Caster assembly and robot provided with same

Abstract

Disclosed are a caster assembly and a robot provided with same. The caster assembly is provided with an outer spring and an inner spring, and can change the value of a spring constant applied to a caster. The caster assembly according to an embodiment of the present invention comprises an electromagnetic module, a pressing member, an outer member, a shaft member, the outer spring, a support member, the inner spring, and the caster. When the pressing member moves toward the support member and presses the support member, the support member moves toward the inner spring and presses the inner spring. Also, when the electromagnetic module is not operating, the inner spring is restored to the original length by the restoring force.

Description

Caster assembly and robot equipped with it

[0001] The present invention relates to a caster assembly and a robot equipped with the same.

[0002] The robot (2) illustrated in Fig. 1 is a robot that delivers food. A caster assembly (1) for moving the robot (2) is mounted on the lower part of the robot (2).

[0003] Conventional food delivery robots use caster assemblies equipped with springs with very low spring constant values ​​to prevent food (e.g., soup) from overflowing during delivery.

[0004] In general, when a food delivery robot runs on a sloped or stepped surface, there is a problem of beverages or food on the tray spilling, so the spring constant value of the spring equipped in the caster assembly is set very low and the moving speed of the robot is set slow.

[0005] If the spring constant is set too low, the robot will sway violently back and forth when accelerating or decelerating rapidly, or when it suddenly stops after moving at high speed, causing food on the tray to spill. Consequently, conventional food delivery robots are often unable to move at high speeds.

[0006] Therefore, when the robot is driving on a curved, inclined, or stepped surface with food on the robot, it is necessary to lower the spring constant value of the spring provided in the caster assembly to prevent the food from spilling.

[0007] And, when the robot is moving on a flat surface while there is food on the robot, it is necessary to increase the spring constant value of the spring provided in the caster assembly to enable the robot to move at a high speed while preventing the food from spilling.

[0008] Additionally, when the robot is moving without food, it is necessary to increase the spring constant value of the spring provided in the caster assembly so that the robot can move quickly without shaking.

[0009] The purpose of the present invention is to provide a caster assembly and a robot equipped with the same, which can improve the problem of objects falling or food spilling when a robot equipped with the caster assembly delivers objects or food, for example, by changing the value of the spring constant of the spring equipped in the caster assembly according to the state of the ground.

[0010] The above-described object of the present invention is achieved by the specific contents described below.

[0011] A caster assembly according to an embodiment of the present invention includes an electromagnet module, a pressure member, an outer member, a shaft member, an outer spring, a support member, an inner spring, and a caster. The pressure member is moved by the electromagnet module. The outer member is arranged so that the pressure member can move. The shaft member is arranged in an internal space of the outer member and is movable. The outer spring is arranged between the outer member and the shaft member and is supported by the shaft member. The support member is arranged between the pressure member and the shaft member and is arranged in a through hole of the outer spring. The inner spring is arranged between the support member and the shaft member, is supported by the shaft member, and is arranged in a through hole of the outer spring. The caster is connected to the shaft member. When the pressure member moves toward the support member and presses the support member, the support member moves toward the inner spring and presses the inner spring. In addition, when the electromagnet module is not operated, the inner spring is restored to its original length by a restoring force.

[0012] Specifically, the pressing member includes an inclined surface formed on one side. The electromagnet module includes an electromagnet and a push member that moves by the operation of the electromagnet. When the push member moves and presses the inclined surface of the pressing member, the pressing member moves toward the support member and presses the support member.

[0013] Specifically, when the electromagnet does not operate, the push member is separated from the inclined surface of the pressure member, and the support member returns to its original position by the restoring force of the inner spring.

[0014] A caster assembly according to an embodiment of the present invention includes a fixed spring. The fixed spring is disposed between a pressure member and a support member, supported by the support member, and disposed in a through hole of an outer spring. When the electromagnet is not operated, the push member is separated from the inclined surface of the pressure member, and the pressure member returns to its original position by the restoring force of the inner spring and the restoring force of the fixed spring.

[0015] Specifically, the pressing member includes a lower groove formed on the other side, and the supporting member includes a supporting protrusion formed on one side. One side of the fixing spring is inserted into the lower groove of the pressing member, the other side of the fixing spring is in contact with one side of the supporting member, and the supporting protrusion of the supporting member is inserted into the through hole of the fixing spring.

[0016] Specifically, the pressing member includes a stepped surface formed on the outer surface. In addition, the outer member includes an outer upper hole in which the pressing member is movably positioned. When the electromagnet is not operated, the inclined surface of the pressing member protrudes outward from the outer upper hole, and the stepped surface of the pressing member comes into contact with the inner surface of one side of the outer member surrounding the outer upper hole.

[0017] Specifically, the electromagnet module includes a movable member connected to a push member. The movable member moves toward the pressure member when the electromagnet is activated.

[0018] Specifically, the electromagnet module includes a pin member and a return member. The pin member guides the movement of the movable member. The return member is disposed on the pin member and moves the movable member to its original position when the electromagnet is not activated.

[0019] Specifically, the shaft member includes a groove formed on one side and a groove formed on the other side. A portion of an outer spring, an inner spring, and a support member are disposed in the groove on the one side, and a support shaft portion of the caster is disposed in the groove on the other side.

[0020] Specifically, the shaft member includes a stepped surface formed on an outer surface. With the stepped surface as a boundary, a cross-sectional diameter on one side of the shaft member is formed to be wider than a cross-sectional diameter on the other side.

[0021] A caster assembly according to an embodiment of the present invention includes a holder member. The holder member is positioned below a shaft member, and a holder hole is formed in the middle thereof. A cross-sectional diameter of one side of the shaft member is formed to be wider than the diameter of the holder hole, and a cross-sectional diameter of the other side of the shaft member is formed to be narrower than the diameter of the holder hole.

[0022] Specifically, the cross-sectional diameter of one side of the shaft member and the cross-sectional diameter of the other side are formed to be wider than the diameter of the holder hole.

[0023] Specifically, the support shaft portion of the caster is inserted into the other side groove of the shaft member through the holder hole of the holder member and fixed therein.

[0024] Specifically, one side of the outer spring contacts the inner surface of one side of the outer member, and the other side of the outer spring contacts the bottom surface of one side groove of the shaft member.

[0025] Specifically, the support member includes a support groove formed on the other side. One side of the inner spring is placed in the support groove of the support member, and the other side of the inner spring is in contact with the bottom surface of the groove on one side of the shaft member.

[0026] A caster assembly according to an embodiment of the present invention includes a bush member. The bush member is arranged in the inner space of an outer member. An outer spring, an inner spring, a support member, and a shaft member are arranged in the inner space of the bush member.

[0027] A caster assembly according to an example of the embodiment of the present invention described above is provided in a robot.

[0028] A caster assembly according to an example of an embodiment of the present invention and a robot equipped with the same have an outer spring and an inner spring, and change the value of the spring constant of the inner spring depending on the state of the ground, so that when a robot equipped with the caster assembly delivers, for example, an object or food, it has the effect of preventing the object from falling or the food from spilling.

[0029] More detailed effects of the caster assembly of the present invention and the robot equipped with the same are described in the form for implementing the invention below.

[0030] Figure 1 shows an example of one embodiment of a robot to which the caster assembly of the present invention can be mounted.

[0031] Figure 2 shows a caster assembly mounted on the robot of Figure 1.

[0032] Figure 3 shows a caster assembly according to an example of an embodiment of the present invention.

[0033] Figure 4 is a cross-sectional view taken along line IV-IV of Figure 3.

[0034] Figure 5 is an exploded perspective view of Figure 3 (excluding the electromagnet module).

[0035] Fig. 6 shows the electromagnet module of Fig. 3.

[0036] Figure 7 is an exploded perspective view of Figure 6.

[0037] Figure 8 shows the movement of the push member and the moving member.

[0038] Figures 9 and 10 illustrate the process of moving the push member and the pressure member and the shape change of the inner spring. Figure 9 illustrates the process before the push member moves, and Figure 10 illustrates the process after the push member moves.

[0039] Figure 11 shows the bracket of Figure 5.

[0040] Fig. 12 shows the caster housing of Fig. 5.

[0041] Figure 13 shows the pressure member, fixed spring, support member, inner spring and outer spring of Figure 5.

[0042] Fig. 14 shows the pressurizing member of Fig. 5.

[0043] Fig. 15 shows the support member of Fig. 5.

[0044] Figure 16 shows the outer member of Figure 5.

[0045] Fig. 17 shows the bushing member of Fig. 5.

[0046] Fig. 18 shows the shaft member of Fig. 5.

[0047] Fig. 19 shows the holder member of Fig. 5.

[0048] Fig. 20 shows the washer member of Fig. 5.

[0049] Fig. 21 shows the push member of Fig. 7.

[0050] Fig. 22 shows the front member of Fig. 7.

[0051] Fig. 23 shows the rear member of Fig. 7.

[0052] Fig. 24 shows the bottom member of Fig. 7.

[0053] Fig. 25 shows the moving member of Fig. 7.

[0054] Hereinafter, examples of embodiments of the present invention will be described in more detail with reference to the attached drawings. For components of the present invention that are clearly understandable and easily reproducible by those skilled in the art using conventional techniques, a detailed description thereof will be omitted so as not to obscure the gist of the present invention.

[0055] The attached drawings are only provided to facilitate understanding of examples of embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited by the attached drawings.

[0056] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0057] Additionally, terms including ordinal numbers, such as "first," "second," etc., used herein may be used to describe various components, but these components should not be limited by these terms. These terms are used solely to distinguish one component from another. For example, without departing from the scope of the present invention, a first component could be referred to as a "second component," and similarly, a second component could also be referred to as a "first component."

[0058] Below, a caster assembly and a robot having the same according to an example of an embodiment of the present invention are described.

[0059] Hereinafter, a caster assembly according to an example of an embodiment of the present invention and a robot equipped with the same may be briefly referred to as a 'caster assembly of the present invention'.

[0060] Referring to FIGS. 1 to 10, the caster assembly (1) of the present invention includes an electromagnet module (10), a bracket portion (20), a caster housing (30), a pressure member (40), a support member (40a), an outer member (50), a bush member (60), an outer spring (61), an inner spring (62), a fixed spring (63), a shaft member (70), a holder member (80), a washer member (94), an O-ring member (95), and a caster (90).

[0061] The electromagnet module (10) changes the spring constant value of the springs (61, 62) provided in the caster assembly (1) of the present invention. The springs (61, 62) represent the outer spring (61) and the inner spring (62) described later, and elastically support the caster (90) described later.

[0062] The electromagnet module (10) includes a case.

[0063] The case forms the exterior of the electromagnet module (10).

[0064] The case is placed on one side of the bracket portion (20) described later.

[0065] The case can be coupled to one side of the bracket portion (20) and can be coupled to the caster housing (30) described later. The coupling method is by a known technology such as a bolt fastening method.

[0066] The case includes a front member (12), a rear member (13), and a bottom member (14).

[0067] Fig. 22 shows the front member (12), Fig. 23 shows the rear member (13), and Fig. 24 shows the bottom member (14).

[0068] The case is formed by combining a front member (12), a rear member (13), and a bottom member (14).

[0069] The case may further include other members in addition to the front member (12), the rear member (13) and the bottom member (14).

[0070] The front member (12), the rear member (13), and the bottom member (14) are not limited to the specific shapes described below and can be formed in various shapes.

[0071] The front member (12), the rear member (13), and the bottom member (14) are formed in a plate shape with a preset thickness and size.

[0072] The front member (12) is placed on one side of the bracket part (20).

[0073] The front member (12) includes a front middle plate (121) and two front side plates (122).

[0074] As illustrated in the drawing, the front middle plate (121) and the two front side plates (122) may be formed integrally. Alternatively, depending on the embodiment, the front middle plate (121) and the two front side plates (122) may be manufactured separately and then joined together. The joining method may be a bolt fastening method or a known technique such as welding.

[0075] The front middle plate (121) is located between the two front side plates (122).

[0076] That is, the two front side plates (122) are placed on the left and right sides of the front middle plate (121).

[0077] In detail, one front side plate (122) is connected to the left edge of the front middle plate (121), and the other front side plate (122) is connected to the right edge of the front middle plate (121).

[0078] Each of the two front side plates (122) is arranged in a direction perpendicular to the front middle plate (121). The boundary between the front side plate (122) and the front middle plate (121) is folded. In addition, the two front side plates (122) are arranged side by side so as to face each other.

[0079] The front middle plate (121) faces one side of the bracket part (20).

[0080] The front middle plate (121) includes a front hole (123), a front pin hole (1211), and an electromagnet fastening hole (unsigned).

[0081] The front hole (123) is a hole that penetrates the front middle plate (121).

[0082] A push member (11) described later is placed in the front hole (123). The push member (11) can move while placed in the front hole (123).

[0083] The shape of the front hole (123) can correspond to the cross-sectional shape of the push member (11).

[0084] The front pin hole (1211) is a hole in which one side of a pin member (16) described later is placed. One side of the pin member (16) is fixed while placed in the front pin hole (1211).

[0085] The number of front pin holes (1211) is determined according to the number of pin members (16). For example, as shown in Fig. 7, when there are two pin members (16) (161, 162), two front pin holes (1211) are formed.

[0086] Two front pin holes (1211) are formed spaced apart from each other by a preset distance. Specifically, the two front pin holes (1211) may be formed at positions adjacent to the edges of both sides (e.g., left and right) of the front middle plate (121).

[0087] The electromagnet fastening hole is a hole in which a fastening member (p) for fastening the front middle plate (121) and the electromagnet (18) is placed. The electromagnet (18) can be connected to the front middle plate (121) by the fastening member (p).

[0088] The electromagnet module (10) includes an electromagnet (18).

[0089] The electromagnet (18) is not limited to the shape shown in the drawing and may be formed in various shapes. The shape of the electromagnet (18) shown in the drawing is shown as an example.

[0090] As is well known, the electromagnet (18) is a magnet that becomes magnetized when current flows through a wire (not shown) connected to the electromagnet (18), and returns to its original non-magnetized state when current does not flow.

[0091] When current flows through the wire, the electromagnet (18) attracts the moving member (15) described later.

[0092] In this specification, operation of the electromagnet (18) indicates that current flows in the wire connected to the electromagnet (18), and non-operation of the electromagnet (18) indicates that no current flows in the wire.

[0093] An electromagnet (18) is placed inside the case.

[0094] Specifically, the electromagnet (18) is placed between the front middle plate (121) of the front member (12) and the moving member (15).

[0095] The two front side plates (122) face towards the rear member (13).

[0096] Two front side plates (122) form the sides of the case.

[0097] Each of the two front side plates (122) includes a front fastening hole (1221).

[0098] A plurality of front fastening holes (1221) are formed.

[0099] A plurality of front fastening holes (1221) are holes in which fastening members (p) for fastening the front side plate (122) and the rear member (13) and fastening members (p) for fastening the front side plate (122) and the bottom member (14) are arranged. The fastening members (p) represent bolts or screws, etc. When the fastening members (p) are bolts, nuts may be provided.

[0100] The rear member (13) is combined with the front member (12).

[0101] The rear member (13) is combined with the front member (12) to form a receiving space of the case. An electromagnet (18), a pin member (16), a return member (17), a push member (11), and a moving member (15) are arranged in the receiving space.

[0102] The rear member (13) includes a rear middle plate (131) and two rear side plates (132).

[0103] As illustrated in the drawing, the rear middle plate (131) and the two rear side plates (132) may be formed integrally. Alternatively, depending on the embodiment, the rear middle plate (131) and the two rear side plates (132) may be manufactured separately and then joined together. The joining method may be a bolt fastening method or a known technique such as welding.

[0104] The rear middle plate (131) is located between the two rear side plates (132).

[0105] That is, the two rear side plates (132) are arranged on the left and right sides of the rear middle plate (131).

[0106] In detail, one rear side plate (132) is connected to the left edge of the rear middle plate (131), and the other rear side plate (132) is connected to the right edge of the rear middle plate (131).

[0107] Each of the two rear side plates (132) is arranged in a direction perpendicular to the rear middle plate (131). The boundary between the rear side plate (132) and the rear middle plate (131) is folded. In addition, the two rear side plates (132) are arranged side by side so as to face each other.

[0108] The rear middle plate (131) faces the front middle plate (121). That is, the front middle plate (121) and the rear middle plate (131) face each other.

[0109] The rear middle plate (131) includes a rear hole (133) and a rear pin hole (1311).

[0110] The rear hole (133) is a hole that penetrates the rear middle plate (131).

[0111] Depending on the embodiment, the rear hole (133) may be open at the top.

[0112] The other side (112) of the push member (11) can be placed in the rear hole (133). In other words, when the push member (11) moves away from the bracket part (20), the other side (112) of the push member (11) can be placed in the rear hole (133).

[0113] The rear pin hole (1311) is a hole in which the other side of the pin member (16) is placed. The other side of the pin member (16) is fixed while placed in the rear pin hole (1311).

[0114] A screw thread may be formed on the other side of the pin member (16). When the other side of the pin member (16) penetrates the rear pin hole (1311) and protrudes outward from the rear middle plate (131), a nut (n) may be fastened to the other side of the pin member (16) on which the screw thread is formed.

[0115] The number of rear pin holes (1311) is determined according to the number of pin members (16). For example, as shown in Fig. 7, when there are two pin members (16) (161, 162), two rear pin holes (1311) are formed.

[0116] Two rear pin holes (1311) are formed spaced apart from each other by a preset distance. Specifically, the two rear pin holes (1311) may be formed at positions adjacent to edges on both sides (e.g., left and right) of the rear middle plate (131).

[0117] The two rear side plates (132) face toward the front member (12).

[0118] The two rear side plates (132) form the sides of the case together with the two front side plates (122).

[0119] Each of the two rear side plates (132) includes a rear fastening hole (1321).

[0120] A plurality of rear fastening holes (1321) are formed.

[0121] A plurality of rear fastening holes (1321) are holes in which fastening members (p) for fastening the front side plate (122) and the rear side plate (132) and fastening members (p) for fastening the rear side plate (132) and the bottom member (14) are arranged. The fastening members (p) represent bolts or screws, etc. When the fastening members (p) are bolts, nuts may be provided.

[0122] The front side plate (122) and the rear side plate (132) overlap each other. One of the two front side plates (122) overlaps one of the two rear side plates (132), and the other of the two front side plates (122) overlaps the other of the two rear side plates (132).

[0123] In a state where the front side plate (122) and the rear side plate (132) are overlapped, a fastening member (p) is arranged to penetrate the front fastening hole (1221) of the front side plate (122) and the rear fastening hole (1321) of the rear side plate (132). The front side plate (122) and the rear side plate (132) are fastened by the fastening member (p).

[0124] The bottom member (14) is combined with the front member (12) and / or the rear member (13).

[0125] The bottom member (14) is combined with the front member (12) and the rear member (13) to form a receiving space of the case.

[0126] The bottom member (14) includes a bottom middle plate (141) and two bottom side plates (142).

[0127] As illustrated in the drawing, the bottom middle plate (141) and the two bottom side plates (142) may be formed integrally. Alternatively, depending on the embodiment, the bottom middle plate (141) and the two bottom side plates (142) may be manufactured separately and then joined together. The joining method may be a bolt fastening method or a known technique such as welding.

[0128] The bottom middle plate (141) is located between the two bottom side plates (142).

[0129] That is, the two bottom side plates (142) are placed on the left and right sides of the bottom middle plate (141).

[0130] In detail, one bottom side plate (142) is connected to the left edge of the bottom middle plate (141), and the other bottom side plate (142) is connected to the right edge of the bottom middle plate (141).

[0131] Each of the two bottom side plates (142) is arranged in a direction perpendicular to the bottom middle plate (141). The boundary between the bottom side plate (142) and the bottom middle plate (141) is folded. In addition, the two bottom side plates (142) are arranged side by side so as to face each other.

[0132] The bottom middle plate (141) faces the front middle plate (121). That is, the front middle plate (121) and the bottom middle plate (141) face each other.

[0133] The two bottom side plates (142) face toward the front member (12) or the rear member (13).

[0134] The two bottom side plates (142) form the sides of the case together with the two front side plates (122) and the two rear side plates (132).

[0135] Each of the two bottom side plates (142) includes a bottom fastening hole (1421).

[0136] One or more bottom fastening holes (1421) are formed.

[0137] The bottom fastening hole (1421) is a hole in which a fastening member (p) for fastening the front side plate (122) or the rear side plate (132) and the bottom side plate (142) is placed. The fastening member (p) represents a bolt or screw, etc. If the fastening member (p) is a bolt, a nut may be provided.

[0138] The bottom side plate (142) overlaps with the front side plate (122) and the rear side plate (132).

[0139] In a state where the bottom side plate (142) overlaps the front side plate (122) and the rear side plate (132), the fastening member (p) is arranged to penetrate the front fastening hole (1221) of the front side plate (122), the rear fastening hole (1321) of the rear side plate (132), and the bottom fastening hole (1421) of the bottom side plate (142). The front side plate (122), the rear side plate (132), and the bottom side plate (142) are fastened by the fastening member (p).

[0140] The electromagnet module (10) includes a pin member (16), a return member (17), a push member (11), and a moving member (15).

[0141] Fig. 21 shows a push member (11). Fig. 21 (a) is a top perspective view, and (b) is a front view.

[0142] The push member (11) is formed in a plate shape with a preset thickness and size.

[0143] The push member (11) has a preset length in one direction, and the length is formed to be longer than the width.

[0144] The push member (11) includes one side and the other side. The one side and the other side refer to sides that are opposite to each other in the longitudinal direction (one direction).

[0145] One side of the push member (11) includes an inclined surface (111). The inclined surface (111) represents an inclined surface.

[0146] The inclined surface (111) of the push member (11) can come into contact with the inclined surface (411) of the pressure member (40).

[0147] Since one side of the push member (11) includes an inclined surface (111), the area where one side of the push member (11) comes into contact with the inclined surface (411) of the pressure member (40) increases. As a result, the force with which the push member (11) pushes the pressure member (40) can be effectively transmitted to the pressure member (40).

[0148] The push member (11) is placed in the front hole (123) of the front member (12) and the push insertion hole (231) of the bracket part (20).

[0149] The push member (11) can move toward the pressure member (40) or away from the pressure member (40) while being positioned in the front hole (123) and the push insertion hole (231). The movement of the push member (11) is achieved by the operation of the electromagnet (18).

[0150] The other side (112) of the push member (11) includes a portion that is bent at a certain point, and the bent portion passes through the push arrangement hole (151) of the movable member (15) and is then connected to the movable member (15) by a fastening member (p).

[0151] A hole (1121) is formed in the bent portion formed on the other side (112) of the push member (11), into which one or more fastening members (p) are inserted. The fastening members (p) are inserted into the hole (1121) and the fixing hole (152) of the moving member (15), thereby fastening the push member (11) and the moving member (15).

[0152] The moving member (15) is formed in a plate shape with a preset thickness and size (see Fig. 25).

[0153] The movable member (15) is formed to a size that allows it to move while placed in the receiving space of the case.

[0154] The movable member (15) is placed between the front middle plate (121) of the front member (12) and the rear middle plate (131) of the rear member (13), and can move toward the front middle plate (121) or toward the rear middle plate (131). The movement of the movable member (15) is achieved by the operation of the electromagnet (18).

[0155] The movable member (15) includes a push placement hole (151), a fixing hole (152), and a pin connection hole (153).

[0156] The push placement hole (151), the fixing hole (152) and the pin connection hole (153) are holes that penetrate the moving member (15).

[0157] A push member (11) is placed in the push placement hole (151).

[0158] The shape of the push placement hole (151) can correspond to the cross-sectional shape of the push member (11).

[0159] The positions of the push placement hole (151) of the movable member (15), the front hole (123) of the front member (12), and the push insertion hole (231) of the bracket portion (20) are determined by the position at which one side of the push member (11) can press one side (41) of the pressure member (40) (specifically, the inclined surface (411)).

[0160] A fastening member (p) is inserted into the fixed hole (152). The fastening member (p) is inserted into the fixed hole (152) to connect the push member (11) and the moving member (15).

[0161] The fixed hole (152) is formed at a position adjacent to the push placement hole (151).

[0162] One or more fixing holes (152) may be formed.

[0163] In some embodiments, the push member (11) and the movable member (15) may be formed integrally. In this embodiment, the push placement hole (151) and the fixing hole (152) are not provided, thereby reducing manufacturing costs. However, if the push member (11) and the movable member (15) are manufactured separately and then combined, manufacturing convenience may be improved.

[0164] A pin member (16) is placed in the pin connection hole (153).

[0165] The moving member (15) is connected to the pin member (16) by placing the pin member (16) in the pin connection hole (153).

[0166] The number of pin connection holes (153) is determined according to the number of pin members (16). For example, as shown in Fig. 7, when there are two pin members (16) (161, 162), two pin connection holes (153) are formed.

[0167] Two pin connection holes (153) are formed spaced apart from each other by a preset distance. Specifically, the two pin connection holes (153) can be formed at positions adjacent to the edges of both sides (e.g., left and right) of the moving member (15).

[0168] The movable member (15) can move toward or away from the pressure member (40) while connected to the pin member (16). The movement of the movable member (15) is achieved by the operation of the electromagnet (18).

[0169] Since the push member (11) is connected to the moving member (15), the push member (11) and the moving member (15) move together in the same direction.

[0170] Fig. 8 shows the movement of the push member (11) and the moving member (15). Fig. 8 (a) shows that the electromagnet (18) is operating to pull the moving member (15), and (b) shows that the electromagnet (18) is not operating.

[0171] The moving member (15) is made of a magnetic material.

[0172] When the electromagnet (18) operates, the electromagnet (18) pulls the moving member (15). Accordingly, the moving member (15) moves toward the electromagnet (18). At this time, the push member (11) presses the pressing member (40) (see (a) of Fig. 8).

[0173] The pin member (16) guides the movement of the movable member (15). That is, the movable member (15) moves along the pin member (16).

[0174] The pin member (16) may be provided in multiples (161, 162). For example, as shown in Fig. 7, the pin member (16) may be provided in two (161, 162). As a result, the moving member (15) can move stably without shaking.

[0175] The pin member (16) is formed into a rod shape having a preset length in one direction.

[0176] The pin member (16) includes one side and the other side. The one side and the other side refer to sides that are opposite to each other in the longitudinal direction (one direction).

[0177] One side of the pin member (16) is inserted into the front pin hole (1211) of the front member (12), and the other side of the pin member (16) is inserted into the rear pin hole (1311) of the rear member (13).

[0178] And, between one side and the other side of the pin member (16), the pin connection hole (153) of the moving member (15) is placed.

[0179] Referring to FIGS. 6 to 8, the return member (17) moves the moving member (15) to its original position when the operation of the electromagnet (18) stops.

[0180] The return member (17) is an elastic body that is elastically deformed by an external force and has a restoring force when its shape is deformed.

[0181] The return member (17) is a type of coil spring.

[0182] When current flows through the electromagnet (18), the electromagnet (18) pulls the moving member (15), and the moving member (15) moves toward the electromagnet (18). At this time, the return member (17) is compressed in the longitudinal direction and contracts (elastically deformed) and has a restoring force.

[0183] And, when no current flows through the electromagnet (18), the electromagnet (18) does not pull the moving member (15), and the moving member (15) moves to the original position by the restoring force of the return member (17) (see (b) of Fig. 8).

[0184] The return member (17) includes one side and the other side in the longitudinal direction and has a through hole penetrating the center of the one side and the other side. The one side and the other side face opposite sides.

[0185] The return member (17) is placed on the pin member (16). In detail, the pin member (16) is placed in the through hole of the return member (17).

[0186] And, the return member (17) is placed between the front middle plate (121) of the front member (12) and the movable member (15). When the movable member (15) moves toward the front middle plate (121), the return member (17) is compressed in the longitudinal direction.

[0187] The return member (17) elastically supports the moving member (15).

[0188] One side of the return member (17) is in contact with the front middle plate (121) of the front member (12), and the other side of the return member (17) is in contact with the moving member (15).

[0189] A plurality of return members (17) (171, 172) may be provided. For example, as shown in Fig. 7, when two pin members (161, 162) are provided, a return member (17) is placed on each pin member (161, 162). As a result, the moving member (15) can stably move to its original position without shaking.

[0190] The bracket part (20) is connected to the electromagnet module (10).

[0191] Specifically, the bracket portion (20) can be connected to the case and / or the push member (11) of the electromagnet module (10).

[0192] The bracket part (20) accommodates a pressure member (40), a support member (40a), an outer member (50), a bush member (60), a fixed spring (63), an outer spring (61), an inner spring (62), and a shaft member (70).

[0193] Referring to Fig. 11, (a) of Fig. 11 is a top perspective view, (b) is a bottom perspective view, and (c) is a top perspective view showing the push insertion hole (231).

[0194] The bracket part (20) is formed in a cylindrical shape with a preset length in one direction and has an accommodation space (internal space) (24) therein.

[0195] The bracket portion (20) includes one side (21) and the other side (22). The one side (21) and the other side (22) face opposite sides in the longitudinal direction of the bracket portion (20). For example, the one side (21) and the other side (22) may be an upper side and a lower side. The longitudinal direction of the bracket portion (20) refers to a direction orthogonal to the one side (21) of the bracket portion (20).

[0196] One side (21) of the bracket portion (20) is not limited to a specific shape, but may be formed as a flat surface as shown in the drawing.

[0197] One side (21) of the bracket part (20) can support the push member (11) of the electromagnet module (10).

[0198] A bracket lower hole (221) is formed on the other side (22) of the bracket portion (20).

[0199] The bracket lower hole (221) is a hole that penetrates the other side (22) of the bracket part (20) and communicates with the internal space (24) of the bracket part (20).

[0200] Alternatively, the other side (22) of the bracket portion (20) may be formed entirely as a hole (bracket lower hole (221)) without any portion forming a surface. That is, the other side (22) of the bracket portion (20) may be entirely open.

[0201] The bracket part (20) includes a fastening part (222).

[0202] The fastening portion (222) is formed on the other side (22) of the bracket portion (20).

[0203] The fastening member (222) is positioned by inserting a fastening member (p) (e.g., a bolt or screw) that connects the bracket member (20) and the caster housing (30) described later.

[0204] The fastening portion (222) is formed on the outer surface (or outer circumference) (23). The outer surface (or outer circumference) (23) represents the outer side connecting one side (21) and the other side (22) of the bracket portion (20).

[0205] The fastening part (222) includes a fastening body (2221) and a fastening groove (2222).

[0206] The fastening body (2221) is formed by protruding radially outward from the outer surface (23) of the bracket portion (20) to the other side (22).

[0207] A plurality of fastening bodies (2221) can be formed.

[0208] A plurality of fastening bodies (2221) are arranged at a preset distance along the circumferential direction of the bracket portion (20).

[0209] One of the plurality of fastening bodies (2221) may be formed to protrude further radially outward from the outer surface (23) of the bracket portion (20) to the other side surface (22), unlike the other fastening bodies (2221). The length by which the fastening body (2221) protrudes radially from the outer surface (23) is determined according to the arrangement position of the fastening member (p).

[0210] A fastening groove (2222) is formed in the fastening body (2221).

[0211] The fastening groove (2222) is formed in the longitudinal direction of the bracket portion (20). And the fastening groove (2222) is formed by being sunken from the other side (22) of the bracket portion (20) toward one side (21) to a preset depth.

[0212] According to an embodiment, the fastening groove (2222) may be formed not only in a groove shape but also in a through hole shape penetrating the fastening body (2221).

[0213] A fastening member (p) connecting the bracket part (20) and the caster housing (30) is inserted and placed in the fastening groove (2222).

[0214] The outer surface (23) of the bracket portion (20) may be formed with one or more grooves, holes communicating with the internal space, steps, etc. According to an embodiment, the grooves, holes, steps, etc. may be formed by connecting the outer surface (23) and the upper surface (21) of the bracket portion (20).

[0215] Meanwhile, the bracket part (20) is connected to the electromagnet module (10).

[0216] A push insertion hole (231) is formed on the outer surface (or outer circumference) (23) of the bracket portion (20). The push insertion hole (231) may be formed at a position adjacent to one side (21) of the bracket portion (20).

[0217] The push member (11) of the electromagnet module (10) is inserted and placed in the push insertion hole (231).

[0218] The push insertion hole (231) penetrates the outer surface (or outer circumference) (23) of the bracket portion (20) and communicates with the inner space (24).

[0219] The shape of the push insertion hole (231) can correspond to the cross-sectional shape of the push member (11).

[0220] The bracket part (20) is connected to the caster housing (30). One side (21) or the outer side (23) of the bracket part (20) is connected to the electromagnet module (10), and the other side (22) of the bracket part (20) is connected to the caster housing (30).

[0221] Referring to Figure 12, Figure 12 (a) is a top perspective view, and Figure 12 (b) is a bottom perspective view.

[0222] The caster housing (30) is connected to the bracket portion (20), the outer member (50) described below, and / or the holder member (80).

[0223] The caster housing (30) accommodates a caster (90) described later and protects the caster (90) from colliding with an external object. The wheel (92) of the caster (90) protrudes outward from the caster housing (30) and comes into contact with the ground (floor surface).

[0224] The caster housing (30) can be formed into a cylindrical shape with a preset length in one direction. In addition, the caster housing (30) has an accommodation space (internal space) (34) therein. A portion of the caster (90) is placed in the accommodation space (34).

[0225] According to an embodiment, the caster housing (30) may be formed such that the cross-sectional diameter of the internal space (34) increases in one direction (e.g., downward). The cross-sectional diameter represents the diameter of the cross-section when the internal space (34) is cut in a direction orthogonal to the one direction.

[0226] The caster housing (30) includes one side (31) and the other side (32). The one side (31) and the other side (32) face opposite sides in the longitudinal direction of the caster housing (30). For example, the one side (31) and the other side (32) may be an upper side and a lower side. The longitudinal direction of the caster housing (30) refers to a direction orthogonal to the one side (31) of the caster housing (30).

[0227] A housing upper hole (311) and a housing fastening hole (312) are formed on one side (31) of the caster housing (30).

[0228] The housing upper hole (311) and the housing fastening hole (312) are holes that penetrate one side (31) of the caster housing (30) and communicate with the internal space (34) of the caster housing (30).

[0229] In the upper hole of the housing (311), an outer member (50), a bush member (60), a shaft member (70), and a support shaft part (93) of a caster (90) are arranged.

[0230] A plurality of housing fastening holes (312) are formed.

[0231] A fastening member (p) connecting the bracket portion (20) and the caster housing (30), and a fastening member (p) connecting the outer member (50) and / or the holder member (80) and the caster housing (30) are arranged in the housing fastening hole (312). The fastening member (p) represents, for example, a bolt or a screw.

[0232] A plurality of housing fastening holes (312) are arranged at a preset distance from the housing upper hole (311) along the radial direction of one side (31) of the caster housing (30) and at a preset distance along the circumferential direction of the housing upper hole (311).

[0233] A housing lower hole (321) is formed on the other side (32) of the caster housing (30).

[0234] The housing lower hole (321) is a hole that penetrates the other side (32) of the caster housing (30) and communicates with the internal space (34) of the caster housing (30).

[0235] Alternatively, the other side (32) of the caster housing (30) may be formed entirely as a hole (housing lower hole (321)) without any portion forming a surface. That is, the other side (32) of the caster housing (30) may be entirely open.

[0236] A part of the wheel (92) of the caster (90) is positioned to protrude outwardly by penetrating the housing lower hole (321), and the wheel (92) protruding outwardly comes into contact with the ground (floor surface).

[0237] Referring to Fig. 14, (a) of Fig. 14 is a top perspective view, (b) is a cross-sectional view, and (c) is a bottom perspective view.

[0238] The pressurizing member (40) is placed in the outer upper hole (511) of the outer member (50) described later, and can come into contact with the push member (11) of the electromagnet module (10).

[0239] The pressurizing member (40) can move in one direction or in the opposite direction (e.g., downward or upward).

[0240] When the pressure member (40) comes into contact with the push member (11), it moves toward the shaft member (70) described later, and when it is separated from the push member (11), it moves to its original position.

[0241] The pressure member (40) is formed in a rod shape with a preset length in one direction.

[0242] The pressing member (40) includes one side (41) and the other side (42). The one side (41) and the other side (42) face opposite sides in the longitudinal direction of the pressing member (40). For example, the one side (41) and the other side (42) may be an upper side and a lower side. The longitudinal direction of the pressing member (40) refers to a direction orthogonal to the one side (41) of the pressing member (40).

[0243] One side (41) of the pressure member (40) may be formed to include an inclined surface (411), or the entire side may be formed as an inclined surface (411).

[0244] The pressure member (40) is arranged so that the inclined surface (411) faces the push member (11) of the electromagnet module (10).

[0245] Since one side (41) of the pressure member (40) is formed as an inclined surface (411), when the push member (11) pushes the inclined surface (411) of the pressure member (40), the pressure member (40) can easily move toward the caster (90).

[0246] When the push member (11) of the electromagnet module (10) moves from one position toward the inclined surface (411) of the pressure member (40) and presses the inclined surface (411), the pressure member (40) moves toward the caster (90). Then, when the push member (11) of the electromagnet module (10) moves toward the one position while in contact with one side (41) of the pressure member (40) and is separated from the one side (41), the pressure member (40) moves to the opposite side of the caster (90) and returns to its original position.

[0247] The other side (42) of the pressure member (40) includes an extension (not designated). That is, the extension is formed on the other side (42).

[0248] In detail, the other side (42) of the pressure member (40) includes an extension formed by extending radially outward from the outer side (or outer circumference) (43) of the pressure member (40) to a preset length. The outer side (or outer circumference) (43) represents an external side connecting one side (41) and the other side (42) of the pressure member (40).

[0249] Due to the extension, the other side (42) of the pressure member (40) includes a ring shape formed along the circumferential direction.

[0250] Due to the extension, the diameter of the other side (42) of the pressure member (40) is formed to be larger than the diameter of one side (41) of the pressure member (40).

[0251] In addition, due to the extension, the outer surface (or outer circumference) (43) of the pressing member (40) is formed in a stepped manner. That is, a stepped surface (431) is formed on the outer surface (or outer circumference) (43) of the pressing member (40). The stepped surface (431) refers to a surface formed in a direction orthogonal to the outer surface (or outer circumference) (43).

[0252] The step surface (431) of the pressure member (40) prevents the pressure member (40) from penetrating the outer upper hole (511) of the outer member (50) and coming out of the outer member (50).

[0253] That is, since the step surface (431) of the pressure member (40) comes into contact with the inner surface (51) of one side surface (51) of the outer member (50) surrounding the outer upper hole (511), the pressure member (40) cannot penetrate the outer upper hole (511) and escape to the outside of the outer member (50).

[0254] A lower groove (421) is formed on the other side (42) of the pressure member (40).

[0255] The lower groove (421) is formed by recessing from the other side (42) of the pressure member (40) toward one side (41) to a preset depth.

[0256] A fixed spring (63) described later is placed in the lower groove (421).

[0257] Referring to Figure 15, Figure 15 (a) is a top perspective view, Figure 15 (b) is a cross-sectional view, and Figure 15 (c) is a bottom perspective view.

[0258] The support member (40a) is placed in the through hole (611) of the outer spring (61) described later, and supports the fixed spring (63) described later.

[0259] The support member (40a) is placed below the pressure member (40). Then, a fixing spring (63) is placed between the pressure member (40) and the support member (40a).

[0260] The support member (40a) can be formed in a plate shape (e.g., a circular plate shape) with a preset thickness.

[0261] The support member (40a) includes one side (40a1) and the other side (40a2). The one side (40a1) and the other side (40a2) face opposite sides in the longitudinal direction of the support member (40a). For example, the one side (40a1) and the other side (40a2) may be an upper side and a lower side.

[0262] The longitudinal direction of the support member (40a) represents the thickness direction and represents a direction orthogonal to one side (40a1) of the support member (40a).

[0263] And, the outer surface (or outer circumference) (40a3) of the support member (40a) represents the outer side connecting one side (40a1) and the other side (40a2) of the support member (40a), and represents a surface that forms the thickness of the support member (40a).

[0264] A support protrusion (40a11) is formed on one side (40a1) of the support member (40a).

[0265] The support protrusion (40a11) is formed by protruding from one side (40a1) of the support member (40a) toward the pressure member (40) (e.g., upward) with a preset length.

[0266] A fixed spring (63) is arranged on one side (40a1) of the support member (40a). That is, the fixed spring (63) is supported by the support member (40a).

[0267] In addition, the support protrusion (40a11) is inserted and placed into the through hole (631) of the fixed spring (63) (see Fig. 13). As a result, the fixed spring (63) does not come off from one side (40a1) of the support member (40a).

[0268] A support groove (40a21) is formed on the other side (40a2) of the support member (40a).

[0269] The support groove (40a21) is formed by recessing from the other side (40a2) of the support member (40a) toward one side (40a1) to a preset depth.

[0270] One side of the inner spring (62) described later is placed in the support groove (40a21).

[0271] The support member (40a) supports and fixes a fixed spring (63) arranged on one side (40a1) and accommodates one side of an inner spring (62) arranged below the other side (40a2).

[0272] The support member (40a) can move in one direction or in the opposite direction (e.g., downward or upward).

[0273] Fig. 9 shows the state before the pressure member (40) and the support member (40a) move downward, and Fig. 10 shows the state after the pressure member (40) and the support member (40a) move downward.

[0274] When the push member (11) of the electromagnet module (10) presses the inclined surface (411) of the pressure member (40), the pressure member (40) moves toward the caster (90). The pressure member (40) continues to move, comes into contact with the support member (40a), and presses the support member (40a).

[0275] At this time, the other side (42) of the pressure member (40) comes into contact with one side (40a1) of the support member (40a), and the support protrusion (40a11) of the support member (40a) is inserted into the lower groove (421) of the pressure member (40). Then, the fixed spring (63) arranged in the lower groove (421) of the pressure member (40) is contracted (elastically deformed) in the longitudinal direction by the pressure.

[0276] And, the support member (40a) pressurizes one side of the inner spring (62) arranged in the support groove (40a21) while moving toward the caster (90) by the pressurization. The inner spring (62) contracts (elastically deforms) in the longitudinal direction by the pressurization.

[0277] Conversely, when the push member (11) of the electromagnet module (10) is separated from one side (41) or the inclined surface (411) of the pressure member (40), the support member (40a) returns to its original position by the restoring force of the inner spring (62), and the pressure member (40) returns to its original position by the restoring force of the inner spring (62) and the restoring force of the fixed spring (63).

[0278] Referring to Figure 16, Figure 16 (a) is a top perspective view, and Figure 16 (b) is a bottom perspective view.

[0279] The outer member (50) is placed in the inner space (24) of the bracket part (20).

[0280] The outer member (50) is coupled with the caster housing (30). Specifically, the other side of the outer member (50) is coupled with the caster housing (30).

[0281] The outer member (50) accommodates a pressure member (40), a support member (40a), a bush member (60), an outer spring (61), an inner spring (62), a fixed spring (63), and a shaft member (70).

[0282] The outer member (50) is formed in a cylindrical shape with a preset length in one direction and has an accommodation space (internal space) (54) inside.

[0283] The outer member (50) includes one side (51) and the other side (52). The one side (51) and the other side (52) face opposite sides in the longitudinal direction of the outer member (50). For example, the one side (51) and the other side (52) may be an upper side and a lower side. The longitudinal direction of the outer member (50) refers to a direction orthogonal to the one side (51) of the outer member (50).

[0284] When the outer member (50) is placed in the internal space (24) of the bracket member (20), one side (51) of the outer member (50) and one side (21) of the bracket member (20) are spaced apart by a preset distance. That is, a space is formed between one side (51) of the outer member (50) and one side (21) of the bracket member (20). The push member (11) of the electromagnet module (10) is placed in the space.

[0285] An outer upper hole (511) is formed on one side (51) of the outer member (50).

[0286] The outer upper hole (511) is a hole that penetrates one side (51) of the outer member (50) and communicates with the internal space (54) of the outer member (50).

[0287] A pressure member (40) is placed in the outer upper hole (511). The pressure member (40) is capable of moving while placed in the outer upper hole (511).

[0288] When the pressure member (40) is placed in the outer upper hole (511), one side (41) (specifically, the inclined surface (411)) of the pressure member (40) protrudes from one side (51) of the outer member (50) and is placed on the outside of the outer member (50), and the other side (42) (specifically, the extension) of the pressure member (40) comes into contact with the inner surface of one side (51) of the outer member (50).

[0289] In this state, when the push member (11) of the electromagnet module (10) presses the inclined surface (411) of the pressure member (40), the pressure member (40) moves to the inner space (54) of the outer member (50). Then, when the push member (11) of the electromagnet module (10) is separated from one side (41) of the pressure member (40), the pressure member (40) returns to its original position.

[0290] A groove or protrusion that surrounds the outer upper hole (511) may be formed on one side (51) of the outer member (50). The groove or protrusion is included in one side (51) of the outer member (50).

[0291] An outer lower hole (521) is formed on the other side (52) of the outer member (50).

[0292] The outer lower hole (521) is a hole that penetrates the other side (52) of the outer member (50) and communicates with the internal space (54) of the outer member (50).

[0293] Alternatively, the other side (52) of the outer member (50) may be formed entirely as a hole (outer lower hole (521)) without any portion forming a surface. That is, the other side (52) of the outer member (50) may be entirely open.

[0294] The outer member (50) includes an outer fastening member (522).

[0295] The outer fastening portion (522) is formed on the other side (52) of the outer member (50).

[0296] The outer fastening member (522) is arranged by inserting a fastening member (p) that connects the outer member (50) and the caster housing (30), and a fastening member (p) that connects the outer member (50) and the holder member (80). The fastening member (p) represents, for example, a bolt or a screw.

[0297] The outer fastening portion (522) is formed on the outer surface (or outer circumference) (53). The outer surface (or outer circumference) (53) represents the outer side connecting one side (51) and the other side (52) of the outer member (50).

[0298] The outer fastening portion (522) is formed on the edge of the other side (52) of the outer member (50) and is formed in a ring shape along the circumferential direction.

[0299] The outer fastening part (522) includes an outer fastening body (5221) and an outer fastening hole (5222).

[0300] The outer fastening body (5221) is formed by protruding radially outward from the outer surface (53) of the outer member (50) to the other side (52).

[0301] Although not shown, according to the embodiment, the outer surface of the outer fastening body (5221) may be formed with one or more grooves (referred to as 'outer grooves').

[0302] Specifically, the outer groove is formed by recessing from the outer surface of the outer fastening body (5221) toward the outer lower hole (521) (i.e., radially inward) to a preset depth. One or more outer grooves may be formed.

[0303] In the outer home, a fastening member that connects the bracket portion (20) and the caster housing (30) can be placed. Accordingly, the outer fastening body (5221) does not interfere with the fastening member. The fastening member may be a bolt or a screw.

[0304] A plurality of outer fastening holes (5222) are formed in the outer fastening body (5221).

[0305] The outer fastening hole (5222) is a hole that penetrates the outer fastening body (5221) and is formed in the longitudinal direction of the outer member (50).

[0306] A fastening member (p) connecting the outer member (50) and the caster housing (30) and a fastening member (p) connecting the outer member (50) and the holder member (80) are inserted and placed in the outer fastening hole (5222).

[0307] As shown in the drawing, when the outer member (50) and the caster housing (30) are combined, one side (51) and the outer side (53) of the outer member (50) are placed on the outside of the caster housing (30), and the outer fastening portion (522) of the outer member (50) is placed in the internal space (34) of the caster housing (30).

[0308] This arrangement structure is achieved by having one side (51) and an outer side (53) of the outer member (50) pass through the upper housing hole (311) of the caster housing (30) and come out of the caster housing (30), and the outer fastening portion (522) of the outer member (50) does not pass through the upper housing hole (311) and remains in the internal space (34) of the caster housing (30).

[0309] In this state, the fastening member (p) is inserted and placed into the outer fastening hole (5222) formed in the outer fastening body (5221) and the housing fastening hole (312) formed on one side (31) of the caster housing (30).

[0310] Although not shown, according to another embodiment, the entire outer member (50) may be disposed outside the caster housing (30). That is, the outer fastening portion (522) of the outer member (50) may be disposed on one side (31) of the caster housing (30). At this time, the outer lower hole (521) of the outer member (50) communicates with the housing upper hole (311) of the caster housing (30). In this state, the fastening member (p) may be disposed by being inserted into the housing fastening hole (312) formed on one side (31) of the caster housing (30) and the outer fastening hole (5222) formed in the outer fastening body (5221).

[0311] Referring to Figure 17, Figure 71 (a) is a top perspective view, and Figure 71 (b) is a cross-sectional view.

[0312] The bush member (60) is placed in the inner space of the outer member (50).

[0313] The bush member (60) facilitates the movement of the shaft member (70) described later.

[0314] The bush member (60) is formed into a cylindrical shape with a preset length in one direction. In addition, the bush member (60) has a through hole extending through the middle in the longitudinal direction (in one direction). The longitudinal direction of the bush member (60) refers to a direction orthogonal to the width of the bush member (60).

[0315] The through hole of the bush member (60) can be divided into a bush upper hole (601), a bush lower hole (602), and a receiving space (internal space) (603).

[0316] In detail, the bush upper hole (601) is formed on one side of the bush member (60) and is a hole penetrating the one side. The bush lower hole (602) is formed on the other side of the bush member (60) and is a hole penetrating the other side. The internal space (603) is connected to the bush upper hole (601) and the bush lower hole (602).

[0317] In the internal space (603) of the bush member (60), a pressure member (40), a support member (40a), an outer spring (61), an inner spring (62), a fixed spring (63), and a shaft member (70) are arranged (or accommodated).

[0318] Referring to FIGS. 4, 9, 10 and 13, the outer spring (61) is placed in the inner space (603) of the bush member (60).

[0319] The outer spring (61) is an elastic body that is elastically deformed by an external force and has a restoring force when its shape is deformed.

[0320] The outer spring (61) is a type of coil spring.

[0321] The outer spring (61) alleviates the shock received by the caster (90) as it moves. As a result, the shock and shaking received by structures (e.g., components constituting a robot) placed on the caster (90) and objects (e.g., food) placed on the structures are alleviated.

[0322] The outer spring (61) includes one side and the other side in the longitudinal direction. The one side and the other side face opposite sides.

[0323] The outer spring (61) has a through hole (611) penetrating the center of one side and the other side.

[0324] A part of the pressure member (40), a support member (40a), an inner spring (62) and a fixed spring (63) are placed in the through hole (611) of the outer spring (61).

[0325] In detail, when the pressure member (40) moves toward the caster (90), a part of the pressure member (40) (specifically, the other side (42)) moves toward the caster (90) through the through hole (611) of the outer spring (61).

[0326] One side of the outer spring (61) is supported by the outer member (50). Specifically, one side of the outer spring (61) is in contact with the inner surface of one side (upper surface) (51) of the outer member (50).

[0327] The other side of the outer spring (61) is supported by the shaft member (70). Specifically, the other side of the outer spring (61) is inserted into one side groove (711) of the shaft member (70) and comes into contact with the bottom surface of the one side groove (711).

[0328] Depending on the embodiment, one side of the outer spring (61) may or may not be fixed to the outer member (50). And, the other side of the outer spring (61) may or may not be fixed to the shaft member (70).

[0329] If one side and / or the other side of the outer spring (61) is fixed, the caster assembly (1) of the present invention includes a component that fixes one side and / or the other side of the outer spring (61).

[0330] Referring to FIGS. 4, 9, 10 and 13, the inner spring (62) is disposed inside the outer spring (61). Specifically, the inner spring (62) is disposed in the through hole (611) of the outer spring (61).

[0331] Since the width of the inner spring (62) is smaller than the width of the outer spring (61), the inner spring (62) can be placed in the through hole (611) of the outer spring (61).

[0332] The inner spring (62) is an elastic body that is elastically deformed by an external force and has a restoring force when its shape is deformed.

[0333] The inner spring (62) is a type of coil spring.

[0334] The inner spring (62) alleviates the shock received by the caster (90) as it moves. As a result, the shock and shaking received by the structure (e.g., components constituting the robot) placed on the caster (90) and the object (e.g., food) placed on the structure are alleviated.

[0335] The inner spring (62) includes one side and the other side in the longitudinal direction and has a through hole (621) penetrating the center of the one side and the other side. The one side and the other side face opposite sides.

[0336] The inner spring (62) is placed between the support member (40a) and the shaft member (70).

[0337] One side of the inner spring (62) may be supported by the support member (40a). Specifically, one side of the inner spring (62) may be in contact with the bottom surface of the support groove (40a21) of the support member (40a). The bottom surface of the support groove (40a21) refers to the upper surface of the support groove (40a21) illustrated in (b) of Fig. 15, which corresponds to the bottom surface of the support groove (40a21).

[0338] And, the other side of the inner spring (62) is supported by a shaft member (70).

[0339] Although not shown, according to an embodiment, one side of the inner spring (62) may be fixed to a support groove (40a21) of a support member (40a) by a fixing member, and / or the other side of the inner spring (62) may be fixed to one side groove (711) of a shaft member (70) by a fixing member. The fixing member refers to a member that fixes one side and / or the other side of the inner spring (62), and may be composed of one or more components.

[0340] When the push member (11) of the electromagnet module (10) presses the inclined surface (411) of the pressure member (40), the pressure member (40) moves toward the support member (40a) and presses the support member (40a).

[0341] By the pressure of the pressure member (40), the support member (40a) moves toward the inner spring (62) and pressurizes the inner spring (62).

[0342] By the pressure of the support member (40a), the inner spring (62) is compressed in the longitudinal direction and contracts (elastic deformation), and the value of the spring constant of the inner spring (62) increases.

[0343] In the above-described state, when the push member (11) of the electromagnet module (10) is separated from one side (41) or the inclined surface (411) of the pressure member (40), the length of the inner spring (62) is restored to its original length, and the value of the spring constant of the inner spring (62) gradually decreases to its original value.

[0344] In the present invention, the value of the spring constant of the inner spring (62) is higher than the value of the spring constant of the outer spring (61).

[0345] Referring to FIGS. 4, 9, 10 and 13, the fixed spring (63) is disposed inside the outer spring (61). Specifically, the fixed spring (63) is disposed in the through hole (611) of the outer spring (61).

[0346] Since the width of the fixed spring (63) is smaller than the width of the outer spring (61), the fixed spring (63) can be placed in the through hole (611) of the outer spring (61).

[0347] The fixed spring (63) is an elastic body that is elastically deformed by an external force and has a restoring force when its shape is deformed.

[0348] The fixed spring (63) is a type of coil spring.

[0349] The fixed spring (63) only supports the pressure member (40).

[0350] In other words, the fixed spring (63) only serves to restore the position of the pressure member (40) to its original position regardless of the movement or displacement of the caster (90).

[0351] That is, the fixed spring (63) serves to maintain the position of the pressure member (40) constant.

[0352] The spring constant value of the fixed spring (63) is very low compared to the outer spring (61) and the inner spring (62), so it cannot alleviate the shock received while the caster (90) moves.

[0353] The fixed spring (63) includes one side and the other side in the longitudinal direction. The one side and the other side face opposite sides.

[0354] The fixed spring (63) has a through hole (631) penetrating the center of one side and the other side.

[0355] A fixed spring (63) is placed between the pressure member (40) and the support member (40a).

[0356] One side of the fixed spring (63) is supported by a pressure member (40).

[0357] Specifically, one side of the fixed spring (63) comes into contact with the bottom surface of the lower groove (421) of the pressure member (40). The bottom surface of the lower groove (421) refers to the upper surface of the lower groove (421) shown in (b) of Fig. 14, which corresponds to the bottom surface of the lower groove (421).

[0358] The other side of the fixed spring (63) is supported by a support member (40a).

[0359] Specifically, the other side of the fixed spring (63) comes into contact with one side (40a1) of the support member (40a). In addition, a support protrusion (40a11) of the support member (40a) is inserted and placed into a through hole (631) of the other side of the fixed spring (63) (see Fig. 13).

[0360] According to an embodiment, one side and / or the other side of the fixed spring (63) may be fixed by a fixing member. The fixing member refers to a member that fixes one side and / or the other side of the fixed spring (63) and may be composed of one or more components.

[0361] Referring to Figure 18, (a) of Figure 18 is a top perspective view, (b) is a bottom perspective view, and (c) is a cross-sectional view.

[0362] The shaft member (70) can reciprocate a preset distance in one direction or in the opposite direction (e.g., upward or downward).

[0363] The shaft member (70) can move while being placed in the internal space (603) of the bush member (60).

[0364] The bush member (60) can guide the movement of the shaft member (70) and limit the movement of the shaft member (70) in a direction orthogonal to one direction (e.g., left-right direction).

[0365] The outer surface (or outer circumference) (74) of the shaft member (70) can slide while in contact with the inner surface (or inner circumference) of the bush member (60).

[0366] The shaft member (70) is formed in a rod shape having a preset length. The length of the shaft member (70) is formed to be shorter than the length of the bush member (60). Therefore, the shaft member (70) can move while being placed in the internal space (603) of the bush member (60).

[0367] The shaft member (70) includes one side (71) and the other side (72). The one side (71) and the other side (72) face opposite sides in the longitudinal direction of the shaft member (70). For example, the one side (71) and the other side (72) may be an upper side and a lower side. The longitudinal direction of the shaft member (70) refers to a direction orthogonal to the one side (71) of the shaft member (70).

[0368] A one-sided groove (711) is formed on one side (71) of the shaft member (70).

[0369] A one-sided groove (711) is formed by recessing from one side (71) of the shaft member (70) toward the other side (72) to a preset depth.

[0370] In one side groove (711), a part of the outer spring (61) (specifically, the other side), an inner spring (62) and a support member (40a) are arranged.

[0371] According to the embodiment, one side of the inner spring (62) and the support member (40a) can enter or exit the one-side groove (711) as the support member (40a) moves.

[0372] A groove (721) is formed on the other side (72) of the shaft member (70).

[0373] The other side groove (721) is formed by being sunk to a preset depth from the other side (72) of the shaft member (70) toward one side (71).

[0374] A screw groove (7211) may be formed on the inner surface (or inner circumference) of the other side groove (721).

[0375] The support shaft (93) of the caster (90) is placed in the other side home (721).

[0376] The shaft member (70) includes an internal bulkhead (73).

[0377] The inner partition (73) is a partition formed between one side groove (711) and the other side groove (721) and has a preset thickness. The inner partition (73) separates the one side groove (711) and the other side groove (721).

[0378] Meanwhile, in an embodiment where the other side of the inner spring (62) is fixed to one side groove (711) of the shaft member (70) by a fixing member (not shown), the shaft member (70) includes a fastening insert (731).

[0379] The fastening insert (731) is formed in the inner bulkhead (73).

[0380] The fastening insertion portion (731) may be formed in a groove shape or a hole shape. The groove shape indicates a recess from the bottom surface of one groove (711) toward the other groove (721) at a preset depth, and the hole shape indicates a passage connecting one groove (711) and the other groove (721).

[0381] A fixing member is inserted and fixed into the fastening insertion portion (731). The fixing member may be composed of one or more components.

[0382] Meanwhile, a protrusion (711a) may be formed on the bottom surface of one side groove (711).

[0383] The protrusion (711a) is formed by protruding from the bottom surface of one side groove (711) toward one side surface (71) at a preset height.

[0384] The protrusion (711a) is inserted into the through hole (621) on the other side of the inner spring (62). By inserting the protrusion (711a) into the through hole (621) of the inner spring (62), the movement (movement) of the inner spring (62) itself can be restricted.

[0385] The protrusion (711a) is formed at a certain portion of the bottom surface of the one-sided groove (711) that surrounds the fastening insertion portion (731). As a result, the protrusion (711a) can be inserted into the through hole (621) of the inner spring (62).

[0386] Additionally, the shaft member (70) may be formed to have a different cross-sectional diameter in the longitudinal direction. The cross-sectional diameter refers to the diameter of the cross-section when the shaft member (70) is cut in a direction orthogonal to the longitudinal direction.

[0387] The boundary of the parts of the shaft member (70) with different cross-sectional diameters forms a step surface (741).

[0388] That is, the outer surface (or outer circumference) (74) of the shaft member (70) has a step surface (741). The outer surface (or outer circumference) (74) represents an external side connecting one side (71) and the other side (72) of the shaft member (70), and the step surface (741) represents a surface formed in a direction orthogonal to the outer surface (or outer circumference) (74).

[0389] With the step surface (741) as the boundary, the cross-sectional diameter of one side (71) of the shaft member (70) is formed to be wider than the cross-sectional diameter of the other side (72).

[0390] In addition, the cross-sectional diameter of one side (71) of the shaft member (70) and the cross-sectional diameter of the other side (72) are formed to be wider than the diameter of the holder hole (81) of the holder member (80) described later. Due to this, the shaft member (70) is restricted from penetrating through the holder hole (81) and coming out to the outside. In addition, the shaft member (70) can move stably without shaking in the internal space (603) of the bush member (60).

[0391] Alternatively, according to an embodiment, the cross-sectional diameter of one side (71) of the shaft member (70) may be formed wider than the diameter of the holder hole (81) of the holder member (80), and the cross-sectional diameter of the other side (72) of the shaft member (70) may be formed narrower than the diameter of the holder hole (81). As a result, the distance by which the shaft member (70) moves in the vertical direction may be increased.

[0392] Due to the step surface (741) formed on the outer surface (74), the shaft member (70) does not deviate toward the ground where the wheel (92) comes into contact even when moving in the up-and-down direction.

[0393] The step surface (741) of the shaft member (70) is restricted from moving toward the ground by the body of the holder member (80) surrounding the holder hole (81) of the holder member (80). That is, the step surface (741) of the shaft member (70) cannot move outward by penetrating the holder hole (81).

[0394] Fig. 19 shows a holder member (80). The holder member (80) supports and fixes the components accommodated in the internal space (24) of the bracket portion (20) so that the components do not escape to the outside.

[0395] When the outer member (50), bush member (60), pressure member (40), support member (40a), outer spring (61), inner spring (62), fixed spring (63) and shaft member (70) are accommodated in the internal space (24) of the bracket part (20), the bracket part (20) (specifically, the fastening groove (2222)) and the caster housing (30) (specifically, the housing fastening hole (312)) are joined by the fastening member (p).

[0396] The holder member (80) is placed inside the caster housing (30) and supports the components accommodated in the internal space (24) of the bracket portion (20).

[0397] Above all, the holder member (80) limits the shaft member (70) from moving toward the ground.

[0398] The holder member (80) is formed in a plate shape. In addition, when viewed from above, the holder member (80) is formed in a circular ring shape with a through hole in the middle (referred to as a 'holder hole (81)').

[0399] That is, the outer and inner surfaces of the holder member (80) can be formed in a circular shape. The outer surface of the holder member (80) represents the outer surface located at the outermost edge, and the inner surface of the holder member (80) represents the inner surface surrounding the holder hole (81).

[0400] The space between the outer and inner surfaces of the holder member (80) is formed into a plate shape of a preset size.

[0401] When the holder member (80) is placed inside the caster housing (30), the holder hole (81) is placed below the housing upper hole (311) of the caster housing (30).

[0402] When the outer member (50) and the caster housing (30) are combined and the outer fastening portion (522) of the outer member (50) is placed in the internal space (34) of the caster housing (30), the holder member (80) is placed below the outer fastening portion (522). At this time, from top to bottom, the upper housing hole (311), the outer lower hole (521), and the holder hole (81) of the caster housing (30) are placed.

[0403] Although not shown, depending on the embodiment, the outer surface of the holder member (80) may be formed with one or more grooves (referred to as 'outer grooves').

[0404] Specifically, the outer peripheral groove is formed by recessing from the outer peripheral surface of the holder member (80) toward the inner peripheral surface (i.e., radially inward) to a preset depth. One or more outer peripheral grooves may be formed.

[0405] A fastening member that connects the bracket portion (20) and the caster housing (30) can be placed in the outer groove. Accordingly, the holder member (80) does not interfere with the fastening member. The fastening member may be a bolt or a screw.

[0406] A plurality of holder fastening holes (82) are formed between the outer and inner surfaces of the holder member (80).

[0407] A plurality of holder fastening holes (82) are arranged at a preset distance in the circumferential direction of the holder member (80).

[0408] A fastening member (p) (e.g., a bolt or screw) is placed in the holder fastening hole (82).

[0409] The holder fastening hole (82) of the holder member (80), the outer fastening hole (5222) of the outer member (50), the housing fastening hole (312) of the caster housing (30) and / or the fastening groove (2222) of the bracket portion (20) may be in communication with each other.

[0410] The fastening member (p) can be inserted and fixed into the holder fastening hole (82), the outer fastening hole (5222) of the outer member (50), and the housing fastening hole (312) of the caster housing (30).

[0411] Alternatively, another fastening member (p) may be inserted and fixed into the holder fastening hole (82), the outer fastening hole (5222) of the outer member (50), the housing fastening hole (312) of the caster housing (30), and the fastening groove (2222) of the bracket portion (20).

[0412] Referring to FIGS. 1 to 5, the caster (90) supports and moves the robot (2) equipped with the caster (90).

[0413] The caster (90) includes a support body (91), a wheel (92), and a support shaft (93).

[0414] The support body (91) constitutes the body of the caster (90). The support body (91) is not limited to a specific shape.

[0415] A wheel (92) is rotatably connected to one or both sides of the support body (91). The method of connecting the support body (91) and the wheel (92) is according to a known technology.

[0416] The wheel (92) rotates. As the wheel (92) rotates, the robot (2) equipped with the caster (90) can move.

[0417] A support shaft portion (93) is attached to one surface (e.g., the upper surface) of the support body (91).

[0418] The support shaft portion (93) is formed in a rod shape of a preset length. For example, the support shaft portion (93) may be formed in a circular column shape of a preset length.

[0419] The support shaft portion (93) includes one side and the other side. The one side and the other side face opposite sides in the longitudinal direction of the support shaft portion (93).

[0420] One side of the support shaft (93) is connected to the shaft member (70).

[0421] Specifically, one side of the support shaft (93) passes through the holder hole (81) of the holder member (80) and is then inserted into the groove (721) of the other side of the shaft member (70) and fixed.

[0422] A screw thread (931) may be formed on the outer surface (or outer circumference) of one side of the support shaft portion (93). The screw thread (931) may be combined with a screw groove (7211) formed in the groove (721) on the other side of the shaft member (70).

[0423] The other side of the support shaft (93) is connected to one surface (e.g., the upper surface) of the support body (91).

[0424] According to an embodiment, the support shaft portion (93) can rotate while connected to the support body (91). That is, the support shaft portion (93) and the support body (91) can rotate relative to each other. The rotation is performed in a direction orthogonal to the longitudinal direction of the support shaft portion (93) (e.g., left-right direction).

[0425] A washer member (94) can be placed on the support shaft (93) (see FIGS. 4, 5, 9, 10, and 20).

[0426] The washer member (94) serves to fix the support shaft member (93) so that the support shaft member (93) does not come loose (fall out) from the other side groove (721) of the shaft member (70).

[0427] The washer member (94) is formed in a ring shape with a hole in the center, and the support shaft part (93) is fitted into the hole.

[0428] The washer member (94) represents a commonly used washer.

[0429] Additionally, the caster assembly (1) of the present invention may include an O-ring member (95) (see FIGS. 4, 5, 9 and 10).

[0430] An O-ring member (95) is placed between the shaft member (70) and the holder member (80).

[0431] Specifically, the O-ring member (95) may be placed on the other side (72) of the shaft member (70), or may be placed on the stepped surface (741) of the shaft member (70).

[0432] The O-ring member (95) can prevent impact and noise that may occur when the shaft member (70) and the holder member (80) collide, and can prevent foreign substances from entering the internal space (54) of the outer member (50) through the holder hole (81) of the holder member (80).

[0433] The O-ring member (95) is formed in a ring shape with a hole in the center, and the support shaft part (93) is fitted into the hole.

[0434] The O-ring member (95) represents a commonly used O-ring.

[0435] Meanwhile, when the wheel (92) rotates while in contact with the ground (floor surface), the caster (90) may receive pressure (impact force) from the ground depending on the condition of the ground. The condition of the ground refers to the shape of the ground (e.g., curves, slopes, steps) and liquids or other obstacles on the ground.

[0436] At this time, the caster (90) and the shaft member (70) connected to the caster (90) can move up or down by the outer spring (61) and the inner spring (62) supported by the shaft member (70).

[0437] The caster assembly (1) of the present invention described above can be equipped on a robot (2).

[0438] A robot (2) having a caster assembly (1) of the present invention represents a robot used for various purposes.

[0439] For example, a robot (2) having a caster assembly (1) of the present invention may be a robot that transports people or objects, or a robot that transports food.

[0440] For example, as shown in Fig. 1, when a robot (2) having a caster assembly (1) of the present invention transports food, the caster assembly (1) of the present invention can change the value of the spring constant applied to the caster (90) by using an outer spring (61) and an inner spring (62).

[0441] Specifically, the value of the spring constant of the inner spring (62) provided in the caster assembly (1) can be changed depending on the condition of the ground.

[0442] When the robot (2) is carrying food, and the robot (2) passes over a curved, inclined, or stepped area, the shaft member (70) of the present invention may support only the outer spring (61) to prevent the food in the bowl from overflowing. At this time, the spring constant value of the outer spring (61) may be low. In addition, the moving speed of the robot (2) may not be fast.

[0443] When the robot (2) moves at a high speed, the robot (2) shakes back and forth when the robot (2) accelerates or decelerates due to the low spring constant value, and when the robot (2) suddenly stops, the objects or food in the tray spill forward due to the shaking of the robot (2).

[0444] And, when the robot (2) moves in a state where there is no food in the robot (2), the shaft member (70) of the present invention can support the outer spring (61) and the inner spring (62). At this time, the inner spring (62) contracts in the longitudinal direction, so that the value of the spring constant of the inner spring (62) increases. Accordingly, the robot (2) can move without shaking.

[0445] In detail, in the case where the robot (2) having the caster assembly (1) of the present invention is a robot transporting food, when the robot (2) passes over a curved, inclined, or stepped area while food is present in the robot (2), only the outer spring (61) of the caster assembly (1) of the present invention operates. The robot (2) of the present invention can prevent food from overflowing out of the tray by lowering the spring constant value of the caster assembly (1). In addition, the robot (2) can lower the moving speed.

[0446] Alternatively, when the robot (2) passes over a flat surface while there is food in the robot (2), the caster assembly (1) of the present invention operates with the outer spring (61) and the inner spring (62) together. The robot (2) of the present invention can move at a high speed while preventing food from overflowing out of the tray by increasing the spring constant value of the caster assembly (1).

[0447] Alternatively, when the robot (2) moves in a state where there is no food in the robot (2), the caster assembly (1) of the present invention operates with the outer spring (61) and the inner spring (62) together. The robot (2) of the present invention can move at a high speed while preventing the robot (2) from falling over due to shaking by increasing the spring constant value of the caster assembly (1).

[0448] As described above, when the caster assembly (1) of the present invention operates with the outer spring (61) and the inner spring (62) together (when the spring constant value is high), the pushing member (11) of the electromagnet module (10) presses the inclined surface (411) of the pressing member (40), causing the pressing member (40) to move toward the supporting member (40a) and pressurize the supporting member (40a).

[0449] By the pressure of the pressure member (40), the support member (40a) moves toward the inner spring (62) and pressurizes the inner spring (62). Accordingly, the inner spring (62) is compressed and contracted in the longitudinal direction, and the value of the spring constant of the inner spring (62) increases.

[0450] And, in the case where the caster assembly (1) of the present invention operates only the outer spring (61) (when the value of the spring constant is low), the push member (11) of the electromagnet module (10) is spaced apart from one side (41) or the inclined surface (411) of the pressure member (40).

[0451] When the push member (11) of the electromagnet module (10) is separated from the pressure member (40), the pressure applied to the inner spring (62) is removed, the length of the inner spring (62) is restored to its original length, and the value of the spring constant of the inner spring (62) gradually decreases to its original value.

[0452] As described above, the caster assembly (1) of the present invention can perform a variable suspension function that can change the value of the spring constant.

[0453] Accordingly, for example, a food delivery robot (2) to which the caster assembly (1) of the present invention is applied can prevent food from overflowing and deliver quickly.

Claims

1. Electromagnetic module; A pressurized member moved by the above electromagnet module; An outer member in which the above-mentioned pressure member is movably arranged; A movable shaft member arranged in the inner space of the outer member; An outer spring disposed between the outer member and the shaft member and supported by the shaft member; A support member disposed between the pressure member and the shaft member and disposed in the through hole of the outer spring; An inner spring disposed between the support member and the shaft member, supported by the shaft member, and disposed in the through hole of the outer spring; and Including a caster connected to the above shaft member, When the pressing member moves toward the supporting member and presses the supporting member, the supporting member moves toward the inner spring and presses the inner spring, A caster assembly in which, when the above electromagnet module is not working, the inner spring is restored to its original length by a restoring force.

2. In paragraph 1, The above pressing member includes an inclined surface formed on one side, The above electromagnet module includes an electromagnet and a push member that moves by the operation of the electromagnet, A caster assembly, wherein when the pushing member moves to pressurize the inclined surface of the pressing member, the pressing member moves toward the supporting member and presses the supporting member.

3. In paragraph 2, A caster assembly in which, when the electromagnet does not operate, the push member is separated from the inclined surface of the pressure member, and the support member returns to its original position by the restoring force of the inner spring.

4. In paragraph 2, A fixed spring is disposed between the pressure member and the support member, supported by the support member, and disposed in the through hole of the outer spring, A caster assembly, wherein when the electromagnet does not operate, the push member is separated from the inclined surface of the pressure member, and the pressure member returns to its original position by the restoring force of the inner spring and the restoring force of the fixed spring.

5. In paragraph 4, The above pressing member includes a lower groove formed on the other side, The above support member includes a support protrusion formed on one side, A caster assembly, wherein one side of the fixed spring is inserted into the lower groove of the pressure member, the other side of the fixed spring is in contact with the one side of the support member, and the support protrusion of the support member is inserted into the through hole of the fixed spring.

6. In paragraph 2, The above pressing member includes a stepped surface formed on the outer surface, The above outer member includes an outer upper hole in which the pressure member is movably arranged, A caster assembly, wherein when the electromagnet does not operate, the inclined surface of the pressing member protrudes outside the outer upper hole, and the stepped surface of the pressing member contacts the inner surface of one side of the outer member surrounding the outer upper hole.

7. In paragraph 2, The above electromagnet module includes a moving member connected to the pushing member, A caster assembly in which the above moving member moves toward the pressure member when the above electromagnet is operated.

8. In paragraph 7, The above electromagnet module includes a pin member and a return member, The above pin member guides the movement of the above moving member, A caster assembly wherein the return member is disposed on the pin member and moves the moving member to its original position when the electromagnet does not operate.

9. In paragraph 1, The above shaft member includes a one-sided groove formed on one side and a second-sided groove formed on the other side, In the above one-sided groove, a part of the outer spring, the inner spring and the support member are arranged, A caster assembly in which the support shaft of the caster is placed in the groove on the other side.

10. In paragraph 9, The above shaft member includes a stepped surface formed on the outer surface, A caster assembly in which the cross-sectional diameter of one side of the shaft member is formed wider than the cross-sectional diameter of the other side, with the step surface as the boundary.

11. In paragraph 10, A holder member is disposed below the shaft member and has a holder hole formed in the middle, A caster assembly in which the cross-sectional diameter of one side of the shaft member is formed wider than the diameter of the holder hole, and the cross-sectional diameter of the other side of the shaft member is formed narrower than the diameter of the holder hole.

12. In paragraph 10, A holder member is disposed below the shaft member and has a holder hole formed in the middle, A caster assembly in which the cross-sectional diameter of one side of the shaft member and the cross-sectional diameter of the other side are formed wider than the diameter of the holder hole.

13. In paragraph 12, A caster assembly in which the support shaft portion of the caster is inserted into the other side groove of the shaft member and fixed by penetrating the holder hole of the holder member.

14. In paragraph 9, A caster assembly, wherein one side of the outer spring contacts the inner surface of one side of the outer member, and the other side of the outer spring contacts the bottom surface of the one side groove of the shaft member.

15. In paragraph 9, The above support member includes a support groove formed on the other side, A caster assembly, wherein one side of the inner spring is placed in the support groove of the support member, and the other side of the inner spring is in contact with the bottom surface of the one-side groove of the shaft member.

16. In paragraph 1, Including a bush member arranged in the inner space of the outer member, A caster assembly in which the outer spring, the inner spring, the support member, and the shaft member are arranged in the inner space of the bush member.

17. A robot having a caster assembly according to any one of claims 1 to 16.

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