KR101228836B1 - Robot having retreatable wheel - Google Patents

Abstract

The present invention relates to a robot capable of wandering wheels. More specifically, the limbs protrude from the main body when the robot is in operation, and when the robot is not in operation, the limbs enter the main body so that the appearance is smooth. It is about a robot that can be given and rolled in a wheel that is easy to carry.

Description

Robot having retreatable wheel

The present invention relates to a robot, the limbs protrude from the main body when the robot is in operation, the limbs enter the main body when not in operation, so that the appearance is smooth to give another fun and the appearance of a wheel that is easy to carry It's about possible robots.

As robot technology advances, robots having various uses are emerging. Among them, a health robot is being developed to help mental health by being a playground equipment for children and patients.

These health robots have a small and cute appearance and are equipped with cameras, speakers, and artificial intelligence along with the basic movements of the robots such as forward and backward, so that they can play with each other, such as being able to take pictures or take pictures with the user. It is a novelty and a mental support.

However, in most conventional robots including a health robot, wheels always protrude from the main body as a means for moving the robot.

That is, it is correct to keep the wheel protruding from the main body to be in contact with the ground for the movement of the robot main body, but the protruding wheel will cause a great obstacle when not moving.

For example, when the user moves with the robot, the protruding wheels hang while they are in the body and may get caught in clothes. In addition, a child or a patient sleeps with a health robot when they sleep, but the protruding wheels do not give a cozy feeling.

The present invention has been made to solve the problems of the prior art as described above, when the robot is operating a wheel-shaped foot that protrudes when the robot is operating, the wheel-shaped foot is not part of the body appearance when not operating The purpose is to provide a robot that can entertain the user at the same time as well as entertain the user with a fun wheel.

Robot capable of wandering the wheel according to the present invention for achieving the above object, the body formed with an opening in the lower portion; A wheel-shaped foot which can be rotated by the power of the wheel driving motor and is located in the opening of the main body; And mounted inside the main body, by transporting the rod associated with the wheel foot so that the circumference of the wheel foot on the ground to enable the movement of the main body according to the rotation of the wheel foot, or of the wheel foot And driving means for tilting the axis of rotation so that the wheel-shaped foot intersects the opening of the body.

Here, each opening is formed symmetrically on both lower sides of the main body, the wheel foot is located in each of the opening, the wheel driving motor for transmitting power to the wheel foot is connected to the drive means The driving means may include: a support frame having a rod moving groove formed to allow the rod to be seated and to move in a vertical direction; The rod seated in the rod moving groove of the support frame and having a gear moving groove formed in a longitudinal direction on one side thereof, and having teeth formed in one side of the gear moving groove; A rod feed gear meshing with a tooth formed on one side in the gear moving groove of the rod; A rod feed motor for elevating the rod by rotating the rod feed gear; A wheel drive post connected to protrude from the bottom of the rod; A post guide groove in which the wheel driving post moves, the bracket being coupled to the wheel driving motor; And one side is connected to the wheel driving post, and the other side is connected to a point away from the hinged position of the wheel driving motor and the bracket, and pushes or pulls the wheel driving motor according to the elevation of the wheel driving post. As such, the wheel link to the circumference of the wheel-shaped foot coupled with the wheel driving motor to the ground, or by tilting the rotation axis of the wheel-shaped foot so that the wheel-shaped foot intercepts the opening of the main body.

In addition, the driving means, the tail drive post is connected to protrude from the lower portion of the rod; A tail support fixed to the tail drive post; And one side is hinged to the tail support portion and the other side is coupled to the tail wheel, the tail link to push the tail wheel to the rear of the main body according to the lifting of the tail driving post, or to pull the tail wheel into the main body; It may further include.

In addition, in the state where the wheel-shaped foot blocks the opening of the main body, the main body is generally egg-shaped, and a flat portion may be formed on the bottom surface of the main body so that the wheel-shaped foot stands up in a state of blocking the opening of the main body.

In addition, the wing-shaped arm which is operated by the drive means on both sides of the main body; further comprising, the drive means, the arm drive arm connected to the upper portion of the rod and provided with a protruding end; An arm link having a protrusion guide groove through which the protrusion of the arm driving arm moves; And one end coupled to an upper portion of the wing arm, and the other end hinged to the arm link, and an arm operating shaft hinged to the main body at an intermediate point of both ends. Accordingly, the arm link may push or pull the other end of the arm operation shaft to allow the wing-shaped arm to extend out of the main body or to be seated on the main body.

As described above, the robot capable of wandering the wheel according to the present invention, when the robot is operating so that the circumference of the wheel-foot touches the ground so that it can move, by changing the angle of the wheel-foot when the robot stops The wheel-shaped foot blocks the opening of the main body so that the surface of the wheel-shaped foot is integrated with the appearance of the main body, so that there is no hangover when carrying, and a user such as a child or a patient can feel cozy when in the product.

In addition, in the dormant state in which the operation is not performed, since the wheel-shaped foot completely covers the opening of the lower part of the main body without a separate cover, the foreign matter may be prevented from penetrating the inside.

In addition, the wing-shaped arm also protrudes from the main body or may be integrated with the external appearance of the main body to change the overall appearance of the robot may give a novel fun.

1 is a perspective view for explaining a robot that can be mounted on the wheel according to an embodiment of the present invention.
Figure 2 is a perspective view for explaining the driving means of the robot shown in FIG.
3 is a rear view for explaining the driving means of the robot shown in FIG.
4 is a perspective view for explaining a rod of the driving means of the robot shown in FIG.
5 and 6 are views for explaining the wheel-shaped foot and the wing arm of the robot shown in FIG.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings, but some components irrelevant to the gist of the present invention will be omitted or compressed, but the omitted elements are not necessarily required in the present invention. The invention can be used in combination by those skilled in the art.

1 is a perspective view for explaining a robot that can be mounted on the wheel according to an embodiment of the present invention. As shown in FIG. 1, a robot capable of wandering a wheel according to an exemplary embodiment of the present invention includes a main body 10 having an egg-shaped appearance as a whole, a head 20 mounted on an upper part of the main body 10, and a main body. The wing-shaped arm 64 mounted on both sides of the 10 and the wheel-shaped foot 53 mounted in the opening 12 of the lower part of the main body 10 are included. Here, the head 20, the wing arm 64 and the wheel foot 53 is connected to the drive means 40 installed in the main body 10, and is operated by a power source such as a motor.

In the head 20 mounted on the upper portion of the main body 10, eyes 21, eyebrows, noses, etc. are shaped like human faces, and the eyelids are moved or the eyebrows are moved by a motor (not shown). The head 20 itself can move. Moreover, the camera 22 is attached to a nose position, and can photograph forward. In addition, the head 20 may be covered with a transparent cover.

The front of the main body 10 is equipped with a display 30, the image taken by the camera 22 may be output or a picture or video stored in a separate memory (not shown) may be output.

Openings 12 are formed at both sides of the lower portion of the main body 10, and wheel-shaped feet 53 rotatable by the wheel driving motors 54 are positioned in the openings 12, respectively. In addition, an opening through which the tail wheel 58 emerges is formed in the lower rear portion of the main body 10.

In addition, both sides of the main body 10 are formed with the arm seating portion 11 recessed into the body 10, the wing-shaped arm 64 is mounted to the arm seating portion (11).

The wheel-shaped foot 53 and the wing-shaped arm 64 is operated by the drive means 40 installed in the main body 10, the description of the drive means 40 will be described with reference to Figs. Prior to the description, since the features of the present invention are in the driving of the wheel-shaped foot 53 and the wing-shaped arm 64 of the robot, description of the driving of the head 20 will be omitted.

Referring to FIG. 2, the driving means 40 installed in the main body 10 includes a support frame 41, a rod 43, a rod feed motor 46, a rod feed gear 47, and a wheel drive post 48. ), Wheel link (49), bracket (50), tail drive post (55), tail support (56), tail link (57), arm drive arm (59), arm link (61), arm motion shaft (63) It includes an arm support (65).

The support frame 41 is formed long and vertically, and is provided with a rod moving groove 42 which is movable in the longitudinal direction by mounting the rod 43 therein.

Referring to FIG. 4 with the support frame 41 removed and viewed from a rear angle, a gear moving groove 44 is formed in the longitudinal direction at the rear of the rod 43 seated on the support frame 41, and the gear moving groove A tooth 45 is formed on one side of the 44, and a rod feed gear 47 that meshes with the teeth 45 of the gear moving groove 44 is seated in the gear moving groove 44. The rod feed gear 47 is rotatable by the rod feed motor 46 (refer to the rear view in FIG. 3), and the gear transfer groove 44 is rotated by the rod feed gear 47 rotating by the power of the rod feed motor 46. ), The teeth 45 may be pushed up or down to move the rod 43 up and down.

The lower front of the rod 43, the wheel driving post 48 is protruded and connected, the lower rear of the rod 43, the tail driving post 55 is protruded and connected. In addition, the arm drive arm 59 is connected to protrude to both sides of the rod 43.

As shown in FIG. 2, the wheel drive posts 48 protruding from the lower front of the rod 43 are seated through the post guide grooves 51 formed in the vertical direction of the center of the bracket 50.

In addition, a hinge 52 is coupled to one point of the wheel driving motor 54 providing rotational power to the wheel-shaped foot 53 at both sides of the bracket 50. In addition, one end of the wheel link 49 is connected to the wheel driving post 48 protruding through the post guide groove 51 of the bracket 50, and the other end of the wheel link 49 is connected to the wheel driving motor 54. Connected. The point where the other end of the wheel link 49 is connected to the wheel driving motor 54 is preferably far from the point where the wheel driving motor 54 and the bracket 50 are coupled to the hinge 52.

Therefore, referring to FIG. 3 (rear), when the rod feed gear 47 rotates by the rotation of the rod feed motor 46 and the rod 43 descends, the wheel driving post 48 posts the bracket 50. It is lowered along the guide groove 51, and one end of the wheel link 49 descends as the wheel drive post 48 descends, and the other end of the wheel link 49 pulls the wheel drive motor 54 to drive the wheel. By rotating the motor 54 relative to the hinge 52, the wheel foot 53 is erected so that the circumference of the wheel foot 53 reaches the ground.

In this state, when the wheel drive motor 54 transmits the rotational power to the wheel-shaped foot 53, the wheel 10 is rotated while the main body 10 is moved forward or backward. Here, each of the wheel-shaped foot 53 is operated by the respective wheel drive motor 54, it is also possible to turn right and left rotation in accordance with the rotational speed difference of the wheel-shaped foot 53. In addition, the wheel-shaped foot 53 is surrounded by a material having a high coefficient of friction, such as O-ring around the ground can also improve the running performance.

In addition, when the user inputs a command by using a remote control device (not shown), the load transfer motor 47 rotates the rod 43 while the load transfer motor 46 is reversely rotated. Accordingly, the wheel driving post 48 rises along the post guide groove 51 of the bracket 50, and one end of the wheel link 49 rises as the wheel driving post 48 rises, and the wheel link 49 The other end of the) pushes the wheel drive motor 54, accordingly, the wheel drive motor 54 is rotated based on the hinge 52 coupled to lay the wheel-shaped foot (53). Accordingly, the wheel foot 53 is inclined as shown in the rear view of FIG. 5, and as shown in FIG. 6, the wheel foot 53 blocks an opening 12 of the main body 10, thereby partially displacing the main body 10. Becomes Therefore, in this state, the shape of the entire body 10 becomes an egg shape.

On the other hand, even if the wheel-shaped foot 53 is standing on both sides, it is unstable to stand the main body 10 only by the wheel-shaped foot (53). Therefore, an opening through which the tail wheel 58 protrudes is formed at the rear of the main body 10.

Referring to Figure 4, the operation of the tail wheel 58, first, the tail driving post 55 is protruded and connected to the lower rear of the rod 43, the tail support (55) to the protruding tail driving post (55) 56) is fixed. In addition, one side of the tail link 57 is hinged to the tail support 56, the tail wheel 58 is coupled to the other side of the tail link (57).

Therefore, when the rod 43 rises, the tail drive post 55 and the tail support 56 are raised to pull the tail wheel 58 at the end of the tail link 57 so that the tail wheel 58 is inside the body 10. When the rod 43 is lowered, the tail driving post 55 and the tail support 56 are lowered to push the tail wheel 58 at the end of the tail link 57 to the outside of the main body 10.

Here, the tail wheel 58 and the tail link 57 is released through the opening formed in the lower rear of the body 10, in which case the tail wheel 58 and the tail link 57 enters the body, the tail cover 66 Block the openings. That is, referring to Figure 4, the tail link 57 is formed with a connecting post groove through which the connecting post of the tail cover 66 in the longitudinal direction, one point inside the tail cover 66 is the main body 10 And hinge are combined. Therefore, when the tail driving post 55 descends, the tail wheel 58 slides while contacting the ground, and the tail link 57 protrudes through the opening formed in the lower rear of the main body 10. At this time, the connection post of the tail cover 66 slides along the connection post groove of the tail link 57 to push the lower part of the tail cover 66 to the outside of the main body 10. Therefore, the tail cover 66 is opened by rotating in the hinged state of the top.

On the contrary, when the tail driving post 55 is raised in the state in which the tail wheel 58 protrudes, the tail wheel 58 and the tail link 57 enter the inside of the main body 10, and the tail cover 66 The lower part is also pulled by the connecting post connected to the tail link 57 and closed to close the opening.

On the other hand, the position where the circumference of the wheel-shaped foot 53 is in contact with the ground is preferably biased forward when the center of the front and rear direction of the main body 10. That is, when the rod 43 descends, the wheel-shaped foot 53 is unfolded on both sides of the lower part of the main body 10, and the position where the circumference of the wheel-shaped foot 53 is in contact with the ground is shifted toward the front of the main body 10. If there is, when the wheel-shaped foot 53 is unfolded, the body 10 is naturally folded back. At this time, since the wheel 53 is unfolded and the tail wheel 58 is also unfolded rearward, the main body 10 can be supported by the protruding tail wheel 58 to fall back. Therefore, the main body 10 can move forward and backward by the rotation of the wheel-shaped foot 53 in a state where the tail wheel 58 is stably supported from behind.

On the other hand, when both the wheel-shaped foot 53 and the tail wheel 58 enters the main body 10, the bottom surface of the egg-shaped main body 10 comes into contact with the ground, so that the main body 10 can be maintained even in this state. It is preferable that the flat part 13 is formed in the bottom face of the main body 10 (refer FIG. 1). Accordingly, as the wheel 53 and the tail wheel 58 enter the main body 10 as shown in Figs. 5 and 6, the flat portion 13 of the bottom of the main body 10 is brought into contact with the ground. It can be maintained.

In addition, since the wheel-shaped foot 53 serves to move the main body 10 by rotation, the circumference thereof should be circular, and the wheel-shaped foot 53 must completely block the opening 12. It is also preferable that the wheel-shaped foot 53 and the inner diameter is approximately similar circular. That is, the wheel-shaped foot 53 is opened and closed by rotation in a state in which the wheel driving motor 54 integrally coupled to the wheel-shaped foot 53 is coupled to the bracket 50 by the hinge 52. Therefore, when the wheel-shaped foot 53 is unfolded, the wheel-shaped foot 53 is erected in a state perpendicular to the ground, and thus, the wheel-shaped foot 53 can be driven by the rotation of the wheel-shaped foot 53, and when the wheel-shaped foot 53 is closed, the wheel One surface of the mold 53 may completely close the opening 12 of the main body 10. Accordingly, a separate cover other than the wheel-shaped foot 53 is not required to close the opening 12. Therefore, the wheel-shaped foot 53 also serves as a cover to close the opening 12 to prevent foreign matter from penetrating into the inside can also eliminate the risk of failure of the internal configuration.

In addition, since the wheeled foot 53 is unfolded or closed, the movement is not a linear movement, but a rotational movement. As soon as the wheeled foot 53 is rotated and unfolded, the wheeled foot 53 is erected perpendicularly to the ground, and thus the driving state is possible. In addition, as soon as it is closed, the opening 12 may be closed so that the main body 10 may be a complete egg shape. That is, even if there is no additional motion, the wheel-shaped foot 53 is rotated to stand vertically by only one motion to be in a running state, and the rotation 12 can be closed to close the opening 12 so that complicated motion control is not required.

In addition, the wheel drive motor 54 for driving the wheel-shaped foot 53 is a structure fixed integrally inside the wheel-shaped foot 53. That is, unless the wheel drive motor 54 is integrally fixed to the wheel-shaped foot 53, a separate rotational force converting means is required so that rotational power is transmitted only when the position of the wheel-shaped foot 53 is at a specific position. In this embodiment, even if the wheel 53 is expanded or closed with respect to the main body 10, the wheel driving motor 54 is fixed to the wheel 53 so that the rotational force is converted to the wheel type ( 53 There is no need for a separate mechanism to communicate.

On the other hand, since the wheeled foot 53 is unfolded while rotating, the vertical lowest point of the unrolled wheeled foot 53 should be located at a lower point than the flat portion 13 of the main body 10, whereby the main body 10 is grounded. You can drive away from the car. At the same time, the unfolded wheel form 53 is structurally stable while maintaining the state perpendicular to the ground (that is, the load is applied only in a direction perpendicular to the direction of the axis of rotation that transmits rotational force to the wheel form 53). No load is generated), and when the wheel-shaped foot 53 returns, the opening 12 of the main body 10 can be completely covered. In other words, the above-described effects cannot be expected in the manner in which the wheel-shaped foot 53 roams while rotating, but in a linear movement.

In addition, when the wheel 53 and the tail wheel 58 is returned to the inside of the body 10, it is preferable that the wheel 53 is returned first. This is because if the tail wheel 58 is returned first, the main body 10 may be flipped over and fall down. Therefore, when the wheel-shaped foot 53 is folded earlier than the tail wheel 58, the body 10 is lowered and the flat part 13 may stably touch the ground, and then the tail wheel 58 is folded and the body ( 10) can be reliably erected on the ground. Of course, the order in which the wheel-shaped foot 53 and the tail wheel 58 are unfolded and folded is determined by setting the positions in which the rods 43 are connected to each other.

The operation of the wing arm 64 will be described again with reference to FIGS. 2 to 5.

Protruding to both sides of the rod 43, the arm drive arm 59 is connected, the protruding portion 60 is provided at the end of the arm drive arm (59). The protrusion of the arm driving arm 59 is coupled to the protrusion guide groove 62 of the arm link 61, and the end of the arm link 61 is hinged to the arm operating shaft 63 fixed to the wing-shaped arm 64. .

The wing-shaped arm 64 may be seated on the arm seating portions 11 formed at both sides of the main body 10, or the lower portion thereof may be raised to maintain a form in which the wings are spread. The upper portion of the wing arm (64) for the operation of the wing arm (64) is fixed to the arm operating shaft (63) extending into the body (10). That is, one end of the arm operation shaft 63 is coupled to the upper portion of the wing-shaped arm 64, the other end is hinged to the arm link (61). In addition, the intermediate point of the arm operating shaft 63 is hinged to the main body 10 and the fixed arm support (65).

Therefore, when the rod 43 descends, the protrusion 60 of the arm drive arm 59 descends along the protrusion guide groove 62 of the arm link 61 and moves the arm link 61 at the end of the protrusion guide groove 62. One end of the arm operation shaft 63 lifts the wing-shaped arm 64 while the arm link 61 pulls down the other end of the arm operation shaft 63 accordingly (see FIG. 3).

On the contrary, when the rod 43 is raised, the protrusion 60 of the arm driving arm 59 is raised along the protrusion guide groove 62 of the arm link 61 while being caught by the jaw of the protrusion guide groove 62. As a result, the arm link 61 pushes up the other end of the arm operation shaft 63, while one end of the arm operation shaft 63 lowers the wing-shaped arm 64, so that the wing-shaped arm 64 is the main body 10. It is seated on the arm seat 11 of () (see Figs. 5 and 6).

As the rod feed gear 47 rotates according to the rotation of the rod feed motor 46, the rod 43 is raised or lowered. When the rod 43 is lowered, the wheel foot 53 and the wing arm are lowered. All of 64 are in the unfolded form (operation mode), and when the rod 43 is raised, both the wheel foot 53 and the wing arm 64 are folded (sleep mode).

Therefore, in the operation mode, the wheel foot 53 can be rotated according to the user's command, and in the dormant mode, the wheel foot 53 and the wing arm 64 are both folded, so that the main body 10 is completely egg-shaped. This can be achieved, so when moving with the robot there is no mounting part, and even when you are in your arms, you will feel warm.

On the other hand, the robot that can appear on the wheel according to an embodiment of the present invention may be controlled by a remote control (not shown), a microphone (not shown) or a speaker (not shown) is mounted to recognize or operate the user's voice or The voice may be output through the speaker.

Preferred embodiments of the present invention described above are disclosed for the purpose of illustration, and those skilled in the art will be able to make various modifications, changes and additions within the spirit and scope of the present invention. And additions should be considered as belonging to the claims of the present invention.

10: Body
11: arm seat
12: opening
13: flat part
20 head
21: eyes
22: camera
30: display
40: driving means
41: support frame
42: rod moving groove
43: loading
44: gear moving groove
45: tooth
46: rod feed motor
47: rod feed gear
48: Wheel drive post
49: wheel link
50: bracket
51: Post Guide Home
52: hinge
53: wheel type foot
54: wheel drive motor
55: tail drive post
56: tail support
57: tail link
58: tail wheel
59: arm drive arm
60: protrusion
61: Fallink
62: protrusion guide groove
63: arm motion axis
64: wing arm
65: arm support
66: tail cover

Claims (5)

A main body having an opening formed at a lower portion thereof;
A wheel-shaped foot which can be rotated by the power of the wheel driving motor and is located in the opening of the main body; And
Is mounted inside the main body, by transporting the rod associated with the wheel foot so that the circumference of the wheel foot to the ground to enable the movement of the main body according to the rotation of the wheel foot, or the rotating shaft of the wheel foot It includes a drive means for tilting the wheel to block the opening of the main body,
Each opening is formed symmetrically on both lower sides of the main body,
The wheel-shaped foot is located in each of the opening, the wheel driving motor for transmitting power to the wheel-shaped foot is connected to the drive means,
The driving means includes:
A support frame on which a rod moving groove is formed so that the rod is seated and movable in the vertical direction;
The rod seated in the rod moving groove of the support frame and having a gear moving groove formed in a longitudinal direction on one side thereof, and having teeth formed in one side of the gear moving groove;
A rod feed gear meshing with a tooth formed on one side in the gear moving groove of the rod;
A rod feed motor for elevating the rod by rotating the rod feed gear;
A wheel drive post connected to protrude from the bottom of the rod;
A post guide groove in which the wheel driving post moves, the bracket being coupled to the wheel driving motor; And
One side is connected to the wheel driving post, the other side is connected to a point away from the hinged point of the wheel driving motor and the bracket, by pushing or pulling the wheel driving motor in accordance with the lift of the wheel driving post The wheel of the wheel, characterized in that it comprises a wheel link to the circumference of the wheel-shaped foot coupled to the wheel driving motor to the ground, or by tilting the rotation axis of the wheel-shaped foot to block the opening of the body Robot that can be haunted.
delete The method of claim 1,
The driving means includes:
A tail drive post connected to protrude from the bottom of the rod;
A tail support fixed to the tail drive post; And
One side is hinged to the tail support and the other side is coupled to the tail wheel, the tail link to push the tail wheel to the rear of the main body according to the lifting of the tail driving post, or to pull the tail wheel into the main body; Robot capable of wandering wheels comprising a.
The method of claim 1,
The main body is generally egg-shaped in a state where the wheel-shaped foot blocks the opening of the main body,
And a flat part formed on a bottom surface of the main body such that the wheel-shaped foot is erected in a state of blocking the opening of the main body.
The method of claim 1,
Further comprising: a wing-shaped arm operated by the drive means on both sides of the main body,
The driving means includes:
An arm drive arm connected to an upper portion of the rod and provided with a protrusion at an end thereof;
An arm link having a protrusion guide groove through which the protrusion of the arm driving arm moves; And
One end is coupled to the upper portion of the wing-shaped arm, the other end is hinged to the arm link, the arm operating shaft hinged to the main body at the intermediate point of both ends;
As the arm link pushes or pulls the other end of the arm operation shaft in accordance with the elevation of the protruding portion of the arm driving arm, the wing-shaped arm is spread out of the main body or mounted on the main body. Robot available.

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