (13a) located between the second buffer unit (300b) and the second sub-wheel assembly (200b) may be minimized.

[0074] The third buffer unit (300c) may be positioned at the rear of the third sub-wheel assembly (200c). One side of the third buffer unit (300c) may be adjacent to the rear end of the second plate (13b) and coupled to the second plate (13b). The other side of the third buffer unit (300c) may provide buffering force to a portion adjacent to the rear end of the second mounting portion (112). At this time, the third buffer unit (300c) may be adjacent to the third sub-wheel assembly (200c), and as a result, deformation of a portion of the second plate (13b) located between the third buffer unit (300c) and the third sub-wheel assembly (200c) may be minimized.

[0075] The fourth buffer unit (300d) may be positioned in front of the fourth sub-wheel assembly (200c). One side of the fourth buffer unit (300d) may be adjacent to the front end of the second plate (13b) and may be coupled to the second plate (13b). The other side of the fourth buffer unit (300d) may provide buffering force to a portion adjacent to the front end of the second mounting portion (112). At this time, the fourth buffer unit (300d) may be adjacent to the fourth sub-wheel assembly (200d), and as a result, deformation of a portion of the second plate (13b) located between the fourth buffer unit (300d) and the fourth sub-wheel assembly (200d) may be minimized.

[0076]

[0077] Referring to FIG. 10, the second buffer unit (300b) may include a rod (301), a bush (302), a stopper (303), and an elastic member (304).

[0078] The rod (301) may protrude from a portion adjacent to the front end of the first mounting portion (111) toward the first plate (13a) and may penetrate through a hole (130b) of the first plate (13a). For example, the rod (301) may be formed as a boss and integrally with the first mounting portion (111). The rod (301) may be referred to as a guide bar (301).

[0079] The bush (302) may have an overall block shape. The bush (302) may be positioned above the first plate (13a), and the rod (301) may pass through the bush (302). The bush (302) may be coupled to the rod (301) so as to be movable in the longitudinal direction of the rod (301). The bush (302) may be referred to as a guide bush (302), a sleeve (302), or a block (302).

[0080] The stopper (303) may have an overall hat shape. The stopper (303) may be opposite the first mounting portion (111) with respect to the rod (301). The stopper (303) may be coupled (e.g., screw-coupled) to the end (i.e., the top) of the rod (301), and a portion of the stopper (303) may overlap the bush (302) in the longitudinal direction of the rod (301). The descent of the rod (301) may be restricted when the stopper (303) contacts the bush (302). The stopper (303) may be referred to as a catch (303).

[0081] The elastic member (304) may be positioned between the first mounting portion (111) and the bush (302). The elastic member (304) may be a spring wound in a coil shape on the side of the rod (301). The elastic member (304) may be elastically deformed while being compressed or stretched in the longitudinal direction of the rod (301). One end (304b) of the elastic member (304) may be fixed to the bush (302), and the other end (304a) of the elastic member (304) may be fixed to the first mounting portion (111).

[0082] The coupling portion (131b) may be provided on the first plate (13a). The coupling portion (131b) may be formed as a single body on the first plate (13a). The first coupling portion (131ba) may protrude upward from the first plate (13a) and may face the first surface of the bush (302). The second coupling portion (131bb) may protrude upward from the first plate (13a) and may face the second surface of the bush (302) opposite to the first surface. That is, the bush (302) may be located between the first coupling portion (131ba) and the second coupling portion (131bb).

[0083] The first hinge shaft (302a) can protrude from the first surface of the bush (302) toward the first coupling portion (131ba) and pass through the first shaft hole (131bah) of the first coupling portion (131ba). The first cap (305a) can be coupled (e.g., screw-coupled) to the outer surface of the first hinge shaft (302a) from the outside of the first coupling portion (131ba) and can be caught on the outer surface of the first coupling portion (131ba). The first hinge shaft (302a) and the first cap (305a) can be rotatably coupled to the first coupling portion (131ba).

[0084] The second hinge shaft (302b) can protrude from the second surface of the bush (302) toward the second coupling portion (131bb) and pass through the second shaft hole (131bbh) of the second coupling portion (131bb). The second cap (305b) can be coupled (e.g., screw-coupled) to the outer surface of the second hinge shaft (302b) from the outside of the second coupling portion (131bb) and can be caught on the outer surface of the second coupling portion (131bb). The second hinge shaft (302b) and the second cap (305b) can be rotatably coupled to the second coupling portion (131bb).

[0085] These first and second hinge shafts (302a, 302b) can be aligned with each other in the horizontal direction (i.e., left-right direction). The bush (302) can be rotatably coupled to the first and second connecting parts (131ba, 131bb) about the first and second hinge shafts (302a, 302b) (see the double-headed arrows in FIG. 10). Meanwhile, one of the first and second hinge shafts (302a, 302b) may be omitted.

[0086] In this case, the positions of the first and second hinge shafts (302a, 302b) with respect to the first plate (13a) may be constant. That is, when the first mounting portion (111) moves toward or away from the bush (302) having the first and second hinge shafts (302a, 302b), the elastic member (304) between the first mounting portion (111) and the bush (302) may be compressed or stretched and elastically deformed.

[0087] Accordingly, the second buffer unit (300b) can provide buffering force (i.e., restoring force of the elastic member (304)) to the portion of the first mounting portion (111) to which the other end (304a) of the elastic member (304) is fixed.

[0088] The above-described second buffer unit (300b) can be equally applied to the remaining buffer units (300a, 300c, 300d, see FIGS. 6 and 7).

[0089] Specifically, referring to FIG. 6, the rod (301) of the first buffer unit (300a) can protrude from a portion adjacent to the rear end of the first mounting portion (111) toward the first plate (13a) and penetrate the hole (130a) of the first plate (13a). The bush (302) of the first buffer unit (300a) can be rotatably coupled to the first and second coupling portions (131aa, 131ab) of the first plate (13a) about an axis parallel to the horizontal direction (i.e., the central axis of the hinge shaft). The elastic member (304) between the bush (302) of the first buffer unit (300a) and the first mounting portion (111) can provide a buffering force (i.e., a restoring force of the elastic member (304)) to the first mounting portion (111).

[0090] Specifically, referring to FIG. 7, the rod (301) of the third buffer unit (300c) can protrude from a portion adjacent to the rear end of the second mounting portion (112) toward the second plate (13b) and penetrate the hole (130c) of the second plate (13b). The bush (302) of the third buffer unit (300c) can be rotatably coupled to the first and second coupling portions (131ca, 131cb) of the second plate (13b) about an axis parallel to the horizontal direction (i.e., the central axis of the hinge shaft). The elastic member (304) between the bush (302) of the third buffer unit (300c) and the second mounting portion (112) can provide a buffering force (i.e., a restoring force of the elastic member (304)) to the second mounting portion (112).

[0091] Specifically, referring to FIG. 7, the rod (301) of the fourth buffer unit (300d) can protrude from a portion adjacent to the front end of the second mounting portion (112) toward the second plate (13b) and penetrate the hole (130d) of the second plate (13b). The bush (302) of the fourth buffer unit (300d) can be rotatably coupled to the first and second coupling portions (131da, 131yu) of the second plate (13b) about an axis parallel to the horizontal direction (i.e., the central axis of the hinge shaft). The elastic member (304) between the bush (302) of the fourth buffer unit (300d) and the second mounting portion (112) can provide a buffering force (i.e., a restoring force of the elastic member (304)) to the second mounting portion (112).

[0092]

[0093] Referring to FIGS. 11 and 12, the first and second support frames (13a, 13b) can be spaced upward from the ground by a predetermined distance (Dc) by the first to fourth sub-wheel assemblies (200a, 200b, 200c, 200d). The distance (Dc) can be predetermined, and the first and second support frames (13a, 13b) can be maintained in a horizontal state.

[0094] The first and second mounting parts (111, 112) may be aligned with the first and second support frames (13a, 13b). For example, the robot (1) may be stationary on a flat surface. In another example, the robot (1) may be moving at a constant speed on a flat surface.

[0095] The first support frames (13a) may be supported by the first and second sub-wheel assemblies (200a, 200b), and the bushes (302) of the first and second buffer units (300a, 300b) may be supported by the first plate (13a). The elastic members (304) of the first and second buffer units (300a, 300b) may be suspended from the bushes (302). This state of the elastic members (304) may be referred to as an initial state. The first and second sub-wheel assemblies (200a, 200b) may not support a load derived from the body (10) or an object (Ob), and may be positioned on the ground due to a repulsive force against the ground.

[0096] The second support frames (13b) may be supported by the third and fourth sub-wheel assemblies (200c, 200d), and the bushes (302) of the third and fourth buffer units (300c, 300d) may be supported by the second plate (13b). The elastic members (304) of the third and fourth buffer units (300c, 300d) may be suspended from the bushes (302). This state of the elastic members (304) may be referred to as an initial state. The third and fourth sub-wheel assemblies (200c, 200d) may not support a load derived from the body (10) or an object (Ob), and may be positioned on the ground due to a repulsive force against the ground.

[0097]

[0098] Referring to FIGS. 13 and 14, the first and second support frames (13a, 13b) can be spaced upward from the ground by a predetermined distance (Dc) by the first to fourth sub-wheel assemblies (200a, 200b, 200c, 200d). The distance (Dc) can be predetermined, and the first and second support frames (13a, 13b) can be maintained in a horizontal state.

[0099] Referring to Fig. 13, the first mounting portion (111) can be tilted forward. The front portion of the first mounting portion (111) can be moved away from the first plate (13a), and the elastic member (304) of the second buffer unit (300b) can be extended and elastically deformed. The rod (301) of the second buffer unit (300b) can be lowered relative to the bush (302), and the lowering of the rod (301) can be restricted when the stopper (303) is caught on the upper surface of the bush (302). The rear portion of the first mounting portion (111) can be brought closer to the first plate (13a), and the elastic member (304) of the first buffer unit (300a) can be compressed and elastically deformed. The load (301) of the first buffer unit (300a) can rise relative to the bush (302), and the rise of the load (301) can be limited when the elastic member (304) is compressed to the maximum.

[0100] At this time, the first mounting portion (111) can be inclined at a first angle (theta 1) with respect to the first plate (13a).

[0101] That is, the load (301) of the second buffer unit (300b) perpendicular to the first mounting portion (111) can be inclined by a first angle (theta 1) with respect to the axis (VLb) perpendicular to the first plate (13a). To this end, the bush (302) of the second buffer unit (300b) can be rotated by a first angle (theta 1) about the first and second hinge shafts (302a, 302b) (see FIGS. 10 and 13).

[0102] In addition, the rod (301) of the first buffer unit (300a) perpendicular to the first mounting portion (111) can be inclined by a first angle (theta 1) with respect to the axis (VLa) perpendicular to the first plate (13a). To this end, the bush (302) of the first buffer unit (300a) can be rotated by a first angle (theta 1) around the first and second hinge shafts (see FIGS. 6 and 13).

[0103] Accordingly, the first and second buffer units (300a, 300b) can buffer the tilting motion of the main frame (11) having the first mounting portion (111) or alleviate the shock causing such motion. In addition, the first and second buffer units (300a, 300b) can prevent the driving wheel (101) of the first driving wheel assembly (100a) coupled to the first mounting portion (111) from losing contact with the ground even when the driving wheel (101) rolls on an uneven ground.

[0104] Referring to Fig. 14, the second mounting portion (112) can be tilted forward. The front portion of the second mounting portion (112) can be moved away from the second plate (13b), and the elastic member (304) of the fourth buffer unit (300d) can be extended and elastically deformed. The rod (301) of the fourth buffer unit (300d) can be lowered relative to the bush (302), and the lowering of the rod (301) can be restricted when the stopper (303) is caught on the upper surface of the bush (302). The rear portion of the second mounting portion (112) can be brought closer to the second plate (13b), and the elastic member (304) of the third buffer unit (300c) can be compressed and elastically deformed. The load (301) of the third buffer unit (300c) can rise relative to the bush (302), and the rise of the load (301) can be limited when the elastic member (304) is compressed to the maximum.

[0105] At this time, the second mounting portion (112) can be inclined at a second angle (theta 2) with respect to the second plate (13b).

[0106] That is, the load (301) of the fourth buffer unit (300d) perpendicular to the second mounting portion (112) can be inclined by a second angle (theta 2) with respect to the axis (VLd) perpendicular to the second plate (13b). To this end, the bush (302) of the fourth buffer unit (300d) can be rotated by a second angle (theta 2) about the first and second hinge shafts (see FIGS. 7 and 14).

[0107] In addition, the rod (301) of the third buffer unit (300c) perpendicular to the second mounting portion (112) can be inclined by a second angle (theta 2) with respect to the axis (VLc) perpendicular to the second plate (13b). To this end, the bush (302) of the third buffer unit (300c) can be rotated by a second angle (theta 2) about the first and second hinge shafts (see FIGS. 7 and 14).

[0108] Accordingly, the third and fourth buffer units (300c, 300d) can buffer the tilting motion of the main frame (11) having the second mounting portion (112) or alleviate the shock causing such motion. In addition, the third and fourth buffer units (300c, 300d) can prevent the drive wheel (101) of the second drive wheel assembly (100b) coupled to the second mounting portion (112) from losing contact with the ground even when the drive wheel (101) rolls on an uneven ground.

[0109] For example, if the speed of a moving robot (1) suddenly slows down or the robot (1) suddenly stops, the first and second mounting parts (111, 112) may tilt forward, and the buffer units (300a, 300b, 300c, 300d) may cushion this. In this case, the angles at which the first and second mounting parts (111, 112) are tilted may be the same or similar.

[0110] For another example, when a moving robot (1) enters a downhill slope, the first and second mounting parts (111, 112) may tilt forward, and the buffer units (300a, 300b, 300c, 300d) may cushion this. In this case, the angles at which the first and second mounting parts (111, 112) are tilted may be the same or similar.

[0111] For another example, when the first and third sub-wheel assemblies (200a, 200c) of the moving robot (1) climb up on an obstacle such as a guardrail, the first and second mounting parts (111, 112) can tilt forward, and the buffer units (300a, 300b, 300c, 300d) can cushion this. In this case, the angles at which the first and second mounting parts (111, 112) are tilted can be the same or similar. Alternatively, only the first sub-wheel assembly (200a) can climb up on an obstacle such as a guardrail, and in this case, only the first mounting part (111) can tilt forward, and the buffer units (300a, 300b) can cushion this. Alternatively, only the third sub-wheel assembly (200c) can climb on an obstacle such as a bump, in which case only the second mounting portion (112) can tilt forward, and the buffer units (300c, 300d) can buffer it.

[0112]

[0113] Referring to FIGS. 15 and 16, the first and second support frames (13a, 13b) can be spaced upward from the ground by a predetermined distance (Dc) by the first to fourth sub-wheel assemblies (200a, 200b, 200c, 200d). The distance (Dc) can be predetermined, and the first and second support frames (13a, 13b) can be maintained in a horizontal state.

[0114] Referring to Fig. 15, the first mounting portion (111) can be tilted backward. The rear portion of the first mounting portion (111) can be moved away from the first plate (13a), and the elastic member (304) of the first buffer unit (300a) can be extended and elastically deformed. The rod (301) of the first buffer unit (300a) can be lowered relative to the bush (302), and the lowering of the rod (301) can be restricted when the stopper (303) is caught on the upper surface of the bush (302). The front portion of the first mounting portion (111) can be brought closer to the first plate (13a), and the elastic member (304) of the second buffer unit (300b) can be compressed and elastically deformed. The load (301) of the second buffer unit (300b) can rise relative to the bush (302), and the rise of the load (301) can be limited when the elastic member (304) is compressed to the maximum.

[0115] At this time, the first mounting portion (111) can be inclined at a third angle (theta 3) with respect to the first plate (13a).

[0116] That is, the load (301) of the first buffer unit (300a) perpendicular to the first mounting portion (111) can be inclined by a third angle (theta 3) with respect to the axis (VLa) perpendicular to the first plate (13a). To this end, the bush (302) of the first buffer unit (300a) can be rotated by a third angle (theta 3) about the first and second hinge shafts (see FIGS. 6 and 15).

[0117] In addition, the load (301) of the second buffer unit (300b) perpendicular to the first mounting portion (111) can be inclined by a third angle (theta 3) with respect to the axis (VLb) perpendicular to the first plate (13a). To this end, the bush (302) of the second buffer unit (300b) can be rotated by a third angle (theta 3) about the first and second hinge shafts (302a, 302b) (see FIGS. 10 and 15).

[0118] Accordingly, the first and second buffer units (300a, 300b) can buffer the tilting motion of the main frame (11) having the first mounting portion (111) or alleviate the shock causing such motion. In addition, the first and second buffer units (300a, 300b) can prevent the driving wheel (101) of the first driving wheel assembly (100a) coupled to the first mounting portion (111) from losing contact with the ground even when the driving wheel (101) rolls on an uneven ground.

[0119] Referring to Fig. 16, the second mounting portion (112) can be tilted backward. The rear portion of the second mounting portion (112) can be moved away from the second plate (13b), and the elastic member (304) of the third buffer unit (300c) can be extended and elastically deformed. The rod (301) of the third buffer unit (300c) can be lowered relative to the bush (302), and the lowering of the rod (301) can be restricted when the stopper (303) is caught on the upper surface of the bush (302). The front portion of the second mounting portion (112) can be brought closer to the second plate (13b), and the elastic member (304) of the fourth buffer unit (300d) can be compressed and elastically deformed. The load (301) of the fourth buffer unit (300d) can rise relative to the bush (302), and the rise of the load (301) can be limited when the elastic member (304) is compressed to the maximum.

[0120] At this time, the second mounting portion (112) can be inclined at a fourth angle (theta 4) with respect to the second plate (13b).

[0121] That is, the load (301) of the third buffer unit (300c) perpendicular to the second mounting portion (112) can be inclined by a fourth angle (theta 4) with respect to the axis (VLc) perpendicular to the second plate (13b). To this end, the bush (302) of the third buffer unit (300c) can be rotated by a fourth angle (theta 4) about the first and second hinge shafts (see FIGS. 7 and 16).

[0122] In addition, the load (301) of the fourth buffer unit (300d) perpendicular to the second mounting portion (112) can be inclined by a fourth angle (theta 4) with respect to the axis (VLd) perpendicular to the second plate (13b). To this end, the bush (302) of the fourth buffer unit (300d) can be rotated by a fourth angle (theta 4) about the first and second hinge shafts (see FIGS. 7 and 16).

[0123] Accordingly, the third and fourth buffer units (300c, 300d) can buffer the tilting motion of the main frame (11) having the second mounting portion (112) or alleviate the shock causing such motion. In addition, the third and fourth buffer units (300c, 300d) can prevent the drive wheel (101) of the second drive wheel assembly (100b) coupled to the second mounting portion (112) from losing contact with the ground even when the drive wheel (101) rolls on an uneven ground.

[0124] For example, if the speed of a moving robot (1) increases rapidly or the robot (1) starts off abruptly, the first and second mounting parts (111, 112) may tilt backward, and the buffer units (300a, 300b, 300c, 300d) may cushion this. In this case, the angles at which the first and second mounting parts (111, 112) are tilted may be the same or similar.

[0125] For another example, when a moving robot (1) enters an uphill road, the first and second mounting parts (111, 112) may tilt backward, and the buffer units (300a, 300b, 300c, 300d) may cushion this. In this case, the angles at which the first and second mounting parts (111, 112) are tilted may be the same or similar.

[0126] For another example, when the second and fourth sub-wheel assemblies (200b, 200d) of the moving robot (1) climb up on an obstacle such as a guardrail, the first and second mounting parts (111, 112) may tilt backward, and the buffer units (300a, 300b, 300c, 300d) may cushion this. In this case, the angles at which the first and second mounting parts (111, 112) are tilted may be the same or similar. Alternatively, only the second sub-wheel assembly (200b) may climb up on an obstacle such as a guardrail, and in this case, only the first mounting part (111) may tilt backward, and the buffer units (300a, 300b) may cushion this. Alternatively, only the fourth sub-wheel assembly (200d) can climb on an obstacle such as a bump, in which case only the second mounting portion (112) can tilt backwards, and the buffer units (300c, 300d) can buffer this.

[0127]

[0128] Referring to FIGS. 1 to 16, a robot according to one aspect of the present disclosure may include: a tray; a frame supporting a load of the tray; a drive wheel rotatable at a lower side of the frame and on which the frame is suspended; a plate spaced apart from the frame; a sub-wheel rotatably coupled to the plate and supporting the plate; and a buffer unit connecting the plate and the frame.

[0129] The above drive wheel may include: a rotating shaft that provides a central axis of rotation of the drive wheel and on which the frame is suspended.

[0130] The frame may include: a main frame on which the driving wheel is mounted and spaced apart from the tray; and a subframe connecting the main frame and the tray.

[0131] The sub-wheel may include: a first sub-wheel supporting a first portion of the plate; and a second sub-wheel supporting a second portion of the plate.

[0132] The above buffer unit may include: a first buffer unit adjacent to the first sub-wheel; and a second buffer unit adjacent to the second sub-wheel.

[0133] The above driving wheel may be positioned between the first sub-wheel and the second sub-wheel.

[0134] The robot may further include: a sub-wheel assembly having the sub-wheel, wherein the sub-wheel assembly may include: a rotating shaft providing a rotational center axis of the sub-wheel; a bridge fixed to the rotating shaft; and a stem extending in a direction crossing the plate, fixed to the plate, and rotatably coupled to the bridge.

[0135] The above buffer unit may be fixed to the plate on one side and fixed to the frame on the other side, and may be elastically deformable in a direction in which the plate and the frame are spaced apart from each other.

[0136] The above buffer unit may include: a rod extending from the frame toward the plate; and a spring wound in a coil shape on a side of the rod, one end of the spring being fixed to the plate, and the other end of the spring being fixed to the frame.

[0137] The above buffer unit may further include a bushing coupled to the plate and through which the load passes, and the one end of the spring may be fixed to the bushing.

[0138] The above load may penetrate the plate, and the buffer unit may include: a coupling portion protruding from the plate in a direction away from the frame; and a hinge shaft protruding from one side of the bush facing the coupling portion and rotatably coupled to the coupling portion.

[0139] The above buffer unit may further include a stopper fixed to the end of the load, and a portion of the stopper may overlap the bush in the longitudinal direction of the load.

[0140] The above plate may include: a pair of plates spaced apart from each other, the sub wheel may include: a pair of sub wheels supporting the pair of plates, and the buffer unit may include: a pair of buffer units connecting the pair of plates and the frame.

[0141] The driving wheel may include: a first driving wheel adjacent to one side of the frame; and a second driving wheel adjacent to the other side of the frame; and the plate may include: a first plate extending elongatedly adjacent to the first driving wheel; and a second plate extending elongatedly adjacent to the second driving wheel; and the sub-wheel may include: a first sub-wheel adjacent to one end of the first plate; a second sub-wheel adjacent to the other end of the first plate; a third sub-wheel adjacent to one end of the second plate; and a fourth sub-wheel adjacent to the other end of the second plate; and the buffer unit may include: a first buffer unit adjacent to the first sub-wheel connecting the first plate and the frame; a second buffer unit adjacent to the second sub-wheel connecting the first plate and the frame; a third buffer unit adjacent to the third sub-wheel connecting the second plate and the frame; And, it may include a fourth buffer unit that connects the second plate and the frame adjacent to the fourth sub-wheel.

[0142] The robot may further include: a sensor for detecting the surroundings; and a control unit for controlling the operation of the driving wheel based on information obtained from the sensor.

[0143]

[0144] Any or all of the embodiments of the present disclosure described above are not mutually exclusive or distinct. Any or all of the embodiments of the present disclosure described above may have their respective components or functions combined or used together.

[0145] For example, it means that a configuration A described in a particular embodiment and / or drawing can be combined with a configuration B described in another embodiment and / or drawing. That is, even if a combination between configurations is not directly described, it means that a combination is possible, except in cases where a combination is described as impossible.

[0146] The above detailed description should not be construed as limiting in any respect and should be considered illustrative only. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are intended to be included within the scope of the present invention.

Claims

1. Tray; A frame supporting the load of the above tray; A drive wheel rotatable at the lower side of the frame and on which the frame is suspended; A plate spaced apart from the above frame; A sub wheel rotatably coupled to the above plate and supporting the plate; and A robot including a buffer unit connecting the above plate and the above frame.

2. In paragraph 1, The above drive wheels are: A robot comprising a rotating shaft that provides a central axis of rotation of the above driving wheel and on which the frame is suspended.

3. In paragraph 1, The above frame: A main frame on which the above driving wheel is mounted and spaced apart from the tray; and, A robot comprising a sub-frame connecting the main frame and the tray.

4. In paragraph 1, The above sub wheels are: A first sub-wheel supporting a first portion of the above plate; and, A robot comprising a second sub-wheel supporting a second portion of the above plate.

5. In paragraph 4, The above buffer unit: A first buffer unit adjacent to the first sub-wheel; and, A robot comprising a second buffer unit adjacent to the second sub-wheel.

6. In paragraph 4, The above driving wheel is, A robot positioned between the first sub-wheel and the second sub-wheel.

7. In paragraph 1, Further comprising a sub wheel assembly having the above sub wheel, The above sub-wheel assembly: A rotating shaft providing a central axis of rotation of the above sub-wheel; a bridge fixed to the above rotating shaft; and, A robot comprising a stem extending in a direction intersecting the plate, fixed to the plate, and rotatably coupled to the bridge.

8. In paragraph 1, The above buffer unit is, A robot having one side fixed to the plate, the other side fixed to the frame, and capable of elastically deforming in a direction in which the plate and the frame are spaced apart from each other.

9. In paragraph 1, The above buffer unit: a rod extending from the frame toward the plate; and It includes a spring wound in a coil shape on the side of the above load, One end of the above spring is fixed to the above plate, The other end of the above spring is a robot fixed to the frame.

10. In paragraph 9, The above buffer unit: further comprising a bushing coupled to the above plate and through which the load penetrates; A robot in which the above end of the above spring is fixed to the above bush.

11. In paragraph 10, The above load penetrates the above plate, The above buffer unit: A connecting portion protruding away from the frame in the above plate; and, A robot including a hinge shaft protruding from one side of the bush facing the joint and rotatably coupled to the joint.

12. In paragraph 11, The above buffer unit: Further comprising a stopper fixed to the end of the above load, Some of the above stoppers are, A robot that overlaps the bush in the longitudinal direction of the above load.

13. In paragraph 1, The above plate: Contains a pair of plates spaced apart from each other, The above sub wheels are: It includes a pair of sub wheels supporting the above pair of plates, The above buffer unit: A robot comprising a pair of buffer units connecting the pair of plates and the frame.

14. In paragraph 1, The above drive wheels are: A first driving wheel adjacent to one side of the above frame; and, including a second drive wheel adjacent to the other side of the frame, The above plate: A first plate extending long and adjacent to the first driving wheel; and, A second plate extending long and adjacent to the second driving wheel is included, The above sub wheels are: A first sub-wheel adjacent to one end of the first plate; A second sub-wheel adjacent to the other end of the first plate; a third sub-wheel adjacent to one end of the second plate; and, including a fourth sub-wheel adjacent to the other end of the second plate; The above buffer unit: A first buffer unit connecting the first plate and the frame adjacent to the first sub-wheel; A second buffer unit connecting the first plate and the frame adjacent to the second sub-wheel; A third buffer unit connecting the second plate and the frame adjacent to the third sub-wheel; and A robot comprising a fourth buffer unit adjacent to the fourth sub-wheel and connecting the second plate and the frame.

15. In paragraph 1, A sensor that detects the surroundings; and, A robot further comprising a control unit that controls the operation of the driving wheel based on information obtained from the sensor.

Images