Robot device

Abstract

The present disclosure relates to a robot device. The robot device comprises: a main body; a main hinge located at a lower portion of the main body; a main link member that includes a central portion coupled to the main hinge and pivots about the central portion; a plurality of sub-link members coupled to both sides of the main link member; and a first wheel and a second wheel, which are connected to each of the plurality of sub-link members. Each of the plurality of sub-link members is connected to first and second hinge members positioned spaced apart from the main link member at the lower portion of the main body, and pivots about the first and second hinge members according to the movement of the first wheel and the second wheel.

Description

Robot device

[0001] The present disclosure relates to a robot device, and more specifically, to a robot device comprising a link member to improve structural and driving stability.

[0002] With the advancement of robotic technology, the development of robots used in various fields, such as delivery and serving, is actively underway. In particular, a key area of ​​this development is improving the structural design of robot devices to ensure stable operation during use.

[0003] Conventionally, attempts were made to improve the driving stability of the robot device by modifying the structure of the robot's wheels or adding a suspension system using springs or hydraulic cylinders; however, despite this, problems occurred where the robot device would shake back and forth or side to side. In addition, when using a general link-based suspension structure, problems such as lateral tilting of the robot or excessive vibration could occur.

[0004] A robot device according to one or more embodiments of the present disclosure comprises a main body, a main hinge located at the bottom of the main body, a main link member including a central part coupled to the main hinge and pivoting about the central part as an axis, a plurality of sub-link members coupled to both sides of the main link member, and a first wheel and a second wheel connected to each of the plurality of sub-link members. Each of the plurality of sub-link members is connected to a first and second hinge member located at a position spaced apart from the main link member at the bottom of the main body, and pivots about the first and second hinge members according to the movement of the first wheel and the second wheel.

[0005] A robot device according to at least one embodiment of the present disclosure comprises: a main body; a first wheel and a second wheel disposed at the lower part of the main body; a main hinge disposed between the first wheel and the second wheel; a main link suspension comprising a central part coupled to the main hinge and pivoting about the central part as an axis; a first sub-link suspension comprising a first hinge mounted on the first wheel, coupled to the first opposite side of the main link suspension, and connected to the lower part of the main body; and a second hinge mounted on the second wheel, coupled to the second opposite side of the main link suspension, and connected to the lower part of the main body.

[0006] FIG. 1 is a perspective view showing a robot device according to at least one embodiment of the present disclosure.

[0007] FIG. 2 is a drawing for explaining the link coupling structure of a robot device according to at least one embodiment of the present disclosure.

[0008] FIGS. 3a and 3b are drawings for illustrating a link coupling structure of a robot device according to at least one embodiment of the present disclosure.

[0009] FIGS. 4a, 4b, and 4c are drawings for explaining the coupling relationship between a main hinge and a main link member of a robot device according to at least one embodiment of the present disclosure.

[0010] FIG. 5 is a drawing for explaining the coupling relationship between a main link member and a sub-link member of a robot device according to at least one embodiment of the present disclosure.

[0011] FIG. 6 is a drawing for explaining the coupling relationship between a main link member and a sub-link member of a robot device according to at least one embodiment of the present disclosure.

[0012] FIGS. 7a and 7b are drawings for explaining the positional relationship between a first hinge member and a second hinge member of a robot device according to at least one embodiment of the present disclosure.

[0013] FIG. 8 is a drawing for explaining a robot device further comprising a support plate according to at least one embodiment of the present disclosure.

[0014] FIG. 9 is a drawing for illustrating a robot device further comprising a 3-axis core robot according to at least one embodiment of the present disclosure.

[0015] FIG. 10 is a drawing for illustrating a robot device including an additional link member according to at least one embodiment of the present disclosure.

[0016] FIG. 11 is a drawing for illustrating a robot device including an additional link member according to at least one embodiment of the present disclosure.

[0017] The various embodiments of this document and the terms used therein are not intended to limit the technical features described in this document to specific embodiments, and should be understood to include various modifications, equivalents, or substitutions of said embodiments.

[0018] In relation to the description of the drawings, similar reference numerals may be used for similar or related components.

[0019] The singular form of the noun corresponding to the item may include one or multiple items, unless the relevant context clearly indicates otherwise.

[0020] In this document, each of the phrases such as "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C", and "at least one of A, B, or C" may include any one of the items listed together in the corresponding phrase, or all possible combinations thereof.

[0021] The term "and / or" includes a combination of multiple related described components or any of the multiple related described components.

[0022] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish a component from another component and do not limit the components in other aspects (e.g., importance or order).

[0023] Where any (e.g., 1st) component is referred to as "coupled" or "connected" to another (e.g., 2nd) component, with or without the terms "functionally" or "communicationly," it means that said any component may be connected to said other component directly (e.g., via a wire), wirelessly, or through a third component.

[0024] Terms such as "include" or "have" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in this document, and do not preclude the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0025] When it is said that a component is "connected," "combined," "supported," or "in contact" with another component, this includes not only cases where the components are directly connected, combined, supported, or in contact, but also cases where they are indirectly connected, combined, supported, or in contact through a third component.

[0026] When it is said that a component is located "on" another component, this includes not only cases where one component is in contact with the other, but also cases where another component exists between the two components.

[0027] In this disclosure, the term "Example" is not limited to a single example but is intended to include one or more examples. Additionally, the features described in the examples may be combined and implemented together.

[0028] Hereinafter, an electronic device (1) according to various embodiments will be described in detail with reference to the drawings.

[0029] FIG. 1 is a perspective view showing a robot device (1) according to at least one embodiment of the present invention.

[0030] In FIG. 1, the robot device (1) may include a main body (100) and a plurality of wheels (201, 202, 203, 204, wheel 203 is shown in FIG. 2). In the robot device (1) of FIG. 1, the main body (100) is a part that accommodates a configuration necessary for driving, such as a plurality of wheels (201, 202, 203, 204).

[0031] The main body (100) may be described in various ways, such as a support plate, wheel base, housing, or case, but in this disclosure, it is described as the main body (100). For convenience of explanation, FIG. 1 shows the main body (100) without any additional structures added thereto, but various devices or components may be combined on the main body (100) depending on the use or type of the robot device (1). For example, a humanoid device may be assembled on the upper part of the support plate. However, this is not limited thereto, and various devices such as a 3-axis core robot, a support, or a transport support may be assembled on the upper part of the support plate. This will be explained in detail again in FIG. 8 and FIG. 9, which will be described later.

[0032] In FIG. 1, a plurality of wheels (201, 202, 203, 204) may be arranged such that two are positioned in the front of the lower part of the main body (100) and two are positioned in the rear of the lower part. The first wheel (201) and the second wheel (202) may be positioned in the front of the lower part of the main body (100), and the third wheel (203) and the fourth wheel (204) may be positioned in the rear of the lower part of the main body (100). The third wheel (203) and the fourth wheel (204) may be positioned at a location spaced apart from the first wheel (201) and the second wheel (202).

[0033] In FIG. 1, each of the plurality of wheels (201, 202, 203, 204) may include a wheel body (211, 212, 213, 214, wheel body 213 is shown in FIG. 2). Additionally, each of the plurality of wheels (201, 202, 203, 204) may be a differential wheel module. A differential wheel module may refer to a wheel structure comprising a main wheel body and a pair of sub-wheels (or auxiliary wheels) positioned on both sides of the wheel body. This configuration enables enhanced maneuverability, such as independent rotation or change of direction, and improves the ability of the robot device (1) to perform complex movements, such as rotating in place or rotating with minimal lateral movement. A differential wheel module may include a plurality of wheels positioned on both sides relative to the wheel body (211, 212, 213, 214). To distinguish the components, the main wheels (201, 202) may be referred to as the first wheel module and the second wheel module, respectively, and the sub-wheels may be designated as part of the differential structure.

[0034] In FIG. 1, the differential wheel module of a plurality of wheels (201, 202, 203, 204) can rotate clockwise or counterclockwise around the wheel body (211, 212, 213, 214) as an axis. For example, the differential wheel module of the first wheel (201) can rotate 360 ​​degrees left and right around the wheel body (211).

[0035] In FIG. 1, the speeds of the wheels positioned on both sides of the differential wheel module can be controlled independently. Through this, the differential wheel module can freely change direction in a narrow space.

[0036] FIG. 2 is a drawing for explaining the link coupling structure of a robot device (1) according to at least one embodiment of the present disclosure.

[0037] In FIG. 2, the first wheel (201) and the second wheel (202) of the robot device (1) may have a link joint structure coupled to the upper part of the main body (100). Through this link joint structure, when the robot device (1) travels on an unstable ground, the main body (100) can be maintained in a state without shaking.

[0038] In FIG. 2, the robot device (1) may include a main hinge (310, 320), a main link member (400), a plurality of sub-link members (510, 520), a first hinge member (610, reference numerals 611, 612 in FIG. 4), a second hinge member (620, reference numerals 621, 622 in FIG. 4), a first wheel (201), and a second wheel (202).

[0039] In FIG. 2, the main hinge (310, 320) may be fixed to the lower part of the main body (100). In the present disclosure, the main hinge is configured to be connected to a main link member (400) that connects the first wheel and the second wheel. The main hinge may be implemented as a single unit, but may also be implemented as a structure divided into two parts (310, 320) as shown in FIG. 2. For convenience of explanation, these parts are respectively described as the first main hinge (310) and the second main hinge (320), and the two are collectively referred to as the main hinge (310, 320).

[0040] The first main hinge (310) and the second main hinge (320) may be fixed to the lower part of the main body (100) while being spaced apart from each other by a certain distance. The first main hinge (310) and the second main hinge (320) may be positioned opposite each other so that a certain space is formed between them. A main link member (400) may be positioned in the space between the first main hinge (310) and the second main hinge (320). The central part of the entire configuration of the main link member (400) may be positioned in the space between the first main hinge (310) and the second main hinge (320).

[0041] In FIG. 2, the main link member (400) can be coupled with the main hinge (310, 320) at the center. The main link member (400) can be coupled with the first main hinge (310) and the second main hinge (320) between the first main hinge (310) and the second main hinge (320). Accordingly, the main link member (400) can pivot with the main hinge (310, 320) as an axis. When the robot device (1) travels on unstable terrain, one end and the other end of the main link member (400) can pivot upward or downward with the main hinge (310, 320) as an axis. That is, when one end of the main link member (400) moves upward relative to the main hinge (310, 320), the other end moves downward.

[0042] In FIG. 2, a plurality of sub-link members (510, 520) may be connected to both sides of the main link member (400). A plurality of sub-link members (510, 520) may be connected to both sides along the longitudinal direction of the main link member (400). A plurality of sub-link members (510, 520) may be connected to the outer surface portions of both sides of the main link member (400) (e.g., in the X-axis direction). For convenience of explanation, among the plurality of sub-link members, the one connected to the first end, which is one of the two ends of the main link member (400), is called the first sub-link member (510), and the one connected to the second end, which is the other of the two ends, is called the second sub-link member (520).

[0043] Each of the plurality of sub-link members is connected to a first hinge member (610, reference numerals 611 and 612 in FIG. 4) and a second hinge member (620, reference numerals 621 and 622 in FIG. 4) respectively at the bottom of the main body. The plurality of sub-link members pivot around the first hinge member (reference numerals 611 and 612 in FIG. 4) and the second hinge member (620, reference numerals 621 and 622 in FIG. 4) according to the movement of the first wheel and the second wheel. At this time, the part connected to the main link member (400) within each sub-link member can be displaced together according to the movement of the first wheel and the second wheel. Accordingly, the robot device can operate stably even when the driving surface is uneven or sloped.

[0044] One end of a plurality of sub-link members (510, 520) may have a groove (510a and 520a) formed in the central portion. Here, one end of a plurality of sub-link members (510, 520) refers to an area located on the side facing the main hinge (310, 320) of the robot device (1) within the plurality of sub-link members (510, 520).

[0045] The connection structure between the main link member (400) and each sub-link member can be implemented in various ways according to the embodiment.

[0046] For example, a main link member (400) may be inserted into a groove (510a and 520a) formed in a sub-link member (510, 520). Subsequently, the main link member (400) may be coupled with the sub-link member (510, 520) positioned on the outside. Each of the plurality of sub-link members (510, 520) may be connected to the main link member (400) through a hole formed in the area at the bottom of the main body (100) that is coupled to the main link member (400). This hole is not limited to a circular hole and may have various shapes such as a slot. In the present disclosure, a slot may be a shape in which the length in one direction is longer than that of a hole, that is, an elongated shape. Therefore, if a protrusion or connecting part having a length shorter than the length of the slot is connected to the slot, the protrusion or connecting part may be displaced within the slot. Accordingly, the connection angle between the main link member (400) and the sub link members (510, 520) can be changed in various directions, thereby adaptively responding to the movement of the lower wheel and maintaining the horizontal alignment of the main body as much as possible. Various connection structures using slots will be explained in detail in the following section.

[0047] In FIG. 2, the first hinge member (610, reference numerals 611 and 612 in FIG. 3a) and the second hinge member (620, reference numerals 621 and 622 in FIG. 3a) can be fixed at a position spaced apart from the main link member (400) at the bottom of the main body (100). Each of the first hinge member (reference numerals 611 and 612 in FIG. 3a) and the second hinge member (reference numerals 621 and 622 in FIG. 3a) can be positioned at a certain distance from each other at the bottom of the main body (100). Each of the plurality of sub-link members (510, 520) may be positioned on the inner side of the first hinge member (reference numerals 611, 612 in FIG. 3A) and the second hinge member (reference numerals 621, 622 in FIG. 3A) positioned at the bottom of the main body (100). Additionally, each of the plurality of sub-link members (510, 520) may be coupled to the inner side of the first hinge member (reference numerals 611, 612 in FIG. 3A) and the second hinge member (reference numerals 621, 622 in FIG. 3A) positioned at the bottom of the main body (100). Each of the multiple sub-link members (510, 520) can pivot around the first hinge member (reference numerals 611, 612 in FIG. 3A) and the second hinge member (reference numerals 621, 622 in FIG. 3A) according to the movement of the first wheel (201) and the second wheel (202). Accordingly, when a specific object is placed on the upper part of the main body (100), even if the load is concentrated on one side of the specific object while the robot device (1) is driving, the robot device (1) may not overturn or flip over. A detailed explanation of this will be covered in detail in FIG. 4 and FIG. 7, so the explanation is omitted here.

[0048] FIGS. 3a and 3b are drawings illustrating a link connection structure of a robot device (1) according to at least one embodiment of the present disclosure. Specifically, FIG. 3a is a perspective view of a link device in which a first wheel (201) and a second wheel (202) are connected, and FIG. 3b is a drawing showing the top of a link device in which a first wheel (201) and a second wheel (202) are connected. The term “link device,” also referred to as “link member” in the present disclosure, refers to a link-type (or link-based) suspension structure. A link-type suspension may be a mechanical structure used to connect and control the movement of a wheel relative to a body or chassis in a wheeled system. A series of rigid arms (links) and joints may be used to guide the movement of the wheel to control vertical displacement (suspension movement) and allow steering or terrain adaptation.

[0049] In FIG. 3a and 3b, the robot device (1) may include a main hinge (310, 320), a main link member (400), a plurality of sub-link members (510, 520), a first hinge member (reference numerals 611, 612 in FIG. 4), a second hinge member (reference numerals 621, 622 in FIG. 4), a first wheel (201), and a second wheel (202).

[0050] In FIGS. 3a and 3b, the main hinge (310, 320) may be positioned at the center of the front face on the lower surface of the main body (100). Additionally, the main hinge (310, 320) may be coupled to the main link member (400) at the center. The main hinge (310, 320) may include a fixing part (311, 321) on the outer side. The fixing part (311, 321) can prevent the main link member (400) from detaching from the main hinge (310, 320) by fixing a connecting part (reference numeral 330 in FIG. 4c) that connects to the main link member (400). The main link member (400) may be coupled to a plurality of sub-link members (510, 520) on both sides. A plurality of sub-link members (510, 520) may have a groove (510a, 520a) formed in the center of one end portion. A side portion of the main link member (400) may be inserted into each of the grooves (510a, 520a) of the plurality of sub-link members (510, 520). The plurality of sub-link members (510, 520) may include a plurality of fixing portions (511, 512, 521, 522) on the outer surface of one end portion. By fixing a connecting portion (reference numeral 530 in FIG. 6) that connects to the main link member (400) through the plurality of fixing portions (511, 512, 521, 522), the main link member (400) and the plurality of sub-link members (510, 520) can be prevented from being separated.

[0051] In FIG. 3a and 3b, a plurality of sub-link members (510, 520) may be connected to a first hinge member (610) and a second hinge member (620) positioned at a spaced-apart location from the main link member (400). The first hinge member (610) and the second hinge member (620) may be positioned in an area between one end and the other end of the plurality of sub-link members (510, 520). Here, the one end is an area where the plurality of sub-link members (510, 520) and the main link member (400) are connected, and the other end is an area where the first wheel (201) and the second wheel (202), respectively, are coupled to the plurality of sub-link members (510, 520).

[0052] In FIG. 3a and 3b, a plurality of sub-link members (510, 520) may include a connecting portion (701, 702) on the upper part of the other end. The connecting portion (701, 702) connects the main body (100) and the plurality of sub-link members (510, 520) to fix the main body (100) and the plurality of sub-link members (510, 520) to each other. The connecting portion (701, 702) can reduce shaking caused by the empty space between the main body (100) and the plurality of sub-link members (510, 520).

[0053] In FIGS. 3a and 3b, the first wheel (201) and the second wheel (202) may include a wheel body (211) and a differential wheel. The differential wheel may include a plurality of wheels positioned on both sides relative to the wheel body (211). The wheel body (211) may be coupled with a plurality of sub-link members (510, 520) on the upper side. Specifically, the wheel body (211) of the first wheel (201) and the second wheel (202) may include a connecting member (513, 523) on the upper side. The connecting member (513, 523) is configured to be connected to each sub-link member through a hole formed in each of the plurality of sub-link members. The connecting member (513, 523) may be formed integrally or may be formed from other members. The connecting member (513, 523) can be assembled into a hole formed at the other end of a plurality of sub-link members (510, 520).

[0054] In FIGS. 3a and 3b, when a load is concentrated on one of the first wheel (201) and the second wheel (202), the robot device (1) can be prevented from overturning by the main link member (400) and a plurality of sub-link members (510, 520). For example, when a load is concentrated on the second wheel (202), the main link member (400) can be rotated clockwise around the main hinge (310, 320) as an axis. When the main link member (400) is rotated clockwise around the main hinge (310, 320) as an axis, the sub-link member (520) coupled to the second wheel (202) can be rotated counter-clockwise. As the load is concentrated on the second wheel (202), a clockwise rotational torque is generated in the robot device (1). The sub-link member (520) combined with the second wheel (202) can generate a counterclockwise rotational torque due to counterclockwise rotation. Accordingly, the torque generated by the sub-link member (520) is offset by the clockwise torque, thereby stabilizing the robot device (1) and preventing it from overturning.

[0055] When the robot device (1) receives a lateral force from left to right, a clockwise rotational torque is generated on the robot device (1). In this situation, the sum of the external force and frictional force acting on the first wheel (201) generates a vertically downward external force, so a counterclockwise rotational torque is generated with respect to the center of the robot device (1). Similarly, the sum of the external force and frictional force acting on the second wheel (202) generates a vertically upward external force, so a counterclockwise rotational torque is generated with respect to the center of the robot device (1). As a result, the clockwise rotational torque generated on the robot device (1) is offset by the counterclockwise rotational torque generated by the link joint structure, thereby preventing the robot device (1) from overturning.

[0056] Additionally, even if the robot device (1) travels on an unstable ground, at least three of the multiple wheels (201, 202, 203, 204) can be in contact with the ground through a link joint structure combined with the first wheel (201) and the second wheel (202). Specifically, when the ground of the first wheel (201) is higher than the ground of the second wheel (202), the sub-link member (510) positioned on the upper side of the first wheel (201) can be rotated clockwise. As the sub-link member (510) positioned on the upper side of the first wheel (201) is rotated clockwise around the first hinge member (611, 612), the main link member (400) can be rotated counterclockwise around the main hinge (310, 320). The main hinge (310, 320) is rotated counterclockwise, and the sub-link member (520) positioned on the upper side of the second wheel (202) can be rotated clockwise around the second hinge member (621, 622) as an axis until the second wheel (202) comes into contact with the ground. Through this, even if the ground is unstable, the first wheel (201) and the second wheel (202) of the robot device (1) can drive while maintaining contact with the ground. One of the third wheel (203) and the fourth wheel (204) of the robot device (1) must inevitably come into contact with the ground. As a result, since three of the four wheels of the robot device (1) come into contact with the ground, the robot device (1) can complete driving to a desired point without flipping over.

[0057] FIGS. 4a, 4b and 4c are drawings for explaining the coupling relationship between the main hinge (310, 320) and the main link member (400) of a robot device (1) according to at least one embodiment of the present disclosure.

[0058] In FIG. 4a, 4b, and 4c, the first main hinge (310) and the second main hinge (320) may include a plurality of screw members (312, 322) on the upper side. The plurality of screw members (312, 322) can fix the first main hinge (310) and the second main hinge (320) to the main body (100). In FIG. 4b, four of the plurality of screw members (312, 322) are connected to the first main hinge (310) and the second main hinge (320) respectively, but are not necessarily limited thereto and can be connected through at least two screw portions (312, 322). The plurality of screw members (312, 322) may include a head portion on the lower side and a neck portion on the middle side and the upper side. Here, the cross-sectional area of ​​the head portion may be wider than that of the neck portion. The upper portions of the first main hinge (310) and the second main hinge (320) may include a hole through which only the neck portions of a plurality of screw members (312, 322) can pass. The plurality of screw members (312, 322) may be coupled to the holes of the first main hinge (310) and the second main hinge (320).

[0059] The first main hinge (310) and the second main hinge (320) may include a hole penetrating the inner side and the outer side. The main link member (400) may include a hole penetrating the inner side and the outer side at its center. The main link member (400) may be positioned on the inner side of the first main hinge (310) and the second main hinge (320). The connecting part (330) may be coupled to the hole penetrating the inner side and the outer side of the first main hinge (310), the second main hinge (320), and the main link member (400). After the main link member (400) and the main hinge (310, 320) are coupled to the connecting part (330), the fixing part (311, 321) can be coupled together with the connecting part (330) on the outer surface of the first main hinge (310) and the second main hinge (320). Through this configuration, the main hinge (310, 320) and the main link member (400) may not be separated by the connecting part (330) and the fixing part (311, 321). Through this coupling, the main link member (400) can be pivoted clockwise or counterclockwise with the connecting part (330) as the axis.

[0060] The main link member (400) may include slots (411, 412) on both sides. The slots (411, 412) may have an elongated through-hole shape. The slots (411, 412) of the main link member (400) may be assembled with a plurality of sub-link members (510, 520) through a connecting part (reference numeral 530 in FIG. 6). While the robot device (1) is moving, the connecting part (reference numeral 530 in FIG. 6) may move left and right inside the slots (411, 412) of the main link member (400).

[0061] FIG. 5 is a drawing for explaining the coupling relationship between a main link member (400) and sub link members (510, 520) of a robot device (1) according to at least one embodiment of the present disclosure.

[0062] In FIG. 5, the connection relationship is to be explained based on the sub-link member (520) to which the second wheel (202) is connected and the main link member (400), but the sub-link member (510) to which the first wheel (210) is connected may also have the same connection relationship as the main link member (400).

[0063] In FIG. 5, a groove 510a may be formed in the center of one end portion of the sub-link member (520). The groove 520a of the sub-link member (520) may be formed to a size into which a side portion of the main link member (400) can be inserted. One end portion of the sub-link member (520) may include a hole penetrating the outer surface and the inner surface. A connecting portion (530) may be assembled into the slot (412) of the main link member (400) and the hole formed in one end portion of the sub-link member (520). A plurality of fixing portions (521, 522) may be assembled from the outer surface of the sub-link member (520) to the side portion of the connecting portion (530). Through this, the connecting portion (530) and the plurality of fixing portions (521, 522) can prevent the main link member (400) and the sub-link member (520) from being separated.

[0064] The second hinge members (621, 622) can be connected to the lower side of the main body (100) through a plurality of screw portions (625). Since the structure of the plurality of screw portions (625) is identical to the structure of the screw portions (312, 322) of FIGS. 4a, 4b, and 4c, a description thereof is omitted. Each of the second hinge members (621, 622) can be positioned at a spaced-apart location on both sides of the sub-link member (520). The sub-link member (520) can be positioned on the inner side of the second hinge members (621, 622). Each of the second hinge members (621, 622) may include a hole penetrating the inner side and the outer side. Additionally, the sub-link member (520) may include a hole penetrating each outer side. The third connecting member (630) can be assembled into a hole penetrating the hole of the second hinge member (621, 622) and the outer surface of the sub-link member (520). A plurality of fixing members (623, 624) can be coupled to the outer surface of the second hinge member (621, 622) and the outer surface of the third connecting member (630). Accordingly, the sub-link member (620) may not be separated from the second hinge member (621, 622). Additionally, the sub-link member (620) may be pivoted with the third connecting member (630) as an axis.

[0065] A connecting portion (702) may be coupled to the other end of the sub-link member (620). Similar to the main hinge (310, 320) and the second hinge member (621, 622), the connecting portion (702) may be coupled to the main body (100) through a plurality of screw portions (703) on the upper part. The central portion of the other end of the sub-link member (620) may include a hole penetrating the lower side and the upper side. The sub-link member (620) may be coupled to a connecting member (523) positioned on the upper side of the wheel body (212) of the second wheel (202) through the hole formed on the other end. Additionally, the sub-link member (620) may be coupled to the upper side of the wheel body (212) of the second wheel (202) through a plurality of screw portions (525) on the other end.

[0066] FIG. 6 is a drawing for explaining the coupling relationship between a main link member (400) and a plurality of sub-link members (510, 520) of a robot device (1) according to at least one embodiment of the present disclosure.

[0067] In FIGS. 4a to 4c, the main link member (400) and the plurality of sub-link members (510, 520) have a structure in which slots (412) are formed on both sides of the main link member (400) and are joined to each other through a connecting part (530), but in FIG. 6, the main link member (400) and the plurality of sub-link members (510, 520) can be joined to each other through a structure different from that of FIGS. 4a to 4c.

[0068] In FIG. 6, the main link member (400) may have protrusions (441, 442) formed on both sides of the two side portions. The cross-section of the protrusions (441, 442) may be circular in shape. However, it is not limited thereto, and the cross-section of the protrusions (441, 442) may have various shapes.

[0069] In FIG. 6, a plurality of sub-link members (510, 520) may have slots (551, 552) formed at one end. The protrusions (441, 442) of the main link member (400) may be connected to the plurality of sub-link members (510, 520) through the slots (551, 552). The protrusions (441, 442) of the main link member (400) may include separation prevention members (not shown) on both sides. Through this, the main link member (400) and the plurality of sub-link members (510, 520) may not be separated by the separation prevention members (not shown).

[0070] In FIG. 6, each of the plurality of sub-link members (510, 520) may be connected to first and second hinge members (613, 623) located at a position spaced apart from the main link member (400) at the bottom of the main body (100). Each of the plurality of sub-link members (510, 520) may be connected to the main link member (400) through a slot (551, 552) formed in an area coupled to the main link member (400). Each of the plurality of sub-link members (510, 520) may pivot around the first and second hinge members (613, 623) according to the movement of the first wheel (201) and the second wheel (202).

[0071] In FIG. 6, a plurality of sub-link members (510, 520) may be connected to both sides along the longitudinal direction of the main link member (400). Each slot (551, 552) of the plurality of sub-link members (510, 520) may be formed at one end connected to the main link member (400). The first wheel (201) and the second wheel (202) may each be connected to the other end of each of the plurality of sub-link members (510, 520). The first and second hinge members (613, 623) may each be connected to a region between one end and the other end.

[0072] Although not illustrated in FIG. 6, the main link member (400) may include a main hole instead of protrusions (441, 442) on both sides of the two side portions. The main link member (400) may be combined with a plurality of sub-link members (510, 520) using a connection portion located in the main hole and in each slot (551, 552) of a plurality of sub-link members (510, 520). Here, the main hole of the main link member (400) may be in the shape of a slot.

[0073] Each of the first and second hinge members (613, 623) may include a plurality of hinge portions (611, 612, 621, 622) spaced apart from each other on both sides of a plurality of sub-link members (510, 520). Additionally, each of the first and second hinge members (613, 623) may include a plurality of connecting portions (630) that are coupled to the plurality of sub-link members (510, 520) within the plurality of hinge portions (611, 612, 621, 622). Although the plurality of hinge portions (611, 612, 621, 622) are referred to as being different from the first and second hinge members (613, 623), they may also be referred to as the same member.

[0074] FIGS. 7a and 7b are drawings illustrating the positional relationship between a first hinge member (613) and a second hinge member (623) of a robot device (1) according to at least one embodiment of the present disclosure. In some embodiments of the present disclosure, the rotation axis of a wheel module (e.g., rotation axis A of the first wheel module (201)) may differ from the hinge axis of a corresponding link member (e.g., hinge axis B of the first hinge member (611). For example, the hinge axis (B) of the first hinge member (611) may be located closer to the center axis of the robot device (1) than the rotation axis (A) of the first wheel module (201). Likewise, the hinge axis (B) of the second first hinge part (621) may be located closer to the center axis of the robot device (1) than the rotation axis (A) of the second wheel module (202).

[0075] In FIG. 7a and 7b, each of the first hinge member (613) and the second hinge member (623) of the robot device (1) can be connected to a region between one end and the other end of a plurality of link members (510, 520). Here, the one end is a region where the plurality of sub-link members (510, 520) are connected to the main link member (400), and the other end is a region where the plurality of sub-link members (510, 520) are connected to the first wheel (201) and the second wheel (202).

[0076] In FIG. 7a, the first hinge member (613) may include a plurality of first hinge portions (611, 612) positioned opposite each other at a first position spaced apart from the main link member (400) at the bottom of the main body (100). The first hinge member (613) may include a first connecting portion connecting the plurality of first hinge portions (611, 612) and the first sub-link member (510) in a state where one of the plurality of sub-link members, the first sub-link member (510), is positioned between the plurality of first hinge portions (611, 612).

[0077] The second hinge member (623) may include a plurality of second hinge portions (621, 622) positioned opposite each other at a second position spaced apart from the main link member (400) at the bottom of the main body (100). Additionally, the second hinge member (623) may include a second connecting portion connecting the plurality of second hinge portions (621, 622) and the second sub-link member (520) when the second sub-link member (520), which is another of the plurality of sub-link members, is positioned between the plurality of second hinge portions (621, 622).

[0078] In FIG. 7a, the first hinge member (613) and the second hinge member (623) are positioned in an area closer to the main link member (400) between one end and the other end compared to FIG. 7b. Conversely, in FIG. 7b, the first hinge member (613) and the second hinge member (623) are positioned in an area closer to the first wheel (201) and the second wheel (202) between one end and the other end. In other words, the first hinge member (613) may be positioned at a point closer to the other end with respect to the center between the one end and the other end where the slot (551) is formed, among the two ends of each of the first sub-link member (510). Additionally, the second hinge member (623) may be positioned at a point closer to the other end, based on the center between the one end and the other end where the slot (552) is formed, among the two ends of each of the second sub-link members (520).

[0079] According to FIG. 7a, when the first hinge member (613) and the second hinge member (623) are close to the main hinge (400), the first hinge member (613) and the second hinge member (623) can distribute the load of an object located on the upper part of the main body (100) to the main link member (400) and the plurality of sub-link members (510, 520), respectively. As a result, damage to each part, such as the main link member (400) and the plurality of sub-link members (510, 520), can be reduced.

[0080] According to FIG. 7b, when the first hinge member (613) and the second hinge member (623) are close to the first wheel (201) and the second wheel (202), the first hinge member (613) and the second hinge member (623) may be far from the central axis of the robot device (1). As a result, when the robot device (1) is subjected to a side force, the rotational torque that offsets the rotational torque caused by the side force may increase. Accordingly, the magnitude of the force required for the robot device (1) to overturn may be greater than that shown in FIG. 7a. Consequently, the robot device (1) can drive stably without overturning even when a larger side force is applied.

[0081] The first hinge member (613) and the second hinge member (623) of FIGS. 7a and 7b may be positioned between one end and the other end depending on the stability of the part, the driving stability of the robot device (1), and the grounding force of the robot device (1).

[0082] Additionally, in FIGS. 7a and 7b, when the robot device (1) receives a lateral force from the left side to the right side, the vertical load acting on the first wheel (201) and the second wheel (202) increases on the second wheel (202) and decreases on the first wheel (201). Here, if the robot device (1) does not overturn, the total vertical load is the same as the initial state, but at the moment the braking force is lost on the first wheel (201), a greater vertical load is received on the second wheel (202), and a greater braking force may be generated on the second wheel (202). Also, as the positions of the first hinge member (613) and the second hinge member (623) move further away from the main link member (400), the vertical load acting on the first wheel (201) and the second wheel (202) may increase.

[0083] FIG. 8 is a drawing for explaining a robot device (1) further comprising a support plate (103) according to at least one embodiment of the present disclosure.

[0084] The robot device (1) may include a main body (100). The main body (100) may include a first support plate (101). The first support plate (101) may be positioned on the upper side of a plurality of wheels (201, 202, 203, 204). Each of the plurality of support members (102) may be positioned on the upper side of the first support plate (101). The plurality of support members (102) may include at least two or more. In FIG. 8, each of the plurality of support members (102) may be positioned near each corner of the first support plate (101). For example, the first support member (102a) may be positioned near the corner of the area where the first wheel (201) is located on the upper side of the first support plate (101), the second support member (102b) may be positioned near the corner of the area where the second wheel (202) is located, the third support member (not shown) may be positioned near the corner of the area where the third wheel (203) is located, and the fourth support member (102d) may be positioned near the corner of the area where the fourth wheel (204) is located.

[0085] The second support plate (103) may be positioned on the upper side of the plurality of support members (102). Specifically, the second support plate (103) may be coupled to the plurality of support members (102) while being spaced apart along the +z-axis by the height of the plurality of support members (102) in a state parallel to the first support plate (101).

[0086] In FIG. 8, the cross-section of the first support plate (101) may be square. However, it is not limited thereto, and the cross-section of the first support plate (101) may have various shapes such as a circle, an ellipse, or a polygon. The shapes of the first support plate (101) and the second support plate (102) are identical. However, it is not necessarily limited thereto, and the first support plate (101) and the second support plate (102) may each have various different shapes.

[0087] Although not shown in FIG. 8, a plurality of support members (102) may be coupled to the upper portion of the second support plate (103). Subsequently, a third support plate (not shown) may be coupled to the upper portion of the plurality of support members (102) positioned on the upper portion of the second support plate (103). In this way, the main body (100) can adjust the number of support members (102) and support plates in various ways according to the purpose.

[0088] FIG. 9 is a drawing for explaining a robot device (1) further comprising a 3-axis core robot according to at least one embodiment of the present disclosure.

[0089] In FIG. 9, the robot device (1) may include a main body (100). A 3-axis core robot (e.g., a 3-axis robot arm) may be assembled on the upper part of the main body (100). The 3-axis core robot may also be referred to as a humanoid device. The humanoid device may be mounted on the main body (100) of the robot device (1).

[0090] A 3-axis core robot is a robot that can perform a specific task after the robot device (1) travels to a specific location. For example, a 3-axis core robot can perform the role of transporting hazardous materials or transporting heavy loads. It is not limited to this, and a 3-axis core robot can perform various tasks.

[0091] In FIG. 9, a 3-axis core robot positioned on the upper part of a robot device (1) may include a main module (1000), an I-shaped module (2000), a plurality of L-shaped modules (3010, 3020, 3030), and an end effector module (4000). Specifically, the main module (1000) may be positioned on the upper side of the main body (100) of the robot device (1). The I-shaped module (2000) may be assembled in the upper central part of the main body (100). The first L-shaped module (3010) may be assembled to one end of the I-shaped module (2000). The second L-shaped module (3020) may be assembled to one end of the first L-shaped module (3010). The third L-shaped module (3030) may be assembled to one end of the second L-shaped module (3020). The end effector module (4000) can be assembled to one end of the third L-shaped module (3030). Although a 3-axis core robot is described in FIG. 9, it is not necessarily limited thereto. For example, other robots assembled on the upper part of the robot device (1) can be 4-axis core robots, and can be core robots of various shapes formed by combining various modules.

[0092] As the robot device (1) is assembled with a 3-axis core robot, the load acting on multiple wheels (201, 202, 203, 204) can be increased. Additionally, while the end effector module (4000) of the 3-axis core robot is performing a task, external forces may be generated from the external environment on the robot device (1), and the load may be concentrated on a specific wheel among the multiple wheels (201, 202, 203, 204). As a result, the robot device (1) may be flipped over or overturned. At this time, through the combined structure of the main hinge (310, 320), main link member (400), a plurality of sub-link members (510, 520), first hinge member (611, 612), and second hinge member (621, 622) described in FIGS. 1 to 7, the robot device (1) can prevent overturning by generating a rotational torque that offsets the load even if a larger lateral force or external force is applied and the load is concentrated on a specific wheel.

[0093] FIG. 10 is a drawing for illustrating a robot device including an additional link member according to at least one embodiment of the present disclosure.

[0094] In FIG. 10, the robot device (1) may include a main body (100), a plurality of wheels (201, 202), a main hinge (310), a main link member (400), a plurality of sub-link members (510, 520), additional link members (1110, 1120), and additional structures (2010, 2020).

[0095] In FIG. 10, the main hinge (310) may have a more elongated shape compared to the main hinge of FIG. 2. Accordingly, the main link member (400) positioned at one end of the main hinge (310) may be positioned lower than the sub-link members (510, 520). Additionally, the main link member (400) and the sub-link members (510, 520) may each have shorter lengths compared to FIG. 2.

[0096] Both ends of the additional link members (1110, 1120) can be connected to one end of the main link member (400) and one end of the sub-link member (510, 520), respectively. The additional link members (1110, 1120) may be structured to face downwards as they approach the center of the robot device (1). In other words, the additional link members (1110, 1120) may be structured to face one end of the main link member (400) as they face the center of the robot device (1). Accordingly, a space may be formed between the sub-link member (510, 520) and the main hinge (310) to install additional structures (2010, 2020). Additionally, the first hinge member (611) and the second hinge member (612) may be positioned between the area where the sub-link member (510, 520) and the additional link member (1110, 1120) meet and the area where the plurality of wheels (201, 202) meet.

[0097] Additional structures (2010, 2020) can be placed between the sub-link members (510, 520) and the main hinge (310). The additional structures (2010, 2020) can be formed as structures capable of reinforcing the rigidity of the robot device (1). For example, various structures such as structures capable of forming a bracing structure through X-shaped or V-shaped metal members, reinforcing plates, and truss structures can be placed.

[0098] FIG. 11 is a drawing for illustrating a robot device (1) including an additional link member and a sub-additional link member according to at least one embodiment of the present disclosure.

[0099] In FIG. 11, the robot device (1) may further include sub-additional link members (1210, 1220) in FIG. 10. The main hinge (310) may be longer than the main hinge in FIG. 2 and shorter than the main hinge in FIG. 10. A main link member (400) may be attached to the lower side of the main hinge (310).

[0100] In FIG. 11, one end of the sub-additional link member (1210, 1220) can be connected to both ends of the main hinge (400). One end of the additional link member (1110, 1120) can be connected to one end of the sub-link member (510, 520). The remaining end of the sub-additional link member (1210, 1220) can be connected to the remaining end of the additional link member (1110, 1120). The area where the remaining end of the sub-additional link member (1210, 1220) and the remaining end of the additional link member (1110, 1120) are connected can be located below the main link member (400) and the sub-link member (510, 520). Accordingly, a space for placing an additional structure (2010, 2020) can be formed on the upper side of the area where the remaining end of the sub-additional link member (1210, 1220) and the remaining end of the additional link member (1110, 1120) are joined.

[0101] Additionally, the first hinge member (611) and the second hinge member (612) may be positioned between the area where the sub-link member (510, 520) and the additional link member (1110, 1120) meet and the area where the plurality of wheels (201, 202) meet.

[0102] Additional structures (2010, 2020) may be placed between the area where the remaining end of the sub-additional link member (1210, 1220) and the remaining end of the additional link member (1110, 1120) are joined and the lower area of ​​the main body (100). The additional structures (2010, 2020) may have various shapes and structures. Accordingly, the rigidity of the lower part of the robot device (1) can be reinforced. Each of the components described in the document may be composed of one or more components, and the names of the components may vary depending on the type of robot device.

[0103] In this document, it is stated that various devices such as a support member, a support plate, a humanoid device, and a 3-axis core robot can be assembled on the upper part of the main body (100) of the robot device (1), but the main body (100) may also be formed integrally with the various devices mentioned above.

[0104] Although various embodiments of the present disclosure have been described individually above, each embodiment is not required to be implemented alone, and the configuration and operation of each embodiment may be implemented in combination with at least one other embodiment.

[0105] Although preferred embodiments have been illustrated and described above, the present disclosure is not limited to the specific embodiments described above. It is understood that various modifications can be made by those skilled in the art without departing from the essence of the present disclosure as claimed in the claims, and such modifications should not be understood individually from the technical spirit or perspective of the present disclosure.

Claims

1. In a robot device, entity; A main hinge located at the lower part of the above main body; A main link member comprising a central portion coupled to the main hinge and pivoting around the central portion as an axis; A plurality of sub-link members coupled to both sides of the main link member; and It includes a first wheel and a second wheel connected to each of the plurality of sub-link members; and A robot device wherein each of the plurality of sub-link members is connected to first and second hinge members at a position spaced apart from the main link member at the lower part of the main body, and pivots around the first and second hinge members according to the movement of the first wheel and the second wheel.

2. In Paragraph 1, Each of the above plurality of sub-link members includes a slot, and The main link member includes a protrusion corresponding to the slot, and Each of the above plurality of sub-link members is connected to the main link member in such a way that the protrusion is inserted into the slot, and A robot device in which the above slot is configured to allow displacement of the protrusion according to the movement of the plurality of sub-link members.

3. In Paragraph 2, The plurality of sub-link members includes a first sub-link member connected to a first end of the main link member and a second sub-link member connected to a second end of the main link member. The above slot is formed at one end connected to the main link member among the two ends of each of the first sub-link member and the second sub-link member, and Each of the first wheel and the second wheel is connected to the other end among the two ends of each of the plurality of sub-link members, and The first hinge member is connected to a region between both ends of the first sub-link member, and A robot device in which the second hinge member is connected to a region between both ends of the second sub-link member.

4. In Paragraph 1, Both ends of the main link member include slots, and One end of each of the above plurality of sub-link members includes a hole, The plurality of sub-link members are coupled with the main link member between the connecting portion penetrating the hole and the slot, and A robot device in which each of the above slots is configured to allow displacement of the connecting part connected to the hole according to the movement of the plurality of sub-link members.

5. In Paragraph 1, Each of the above first wheel and the above second wheel is, A robot device comprising a differential wheel including a wheel body and a plurality of wheels disposed on both sides of the wheel body.

6. In Paragraph 5, The above wheel body is, A robot device comprising: a connecting member capable of being coupled to each of the plurality of sub-link members between holes formed in each of the plurality of sub-link members.

7. In Paragraph 6, A robot device further comprising a third wheel and a fourth wheel fixed at a position spaced apart from the first wheel and the second wheel at the lower part of the main body.

8. In Paragraph 7, Each of the above third wheel and the above fourth wheel is, A robot device comprising a differential wheel including a wheel body and a plurality of wheels disposed on both sides of the wheel body.

9. In Paragraph 1, The first hinge member is, A plurality of first hinge portions arranged opposite each other at a first position spaced apart from the main link member at the lower part of the main body; and A first connecting member connecting the plurality of first hinge members and the first sub-link member, wherein the first sub-link member, which is one of the plurality of sub-link members, is disposed between the plurality of first hinge members; The second hinge member above is, A plurality of second hinge portions arranged opposite each other at a second position spaced apart from the main link member at the lower part of the main body; and A robot device comprising: a second connecting member connecting the plurality of second hinge members and the second sub-link member, wherein the second sub-link member, which is another of the plurality of sub-link members, is disposed between the plurality of second hinge members.

10. In Paragraph 2, The first hinge member is, Located closer to the other end compared to the center between both ends of each of the first sub-link members, The second hinge member above is, A robot device located closer to the other end than to the center between the two ends of each of the second sub-link members.

11. In Paragraph 1, A robot device further comprising a humanoid device mounted on the above main body.

12. In Paragraph 1, It further includes an additional link member between the main link member and the plurality of sub-link members, and A robot device in which the main link member is positioned closer to the ground than the plurality of sub-link members.

13. In Paragraph 12, It further includes a sub-additional link member between the above additional link member and the above main link member, and A robot device in which the area where the additional link member and the sub-additional link member meet is positioned closer to the ground than the area where the main link member is located.

14. In a robot device, entity; A first wheel and a second wheel positioned at the lower part of the main body; A main hinge disposed between the first wheel and the second wheel; A main link suspension comprising a central part coupled to the main hinge and pivoting around the central part as an axis; A first sub-link suspension comprising a first hinge mounted on the first wheel, coupled to the first opposite side of the main link suspension, and connected to the lower part of the main body; A second sub-link suspension comprising a second hinge mounted on the second wheel, coupled to the second opposite side of the main link suspension, and connected to the lower part of the main body; The hinge axis of the first hinge is positioned closer to the central part of the main link suspension than the rotation axis of the first wheel, and A robot device in which the hinge axis of the second hinge is positioned closer to the central part of the main link suspension than the rotation axis of the second wheel.

Images