Robot platform

Abstract

Provided is a robot platform that operates while moving along a rail having a radius of curvature. A robot platform according to an aspect of the present invention includes: a body unit which is arranged on a rail unit having a radius of curvature and is movable along the rail unit; a wheel unit installed on the lower part of the body unit to be rollable with respect to the rail unit; a manipulator unit installed on the top surface of the body unit and capable of multi-degree-of-freedom motion; and a balancing unit position-moved in a direction of maintaining balance on the body unit in accordance with a change in the center of gravity caused by the movement of the manipulator unit.

Description

Robot platform

[0001] The present invention relates to a robot platform, and more particularly, to a robot platform that moves and operates along a rail having a radius of curvature.

[0002] Recently, robots are being deployed into hazardous areas and are being controlled remotely by remote control devices to perform dangerous tasks on behalf of humans.

[0003] In general, robots are designed to replace humans in hazardous work environments, perform simple repetitive tasks, or perform tasks that require great strength. They are being applied not only in industrial settings but also in fields such as medicine, military, space, agriculture, and undersea exploration.

[0004] Therefore, robots are used in various environments, and there may be cases where the robot is mounted on a platform and moves along a rail with a radius of curvature, as needed.

[0005] In such cases, imbalances may occur as the robot platform moves along the rail, which may cause slippage between the platform and a portion of the rail, potentially hindering smooth operation of the robot platform.

[0006] Therefore, there is a need for the development of technology that can ensure smooth operation of a robot platform moving along these rails even when the rails have various shapes.

[0007] - Prior art literature -

[0008] Korean Patent No. 10-2390707 (announced on April 25, 2022)

[0009] The present invention aims to solve the above problems of a robot platform.

[0010] Specifically, the present invention aims to construct a robot platform that can move while maintaining balance even when the center of gravity changes due to the operation of the robot on a rail having a radius of curvature.

[0011] In addition, the present invention aims to construct a robot platform in which the speeds of the inner and outer wheels rolling on a rail having a radius of curvature can be appropriately controlled.

[0012] In addition, the present invention aims to construct a robot platform that can prevent departure from a rail when moving on a rail having a radius of curvature.

[0013] In addition, the present invention aims to construct a robot platform that can easily measure position while moving on a rail having a radius of curvature.

[0014]

[0015] The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by a person having ordinary skill in the technical field to which the present invention belongs from the description below.

[0016] In order to achieve the above or other purposes, according to one aspect of the present invention, a robot platform is provided, including: a body part disposed on a rail part having a radius of curvature and capable of moving along the rail part; a wheel part installed on a lower portion of the body part and capable of rolling relative to the rail part; a manipulator part installed on an upper surface of the body part and capable of multi-degree-of-freedom movement; and a balancing part moved in a direction to maintain balance on the body part according to a change in the center of gravity due to movement of the manipulator part.

[0017] Here, the rail portion includes an inner rail arranged on the inner side on the radius of curvature and an outer rail arranged parallel to the inner rail on the outer side on the radius of curvature, the wheel portion includes an inner wheel that can roll with respect to the inner rail and an outer wheel that can roll with respect to the outer rail, and the balancing portion can be moved to a position toward a portion of the inner wheel and the outer wheel where slip occurs.

[0018] In addition, the balancing part may include a balancing guide formed to extend between the inner wheel and the outer wheel, a balancing screw formed to extend along the longitudinal direction of the balancing guide and capable of axial rotation, a balancing gear coupled to an end of the balancing screw so as to axially rotate together with the balancing screw, a balancing motor capable of generating a rotational force and transmitting the force to the balancing gear, and a balancing mass installed on the balancing screw and moving along the longitudinal direction of the balancing screw when the balancing screw axially rotates.

[0019] In addition, the balancing unit can measure the rotational speed of the inner wheel and the outer wheel to determine whether slipping has occurred.

[0020] In addition, the robot platform may further include a driving motor unit installed in the body unit to provide driving force to the wheel unit; and a differential gear unit installed between the driving motor unit and the wheel unit to adjust the driving speed according to the load of the inner wheel and the outer wheel.

[0021] In addition, the robot platform may further include a guide roller portion installed at the lower portion of the body portion and capable of rolling relative to the rail portion other than the portion where the wheel portion comes into contact with the rail portion.

[0022] In addition, the wheel portion may be in contact with the upper surface of the rail portion, and the guide roller portion may include a side roller in contact with one side of the rail portion and a lower roller in contact with the lower surface of the rail portion.

[0023] In addition, the robot platform may further include a position sensor unit installed in the body unit and measuring the position of the body unit according to the length withdrawn from the body unit when the body unit moves.

[0024] In addition, the rail portion may further include a guide rail formed in a shape in which the outer surface is open and arranged parallel to the inner rail, and the position sensor portion may include a wire sensor that is drawn out from the body portion along the inside of the guide rail when the body portion moves.

[0025]

[0026] The means for solving the technical problems to be solved by the present invention are not limited to the means for solving the problems mentioned above, and other means for solving the problems not mentioned will be clearly understood by a person having ordinary skill in the technical field to which the present invention belongs from the description below.

[0027] FIG. 1 is a drawing showing a robot platform according to one embodiment of the present invention.

[0028] FIG. 2 is a drawing exemplarily showing a state in which a robot platform according to one embodiment of the present invention moves on a rail.

[0029] FIG. 3 is a drawing showing a balancing unit in a robot platform according to one embodiment of the present invention.

[0030] FIG. 4 is a drawing showing in more detail the main configuration of a balancing unit in a robot platform according to one embodiment of the present invention.

[0031] FIGS. 5 and 6 are drawings showing a differential gear unit in a robot platform according to one embodiment of the present invention.

[0032] FIG. 7 is a drawing showing a guide roller part in a robot platform according to one embodiment of the present invention.

[0033] FIG. 8 is a drawing showing a position sensor unit in a robot platform according to one embodiment of the present invention.

[0034] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Identical or similar components will be given identical or similar drawing reference numerals, and redundant descriptions thereof will be omitted. The suffixes "module" and "part" used for components in the following description are given or used interchangeably only for the convenience of writing the specification, and do not in themselves have distinct meanings or roles. In addition, when describing the embodiments disclosed in this specification, if it is determined that a specific description of a related known technology may obscure the gist of the embodiments disclosed in this specification, a 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 invention.

[0035] 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.

[0036] 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.

[0037] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0038] 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.

[0039]

[0040] FIG. 1 is a drawing showing a robot platform (1000) according to one embodiment of the present invention. FIG. 2 is a drawing showing an example of a state in which a robot platform (1000) according to one embodiment of the present invention moves on a rail unit (10). FIG. 3 is a drawing showing a balancing unit (400) in a robot platform (1000) according to one embodiment of the present invention. FIG. 4 is a drawing showing in more detail the main components of the balancing unit (400) in a robot platform (1000) according to one embodiment of the present invention.

[0041] As illustrated in FIGS. 1 to 4, a robot platform (1000) according to one embodiment of the present invention includes a body part (100), a wheel part (200), a manipulator part (300), and a balancing part (400).

[0042] The body part (100) is a part that is positioned on a rail part (10) having a radius of curvature and can move along the rail part (10), and may be a base part to which the remaining components of the robot platform (1000) are coupled. That is, the main components of the robot platform (1000) can be moved and operated along the rail part (10) while being coupled to the body part (100).

[0043] In this case, the rail section (10) may be formed in a circular shape with a radius of curvature in all or part of the section, and in some cases, as shown in FIG. 2, the rail section (10) may be formed in a closed loop shape so that the body section (100) may circulate on the rail section (10).

[0044] The wheel part (200) is installed at the lower part of the body part (100) and is a part that can roll with respect to the rail part (10), and the body part (100) can move along the rail part (10) by the rolling operation of the wheel part (200).

[0045] In this case, the wheel unit (200) may be configured with a structure in which multiple wheels are installed at the lower portion of the body unit (100), and the wheels may be driven by receiving driving power from the driving motor unit (500) described later. Meanwhile, some of the multiple wheels may be configured as passive wheels that are passively operated by rolling without receiving separate driving power.

[0046] The manipulator part (300) is installed on the upper surface of the body part (100) and is capable of multi-degree-of-freedom movement. It is composed of a structure in which a plurality of joint parts are connected to enable rotational and pivotal movement, and multi-degree-of-freedom movement such as rotational movement (roll / pitch / yaw) of the X / Y / Z axes can be performed using these joint parts.

[0047] In this case, a device (e.g., a gripper, etc.) for handling, assembling, installing, or constructing an object may be installed at the end of the manipulator section (300).

[0048] The balancing part (400) is a part that moves in a direction to maintain balance on the body part (100) according to the change in the center of gravity due to the movement of the manipulator part (300), and the position where the self-weight of the balancing part (400) is applied is moved, so that the overall balance of the body part (100) can be maintained.

[0049] Specifically, when the manipulator unit (300) is operated in the left direction as illustrated in FIG. 3, the center of gravity of the body unit (100) may be shifted to the left.

[0050] In this case, the balancing part (400) is moved to the right side of the body part (100), and the overall balance of the body part (100) can be maintained even during the operation of the manipulator part (300).

[0051] In this way, the robot platform (1000) according to one embodiment of the present invention maintains balance through the balancing unit (400) when the center of gravity changes due to the movement of the manipulator unit (300), so it can move while maintaining balance even when the center of gravity changes due to the operation of the manipulator unit (300) on the rail unit (10) having a radius of curvature.

[0052] In a robot platform (1000) according to one embodiment of the present invention, the rail portion (10) may include an inner rail (11) arranged on the inner side on the radius of curvature and an outer rail (12) arranged parallel to the inner rail (11) on the outer side on the radius of curvature.

[0053] And, the wheel part (200) may include an inner wheel (210) that can roll with respect to the inner rail (11) and an outer wheel (220) that can roll with respect to the outer rail (12).

[0054] In this case, the balancing part (400) can be moved toward the part where slip occurs among the inner wheel (210) and the outer wheel (220).

[0055] Specifically, based on the radius of curvature, the rail unit (10) may have an inner rail (11) arranged on the inside and an outer rail (12) arranged on the outside. The inner wheel (210) of the wheel unit (200) may contact the inner rail (11), and the outer wheel (220) of the wheel unit (200) may contact the outer rail (12), so that each may operate in a rolling manner.

[0056] In this case, as shown in Fig. 3, when the manipulator unit (300) is operated in the left direction and the center of gravity of the body unit (100) is shifted to the left, the outer wheel (220) does not come into contact with the outer rail (12), so slip may occur between the outer wheel (220) and the outer rail (12).

[0057] When such slip occurs, the outer wheel (220) may not roll against the outer rail (12), and the outer wheel (220) may spin in vain, resulting in loss of driving force to move the body (100).

[0058] Therefore, it is desirable to move the balancing part (400) to the part where the above-mentioned slip occurs and press the outer wheel (220) part with its own weight so that the outer wheel (220) and the outer rail (12) come into contact.

[0059] In this way, the robot platform (1000) according to one embodiment of the present invention can minimize slip between the rail portion (10) and the wheel portion (200) on the rail portion (10) having a radius of curvature, since the balancing portion (400) is moved to the portion where slip occurs among the inner wheel (210) and the outer wheel (220).

[0060] In a robot platform (1000) according to one embodiment of the present invention, a balancing unit (400) may include a balancing guide (410), a balancing screw (420), a balancing gear (430), a balancing motor (440), and a balancing mass (450).

[0061] Specifically, the main configuration of the balancing unit (400) will be described with reference to FIG. 4.

[0062] The balancing guide (410) is a portion formed to extend between the inner wheel (210) and the outer wheel (220), and can guide the path along which the balancing mass (450) moves. That is, when the position of the balancing unit (400) moves, the balancing mass (450) can move along the longitudinal direction of the balancing guide (410) positioned between the inner wheel (210) and the outer wheel (220).

[0063] The balancing screw (420) is formed to extend along the longitudinal direction of the balancing guide (410) and is a portion capable of axial rotation, and a balancing mass (450) can be meshed and connected to the screw threads formed on the outer circumference. Accordingly, when the balancing screw (420) rotates, the balancing mass (450) can move along the longitudinal direction of the balancing screw (420).

[0064] The balancing gear (430) is a part that is connected to the end of the balancing screw (420) so that it can rotate along with the balancing screw (420), and can rotate the balancing screw (420) by receiving the rotational force generated from the balancing motor (440). That is, when the balancing gear (430) rotates, the balancing screw (420) rotates together, and the balancing mass (450) connected to the balancing screw (420) can move.

[0065] The balancing motor (440) is a part that generates rotational force and transmits it to the balancing gear (430), and can provide driving force for positional movement of the balancing part (400). In this case, the balancing motor (440) can be connected to a separate power supply to receive electric energy, and whether it is turned on or off, the direction of operation, and the intensity of operation, etc. can be controlled by a separate control unit.

[0066] The balancing mass (450) is a portion installed on the balancing screw (420) and moves along the longitudinal direction of the balancing screw (420) when the axial rotation of the balancing screw (420) occurs. The balancing mass (450) may be formed of a weight having a predetermined weight. Accordingly, the center of gravity of the body portion (100) can be adjusted by pressing the body portion (100) with its own weight at the portion where the balancing mass (450) moves.

[0067] In this way, the robot platform (1000) according to one embodiment of the present invention includes a balancing unit (400) including a balancing guide (410), a balancing screw (420), a balancing gear (430), a balancing motor (440), and a balancing mass (450), so that the position of the balancing unit (400) can be moved more easily and precisely.

[0068] In a robot platform (1000) according to one embodiment of the present invention, the balancing unit (400) can measure the rotational speed of the inner wheel (210) and the outer wheel (220) to determine whether slipping has occurred.

[0069] Specifically, in order for the body part (100) to move consistently along the rail part (10) having a radius of curvature, the inner wheel (210) needs to be driven relatively slowly compared to the outer wheel (220). That is, when the wheel part (200) is operated in a rolling manner with respect to the inner rail (11) and the outer rail (12) having a radius of curvature, the rotational speeds of the inner wheel (210) and the outer wheel (220) depending on the curvature of the rail part (10) may differ to a certain extent.

[0070] In this case, if slip occurs between the rail section (10) and the wheel section (200), the difference in the rotational speed of the inner wheel (210) and the outer wheel (220) according to the curvature of the rail section (10) may be different from the normal state in that the wheel will spin.

[0071] Therefore, if the rotation speed of the inner wheel (210) and the outer wheel (220) is measured, it is easy to determine whether slip occurs between the rail part (10) and the wheel part (200). In particular, depending on the situation in which the difference in rotation speed between the inner wheel (210) and the outer wheel (220) increases or decreases, it is easy to determine in which part of the inner wheel (210) and the outer wheel (220) slip occurs.

[0072] In this way, the robot platform (1000) according to one embodiment of the present invention can determine whether slipping has occurred by measuring the rotational speed of the inner wheel (210) and the outer wheel (220), so that control for positional movement of the balancing unit (400) can be performed even without installing a separate sensor or the like to detect the occurrence of slipping.

[0073] FIG. 5 and FIG. 6 are drawings showing a differential gear unit (600) in a robot platform (1000) according to one embodiment of the present invention.

[0074] As shown in FIGS. 5 and 6, a robot platform (1000) according to one embodiment of the present invention may further include a driving motor unit (500) and a differential gear unit (600).

[0075] The driving motor unit (500) is a unit installed in the body unit (100) to provide driving force to the wheel unit (200), and can generate driving force to provide the driving force for driving the wheel unit (200). In this case, the driving motor unit (500) can be connected to a separate power supply unit to receive electric energy, and whether it is turned on or off, the direction of operation, and the intensity of operation, etc. can be controlled by a separate control unit.

[0076] In addition, the driving motor unit (500) can transmit the driving force generated from the driving motor unit (500) to the wheel unit (200) by including a structure such as a gear box.

[0077] The differential gear unit (600) is installed between the driving motor unit (500) and the wheel unit (200) and is a unit that adjusts the driving speed according to the load of the inner wheel (210) and the outer wheel (220), and can enable the wheel unit (200) to be driven with one degree of freedom.

[0078] As described above, when the rail portion (10) is formed in a shape having a radius of curvature, the inner wheel (210) needs to be driven relatively slowly compared to the outer wheel (220).

[0079] For this purpose, a drive motor unit (500) can be installed on each of the inner wheel (210) and the outer wheel (220), but in this case, the structure and control of the robot platform (1000) can become relatively complicated.

[0080] Accordingly, by installing a differential gear unit (600) between the driving motor unit (500) and the wheel unit (200), the speed of the inner wheel (210) and the outer wheel (220) can be adjusted according to the load, while driving with one degree of freedom, thereby making the structure and control relatively simple.

[0081] In this case, as shown in Fig. 5, the driving force of the driving motor unit (500) can be transmitted to one inner wheel (210) and one outer wheel (220) through the differential gear unit (600) to achieve two-wheel drive.

[0082] Alternatively, as illustrated in FIG. 6, the driving force of the driving motor unit (500) may be transmitted to a pair of inner wheels (210) and outer wheels (220) through a differential gear unit (600) to achieve four-wheel drive.

[0083] In this way, the robot platform (1000) according to one embodiment of the present invention adjusts the driving speed according to the load of the inner wheel (210) and the outer wheel (220) through the differential gear unit (600), so that the speed of the inner wheel (210) and the outer wheel (220) rolling on the rail unit (10) having the radius of curvature can be appropriately adjusted.

[0084] FIG. 7 is a drawing showing a guide roller part (700) in a robot platform (1000) according to one embodiment of the present invention.

[0085] As illustrated in FIG. 7, a robot platform (1000) according to one embodiment of the present invention may further include a guide roller portion (700) that is installed at the lower portion of the body portion (100) and is capable of rolling on the rail portion (10) other than the portion where the wheel portion (200) comes into contact with the rail portion (10).

[0086] Specifically, when the body part (100) moves along a rail part (10) having a radius of curvature, if the curvature of the rail part (10) is steep or the moving speed of the body part (100) is fast, the robot platform (1000) may be detached from the rail part (10).

[0087] In addition, since the differential gear part (600) has a characteristic that load and restraint are generated on the wheel part (200), it is desirable to install a guide roller part (700) to prevent the wheel part (200) from coming off.

[0088] Accordingly, by installing the guide roller part (700) in a part of the rail part (10) other than the part where the wheel part (200) comes into contact with the rail part (10), the wheel part (200) and the guide roller part (700) are structured to surround a certain portion of the rail part (10) together, so that the robot platform (1000) can be prevented from being separated from the rail part (10).

[0089] In this way, the robot platform (1000) according to one embodiment of the present invention supports the rail portion (10) other than the portion where the wheel portion (200) comes into contact through the guide roller portion (700), so that when moving on the rail portion (10) having a radius of curvature, it can be prevented from being separated from the rail portion (10).

[0090] In a robot platform (1000) according to one embodiment of the present invention, the wheel portion (200) may be in contact with the upper surface of the rail portion (10). In this case, the guide roller portion (700) may include a side roller (710) in contact with one side of the rail portion (10) and a lower roller (720) in contact with the lower surface of the rail portion (10).

[0091] That is, as shown in Fig. 7, the upper surface of the rail portion (10) may be contacted by a wheel portion (200), the side roller (710) may be contacted by a side of the rail portion (10), and the lower surface roller (720) may be contacted by a lower surface of the rail portion (10).

[0092] Accordingly, the rail section (10) can be supported by the wheel section (200) and the guide roller section (700) in a T-shape.

[0093] In this case, the side roller (710) is installed so as to be in contact with the inner side of the inner rail (11) and in contact with the outer side of the outer rail (12), so that the wheel part (200) and the guide roller part (700) can be arranged in a structure that wraps around from the outside on both sides of the rail part (10) toward the inside.

[0094] In this way, the robot platform (1000) according to one embodiment of the present invention can more effectively prevent the robot platform (1000) from being separated from the rail portion (10) having a radius of curvature, since the guide roller portion (700) includes a side roller (710) and a lower roller (720).

[0095] FIG. 8 is a drawing showing a position sensor unit (800) in a robot platform (1000) according to one embodiment of the present invention.

[0096] As illustrated in FIG. 8, a robot platform (1000) according to one embodiment of the present invention may further include a position sensor unit (800) installed in the body unit (100) to measure the position of the body unit (100) according to the length withdrawn from the body unit (100) when the body unit (100) moves.

[0097] Specifically, in order to smoothly control the robot platform (1000), the position of the moving robot platform (1000) needs to be measured. This position measurement can be easily accomplished by measuring the rotation speed of the driving motor unit (500).

[0098] However, as described above, when slip occurs between the wheel part (200) and the rail part (10), it may be difficult to measure the position of the robot platform (1000) by measuring the rotational speed of the driving motor part (500).

[0099] Therefore, even if slip occurs between the wheel part (200) and the rail part (10), a method of measuring the position of the body part (100) according to the length withdrawn from the body part (100) when the body part (100) moves may be more effective so that the position of the moving robot platform (1000) can be measured.

[0100] In this way, the robot platform (1000) according to one embodiment of the present invention measures the position of the body part (100) according to the length that the position sensor part (800) extends from the body part (100), so that position measurement can be easily performed while moving on the rail part (10) having a radius of curvature.

[0101] In a robot platform (1000) according to one embodiment of the present invention, the rail portion (10) may further include a guide rail (13) that is arranged parallel to the inner rail (11) and formed in a shape in which the outer surface is open. In this case, the position sensor portion (800) may include a wire sensor (810) that is drawn out along the inside of the guide rail (13) from the body portion (100) when the body portion (100) moves.

[0102] That is, as shown in Fig. 8, a guide rail (13) is arranged according to the radius of curvature of the rail portion (10), and a wire sensor (810) is drawn out along the inside of the guide rail (13) so that position measurement can be performed.

[0103] Since the robot platform (1000) moves on a curved rail section (10), the sensor for measuring the driving distance needs to be made of a flexible material. In addition, the sensor needs to be structured so that it does not interfere with the sensor being pulled out or rolled in when the robot platform (1000) moves.

[0104] Accordingly, by placing the wire sensor (810) inside a separate guide rail (13), it can be drawn out along the curvature while preventing interference during the movement of the robot platform (1000).

[0105] In this case, the length of the wire sensor (810) being pulled out may increase when the robot platform (1000) moves in one direction, and the length of the wire sensor (810) being pulled out by being wound by internal elasticity may decrease when the robot platform (1000) moves in the opposite direction.

[0106] In this way, the robot platform (1000) according to one embodiment of the present invention includes a wire sensor (810) that is extended along the inside of the guide rail (13) as the position sensor unit (800), so that the position of the robot platform (1000) can be easily measured while interference during the measurement process can be minimized.

[0107]

[0108] While specific embodiments of the present invention have been described and illustrated above, it will be apparent to those skilled in the art that the present invention is not limited to the described embodiments, and that various modifications and variations can be made without departing from the spirit and scope of the present invention. Accordingly, such modifications or variations should not be understood individually from the technical spirit or perspective of the present invention, and such modified embodiments should fall within the scope of the claims of the present invention.

[0109] According to at least one of the embodiments of the present invention, since the balance is maintained through the balancing unit when the center of gravity changes due to the movement of the manipulator unit, it is possible to implement a robot platform that can move while maintaining balance even when the center of gravity changes due to the operation of the manipulator unit on a rail unit having a radius of curvature.

[0110] In addition, according to at least one of the embodiments of the present invention, since the driving speed is adjusted according to the load of the inner and outer wheels through the differential gear, it is possible to implement a robot platform in which the speed of the inner and outer wheels rolling on a rail having a radius of curvature can be appropriately adjusted.

[0111] In addition, according to at least one of the embodiments of the present invention, since the rail portion is supported through the guide roller portion other than the portion where the wheel portion comes into contact, it is possible to implement a robot platform that can prevent separation from the rail portion when moving on the rail portion having a radius of curvature.

[0112] In addition, according to at least one of the embodiments of the present invention, since the position sensor part measures the position of the body part according to the length by which it is extended from the body part, it is possible to implement a robot platform that can easily measure the position while moving on a rail part having a radius of curvature.

Claims

1. A body part arranged on a rail part having a radius of curvature and capable of moving along the rail part; A wheel part installed at the lower part of the above body part and capable of rolling relative to the rail part; A manipulator part installed on the upper surface of the above body part and capable of multi-degree-of-freedom movement; and A balancing part that moves in a direction to maintain balance on the body part according to a change in the center of gravity resulting from the movement of the manipulator part; A robot platform including:

2. In paragraph 1, The above rail section, Inner rails arranged on the inner side of the radius of curvature and Including an outer rail arranged parallel to the inner rail on the outer side of the radius of curvature, The above wheel part, Inner wheel capable of rolling on the inner rail above and It includes an outer wheel capable of rolling on the outer rail, A robot platform in which the above balancing part is moved toward a part of the inner wheel and the outer wheel where slipping occurs.

3. In paragraph 2, The above balancing part, A balancing guide formed by extending between the inner wheel and the outer wheel, A balancing screw that is formed to extend along the length of the above balancing guide and is capable of rotating around an axis, A balancing gear coupled to an end of the balancing screw so as to rotate along with the balancing screw; A balancing motor capable of generating rotational force and transmitting it to the balancing gear; and A robot platform including a balancing mass installed on the balancing screw and moving along the longitudinal direction of the balancing screw when the axial rotation of the balancing screw occurs.

4. In paragraph 3, A robot platform in which the above balancing part measures the rotational speed of the inner wheel and the outer wheel to determine whether slipping has occurred.

5. In paragraph 2, A driving motor unit installed in the body unit to provide driving force to the wheel unit; and A differential gear unit installed between the above driving motor unit and the above wheel unit to control the driving speed according to the load of the inner wheel and the outer wheel; A robotic platform that further includes:

6. In paragraph 5, A guide roller part installed at the lower part of the above body part and capable of rolling with respect to the rail part other than the part where the wheel part comes into contact with the rail part; A robotic platform that further includes:

7. In paragraph 6, The above wheel part is in contact with the upper surface of the above rail part, The above guide roller part, A side roller in contact with one side of the above rail section and A robot platform including a lower roller that comes into contact with the lower surface of the above rail portion.

8. In paragraph 2, A position sensor unit installed in the above body unit and measuring the position of the body unit according to the length withdrawn from the body unit when the body unit moves; A robotic platform that further includes:

9. In paragraph 8, The above rail section, It further includes a guide rail that is arranged parallel to the inner rail and is formed in a shape with an open outer surface, The above position sensor part, A robot platform including a wire sensor that is pulled out from the body along the inside of the guide rail when the body moves.

Images