KR102023612B1 - Guidance robot - Google Patents

Abstract

The guide robot according to the embodiment of the present invention includes a case having a coupling hole and a door type display structure that can open and close the coupling hole, thereby facilitating access to a body part having main electric components. In addition, the display plate is coupled to the main frame and the slide guide and guide plate coupled to the mounting plate, coupled to one side of the guide plate coupled to the display unit by a plurality of link type coupling device is provided, thereby sliding the display unit After moving, it can be rotated to open or close the coupling hole. Therefore, it is not necessary to disassemble and transport the display unit separately in the case of repairing the guide robot.

Description

Guide Robots {GUIDANCE ROBOT}

The present invention relates to a guide robot.

Robot applications are generally classified into industrial, medical, space, and submarine applications. For example, in the machining industry, such as automobile production, robots can perform repetitive tasks. In other words, many industrial robots are already in operation that repeat the same movement for hours if the human arm is taught only once.

In addition, the technology that the camera is mounted on the robot has already been implemented a lot in the prior art. The robot can check the position or recognize the obstacle using the camera. In addition, displaying the captured image on the display unit has been sufficiently implemented.

On the other hand, in recent years, with the explosive growth of airport users and efforts to leap to the smart airport, a method for providing a service through a robot in the airport has been developed.

The introduction of artificial intelligence robots at the airport is expected to contribute to the quantitative and qualitative improvement of the services provided by the robots, which can instead play a unique role of a person that the existing computer system could not replace.

In general, the robot is provided with a screen unit for providing service information to the user, that is, a display unit. The display unit may move to a location convenient for the user. For example, the display unit may be mounted on the main body of the robot to adjust the height in the vertical direction.

Related literature information is as follows.

1.Registration No .: 10-1243262 (Registration Date: March 07, 2013)

   Name of invention: intelligent display device

Referring to the preceding document, a screen unit mounted on a main body to provide service information to a user and a driving unit for lifting or lowering the same are provided. And the screen angle can be adjusted automatically according to the user's viewing angle. The screen unit and the driving unit are coupled to the main body in the form of a rail so that the lifting and lowering.

In the above-mentioned prior document, when the apparatus requires repair or the like, access to the driving unit for fixing the screen unit or access to the main body connected with the driving unit is not easy by the screen unit and the driving unit, respectively. In other words, there is an inconvenience of unfastening and disassembling the screen unit, or opening the main electric part of the main body by unfastening the drive unit.

In addition, the screen unit (display) is fastened to the driving unit. Therefore, when the screen is completely separated from the main body and needs to be replaced or repaired by another screen, there is a disadvantage in that disassembly is not easy.

In addition, even if the screen unit is dismantled, it must be moved to a separate space for repair of the main body and the driving unit. However, there is an inconvenience in the movement of the screen portion due to the heavy weight of the screen portion.

An object of the present invention is to provide a guide robot that can solve the problem that is difficult to access when the repair is required because the position of the main electronic component is closed in the guide robot structure to which the display unit is fastened.

Another object of the present invention is to provide a guide robot that can solve the inconvenience of carrying a heavy display separately when repair is required in the guide robot structure to which the display is fastened.

Another object of the present invention is to provide a guide robot that can solve the structure problem of the display unit is difficult to install so as to be rotatable with the main body due to the interference of the display unit is tilted along the inclined case.

Still another object of the present invention is to provide a guide robot that can solve a problem that it is inconvenient to remove or disassemble the display unit in a guide robot structure to which a display is fastened.

The guide robot according to the embodiment of the present invention includes a case having a coupling hole and a door type display structure that can open and close the coupling hole, thereby facilitating access to a body part having main electric components.

Guide robot according to an embodiment of the present invention, the coupling plate and the guide plate coupled to the installation plate coupled to the main frame, the coupling of a plurality of link methods coupled to one side of the guide plate is connected to the display unit By providing the device, the display unit can be slidably moved and rotated to open or close the coupling hole. Therefore, it is not necessary to disassemble and transport the display unit separately in the case of repairing the guide robot.

Guide robot according to an embodiment of the present invention, the movement guide device is provided in the body portion, the movement guide device, a guide plate, a guide rail for sliding out of the guide plate, a coupling device coupled to the guide plate A plurality of links are rotatably connected to the coupling device, and thus the display unit may be rotatably installed without interference between components. In addition, it is possible to secure a sufficient rotation angle of the display unit.

In the guide robot according to the embodiment of the present invention, the movement guide device coupled to the installation plate is provided with a plurality of links and a mounting portion fastened to the display portion, so that the display portion can be easily and completely separated by dismantling only the fastening member from the mounting portion. have.

According to the present invention, access to the body part in which the main electric component is located is easy, so that cleaning, replacement, etc. of the main electric component is easy, thereby improving the manageability of the guide robot.

According to the present invention, since the heavy display unit does not need to be disassembled and transported separately, the difficulty of repairing the guide robot can be simplified and simplified. Therefore, there is an effect that can shorten the time for repair of the guide robot.

According to the present invention, as the repair time of the guide robot is shortened and the difficulty of repair decreases, labor costs for repair can be reduced, thereby reducing costs.

According to the present invention, since the manageability of the guide robot is improved, there is an advantage of increasing the life expectancy of the guide robot, and there is an effect of improving labor productivity and efficiency.

According to the present invention, by the coupling device having a guide plate and a link and a joint which can be pulled out by sliding movement, the display unit can be freely rotated without interference with other components, thereby facilitating the management of the guide robot and improving convenience. You can.

According to the present invention, by separating the fastening member for connecting the display unit to the attachment plate of the coupling device can easily separate the display unit easily, it is also possible to easily fasten the various display unit to the coupling device. That is, the display unit can be easily replaced. Therefore, the guide robot according to the present invention has the advantage that the scalability to continuously upgrade the configuration and the flexibility to easily combine the various configurations is improved.

According to the present invention, the user convenience is improved in the place where the floating population is large through the guide robot.

According to the present invention, since the display unit can be easily separated or combined, the accessibility to the internal configuration of the guide robot can be further improved.

1 is a front perspective view showing the appearance of a guide robot according to an embodiment of the present invention;
Figure 2 is a rear perspective view showing the appearance of the guide robot according to an embodiment of the present invention
Figure 3 is a perspective view showing the internal configuration of the case of removing the guide robot according to an embodiment of the present invention
4 is an enlarged view showing a part of a configuration of a guide robot according to a first embodiment of the present invention;
5 is an enlarged view showing a part of a configuration of a guide robot according to a second embodiment of the present invention;
Figure 6 is an enlarged view showing a coupling device of the guide robot according to an embodiment of the present invention
7 is an enlarged view showing a connection relationship between a movement guide device and a slide guide of a guide robot according to a first embodiment of the present invention;
8 is a cross-sectional view showing a coupling state of the opening device and the insertion member of the guide robot according to an embodiment of the present invention.
9 is a cross-sectional view showing a state in which the opening device and the insertion member of the guide robot according to an embodiment of the present invention are separated.
10 to 12 is a rear perspective view showing a step-by-step process of opening the display unit of the guide robot according to an embodiment of the present invention
13 to 15 are plan views showing the process of opening the display unit of the guide robot according to an embodiment of the present invention in a stepwise manner.
16 is a perspective view showing a part of the configuration of a guide robot according to a third embodiment of the present invention
17 is an exploded view of FIG. 16;
18 is a perspective view showing a part of the configuration of a guide robot according to a third embodiment of the present invention
19 is a perspective view showing a movement guide device for a guide robot according to a third embodiment of the present invention;
20 to 22 are views showing step by step the process of separating the display unit of the guide robot according to a third embodiment of the present invention

Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are assigned to the same components as much as possible even though they are shown in different drawings.

Hereinafter, a guide robot according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. The guide robot of the present invention may provide a road guide service or airport information to a user using the airport. Hereinafter, for the detailed description will be described with reference to an embodiment using the guide robot at the airport.

1 is a front perspective view showing the appearance of a guide robot according to an embodiment of the present invention, Figure 2 is a rear perspective view showing the appearance of a guide robot according to an embodiment of the present invention, Figure 3 according to an embodiment of the present invention A perspective view showing the internal configuration of the case of the guide robot removed.

1 to 3, the guide robot 1 according to the present invention may include a main body 10 and a display unit 20.

The main body 10 may include cases 31, 32, 33, and 34 that form an exterior of the guide robot 1.

The case may include a top cover 31 disposed above the first cover, a first middle cover 32 disposed below the top cover 31, and a second middle cover disposed below the first middle cover 32. 33) and a bottom cover 34 disposed below the second middle cover 33.

The top cover 31 is positioned at the top of the guide robot 1 and may have a dome shape. The top cover 31 may be positioned at a height lower than an adult's height (eg, 142 cm) in order to easily receive a command from a user. And the top cover 31 may be configured to be rotated 360 degrees.

The top cover 31 may be provided with an operation unit 41 on one side of the front surface.

The operation unit 41 may perform a function of receiving a command from a user. To this end, the operation unit 41 may include a touch monitor for receiving a touch input from the user.

The operation unit 41 may further include an object recognition sensor. The object recognition sensor may include a 2D camera and an RGBD sensor. The 2D camera may be a sensor for recognizing a person or an object based on a 2D image. In addition, the RGBD sensors Red, Green, Blue, and Distance may be sensors for acquiring a position or a face image of a person.

Although not shown, the operation unit 41 may further include a physical button for directly receiving a command from a user.

The top cover 31 may further include a microphone 42a disposed above the operation unit 41. The microphone 42a performs a function for receiving a command of an audio signal from a user. For example, four microphones 42a may be formed at any point of the upper end of the top cover 31 in order to accurately receive a voice command from the user. Therefore, even when the guide robot 1 is not only stopped but driving, it is possible to correctly receive a voice guidance request from the user.

In the present exemplary embodiment, the top cover 31 may be rotated such that the operation unit 41 faces the driving direction while the guide robot 1 is traveling. When the guide robot 1 receives a command (eg, a voice command) from the user while driving, the top cover 31 may be rotated toward the direction in which the user is located.

Alternatively, when the guide robot 1 receives a command from the user while driving, the top cover 31 may rotate in a direction opposite to the driving direction of the guide robot 1. That is, the top cover 31 may rotate in the direction that the display unit 20 faces. Therefore, the user can operate the manipulation unit 41 while watching the airport information displayed on the display unit 20.

The top cover 31 may further include an emergency operation button 47. The emergency operation button 47 may perform a function of immediately stopping the operation of the guide robot 1 while the guide robot 1 is stopped or traveling.

Meanwhile, the first middle cover 32 is disposed below the top cover 31. The first middle cover 32 may have a cylindrical shape in which a diameter increases as it descends from an upper side to a lower side. Various electronic components including a board may be accommodated in the first middle cover 33.

An RGBD sensor 42b may be provided on the first middle cover 32. The RGBD sensor 42b may perform a function of detecting a collision between the guide robot 1 and an obstacle while the guide robot 1 is driving. To this end, the RGBD sensor 42b may be located in the direction in which the guide robot 1 travels, that is, in front of the first middle cover 32. For example, the RGBD sensor 42b may be located at the uppermost side of the first middle cover 32 in consideration of a key of an obstacle or a person existing in front of the guide robot 1.

The first middle cover 32 may further include a speaker 44. The speaker 44 may perform a function of notifying the user of airport related information by voice.

The first middle cover 32 has a seating portion 32a (FIG. 4) on which the display unit 20 is mounted, and a coupling hole 32b (FIG. 4) formed by opening and closing by the display unit 20. ) May be further included.

The seating part 32a and the coupling hole 32b may be formed on one surface of the rear side of the first middle cover 32 on which the display unit 20 is disposed. In other words, the seating part 32a and the coupling hole 32b may be located at the rear of the main body 10.

The seating part 32a may have a plate shape so that the display unit 20 is seated. For example, the seating part 32a may support the display unit 20 by mounting a lower surface of the coupling unit 22 of the display unit 20.

The coupling hole 32b may be formed as an opening that matches the outer circumference of the coupling portion 22 to be described later. Therefore, the coupling hole 32b may be shielded or opened through the coupling portion 22.

The coupling hole 32b is closed by a close operation of the display unit 20, which will be described later. At this time, the display unit 20 and the main body 10 are integrally coupled. The coupling hole 32b is opened through an opening operation of the display unit 20, which will be described later, and the display unit 20 and the main body 10 are spaced apart from each other.

The coupling hole 32b may facilitate repair and management of the guide robot 1. In detail, the body part 60 of the main body 10 to be described later is located inside the first middle cover 32, and the main electronic components of the guide robot 1 are concentrated in the body part 60. . Therefore, when the guide robot 1 needs cleaning, repair, management, or the like, the main electric parts can be easily accessed through the coupling part 32b formed on the rear surface of the first middle cover 32. have.

The first middle cover 32 may form a camera hole connected to the stereo camera 43. The camera hole is a hole for the operation of the stereo camera 43 installed inside the main body 10. The camera hole may be formed at the front lower end of the first middle cover 32. Accordingly, the stereo camera 43 may photograph the front area of the guide robot 1 through the camera hole.

Meanwhile, the second middle cover 33 is disposed below the first middle cover 32. Like the first middle cover 32, the second middle cover 33 may have a cylindrical shape that increases in diameter from the top to the bottom.

The second middle cover 33 may include a first cutout 46a. The first cutout 46a may be formed on the front surface of the second middle cover 33. The first cutout 46a is a portion cut out of the second middle cover 33 to enable the front rider 71 to operate.

The front rider 71 is located inside the second middle cover 33. The first cutout 46a may be formed by cutting along the circumference of the second middle cover 33 at a point corresponding to the position of the front rider 71. Therefore, the front rider 71 may be exposed to the outside by the first cutout 46a.

In addition, the second middle cover 33 may further include a second cutout 46b.

The second cutout 46b may be formed on the rear surface of the second middle cover 33. The second cutout 46b is a portion cut out of the second middle cover 33 to enable the rear rider 72 to be described later. Specifically, the second cutout 46b may be cut to a predetermined length in the radial direction from the rear surface of the second middle cover 33. Here, the rear rider 72 is located inside the second middle cover 33. The second cutout 46b may be formed by cutting along the circumference of the second middle cover 33 at a point corresponding to the position of the rear rider 72. Accordingly, the rear rider 72 may be exposed to the outside by the second cutout 46b.

In the present exemplary embodiment, the first cutout 46a may be spaced apart in the vertical direction so as not to be connected to the second cutout 46b. The first cutout 46a may be located above the second cutout 46b.

The second middle cover 33 may further include an ultrasonic sensor 45. The ultrasonic sensor 45 may be a sensor for determining a distance between the obstacle and the guide robot 1 by using an ultrasonic signal. The ultrasonic sensor 45 may perform a function for detecting an obstacle in proximity to the guide robot 1. For example, the ultrasonic sensor 45 may include a plurality of sensors to detect obstacles in all directions in proximity to the guide robot 1. The plurality of ultrasonic sensors 45 may be formed to be spaced apart from each other along a lower circumference of the second middle cover 33.

On the other hand, the bottom cover 34 is disposed below the second middle cover 33. The bottom cover 34 may have a cylindrical shape in which the diameter decreases as it descends from the top to the bottom direction. The main wheel and the auxiliary wheel may be accommodated in the bottom cover 34.

The display unit 20 is connected to the main body 10 of the guide robot 1 and may be installed in one direction of the main body 10. For example, the display unit 20 may be installed at the rear of the guide robot 1 and may be formed long in the vertical direction.

The display unit 20 may be installed on one surface of the case opposite to the moving direction of the main body 10 in order for the guide robot 1 to perform a guide function such as a boarding gate to a user. The display unit 20 may include a curved display. Through the curved display, time information (eg, airport gate query information, road guidance service information, etc.) related to a service currently being provided may be displayed.

The display unit 20 further includes a display cover 21 for receiving the curved display. The curved display may be accommodated in the display cover 21. The display cover 21 may be located behind the first middle cover 32.

The display unit 20 may include a coupling unit 22 protruding in a direction toward the main body 10. In another aspect, the coupling part 22 may constitute a part of a case connected to the main body 10. In detail, the coupling part 22 is formed to correspond to the coupling hole 32b formed as an opening in one surface of the first middle cover 22, and may close the coupling hole 32b.

The coupling part 22 may protrude from one surface of the display cover 21. For example, the coupling part 22 may protrude from one surface of the display cover 21 in the direction toward the main body 10. That is, the coupling part 22 may protrude from one surface of the display cover 21 in the direction in which the first middle cover 32 is located.

The coupling portion 22 may be formed in various shapes. However, the coupling part 22 may be formed to be in close contact with the coupling hole 32b so that an outer periphery thereof may coincide with the coupling hole 32b.

When the coupling portion 22 is viewed from the side, the coupling portion 22 may be formed to be flat in the direction perpendicular to the lower surface of the front portion coupled to the main body 10. That is, the front portion of the coupling portion 22 may form a standing plate shape.

When the coupling part 22 is viewed from the side, the coupling part 22 may be formed to concave bent the rear part connected to the display cover 21. Therefore, the rear portion of the coupling portion 22 may correspond to the outer shape of the display cover 21 for receiving the curved display. In addition, as described above, the lower surface of the coupling portion 22 may be seated on the seating portion 32a.

The display unit 20 may further include a reader connection hole 25 that is a hole that is connected to the internal space of the reader 55. In detail, the reader connection hole 25 may be formed by making a hole in the upper front side of the coupling portion 22. In addition, the reader connection hole 25 may be formed as a hole on the coupling portion 22 and the display cover 21. Accordingly, the user may insert a ticket or a mobile boarding pass into the internal space of the reader 55 through the reader connection hole 25 formed on the display unit 20.

The coupling part 22 may include installation grooves 22a and 22b coupled to the coupling devices 240 and 250 to be described later. The movable guide device 200 and the display unit 20 may be connected by the installation grooves 22a and 22b. In addition, the installation grooves 22a and 22b may be fastened and fixed to the coupling device by separate fastening members.

The installation grooves 22a and 22b may be formed by recessing the front portion of the coupling portion 22.

In addition, the installation grooves 22a and 22b may be formed in plural. For example, the installation grooves 22a and 22b may further include a first installation groove 22a and a second installation groove 22b formed below the first installation groove 22a.

The first installation groove 22a may be coupled to the first coupling device 240 to be described later, and the second installation groove 22b may be coupled to the second coupling device 250 to be described later.

The display unit 20 may perform an open operation or an open operation of opening and closing the coupling hole 32b which is an opening of the main body 10. Detailed description thereof will be described later.

According to an embodiment of the present invention, the guide robot 1 may first move along a path set for guiding a road to a user. The user can see the display unit 20 installed behind the guide robot 1 while moving along the guide robot 1. That is, even when the guide robot 1 is driving for guiding the road, it is possible to easily view the airport information displayed on the display unit 20 while following the guide robot 1.

Meanwhile, an upper end of the display unit 20 may extend to an upper end of the first middle cover 32, and a lower end of the display 20 may extend to the second cutout 46b. If the display 20 is formed to cover the second cutout 46b, the laser emitted from the rear rider 72 hits the lower end of the curved display 21. Accordingly, the guide robot 1 may have a problem that it is impossible to detect the distance to the obstacle located behind.

Define the direction. The vertical direction is referred to as the vertical direction or the axial direction with reference to FIG. The axial direction is a central axis direction of the traveling part 100 and is the same as the central axis direction of the head part 50. The radial direction may be understood as a vertical direction in the axial direction. The circumferential direction refers to the direction of the imaginary circle formed when the radial distance is rotated around the axial direction with a rotation radius. In addition, the direction in which the stereo camera 43 is facing forward is named, and the direction in which the display unit 20 is facing is named backward.

The main body 10 according to the present invention includes a traveling part 100 capable of traveling, a body part 60 positioned above the driving part 100 and having main electronic equipment, and an upper side of the body part 60. It may include a head 50 located in.

The driving unit 100 may include a main wheel connected to a motor, a driving unit having an auxiliary wheel dependent on the main wheel, and a bumper unit stacked on an upper side of the driving unit.

In addition, the driving unit 100 may further include a support plate 120 for supporting the plurality of frames 62 and 63. The support plate 120 has a disk shape and may be combined with a plurality of brackets for fixing and supporting the plurality of frames 62 and 63.

The driving unit 100 may further include a rear rider 72 and a battery 110 for supplying power. The battery 110 may supply power for driving the guide robot 1. In addition, since the battery 110 occupies the largest specific gravity of the total weight of the guide robot 1, it is preferable that the battery 110 is located at a lower point as much as possible in the body 10.

The battery 110 may include a lithium-ion battery. However, the present invention is not limited thereto, and the battery 110 may include other types of batteries other than lithium-ion batteries.

The rear rider (Light Detection and Ranging: Lidar) 72 is a laser radar, and may be a sensor that irradiates a laser beam and collects and analyzes back scattered light among light absorbed or scattered by an aerosol to perform position recognition. . The rear rider 72 may be disposed at the rear side of the first plate 310 to be described later. That is, the rear rider 72 may be disposed toward the rear of the guide robot 1. The rear rider 72 may be exposed to the outside through the second cutout 46b formed on the second middle cover 33.

The body part 60 may be disposed above the driving part 100 and may include a plurality of frames 62 and 63. The plurality of frames 62 and 63 may be fixedly supported from the support plate 120 and extended to extend upwardly.

The plurality of frames 62 and 63 may include main frames 62 and 63 extending from the support plate 120 to the head part 50.

The main frames 62 and 63 may support the display unit 20 and the head unit 50. The main frames 62 and 63 may include a first main frame 62 and a second main frame 63. In detail, the first main frame 62 and the second main frame 63 may have a columnar shape and may be elongated in the vertical direction. In addition, the first main frame 62 and the second main frame 63 may be fixed to an upper surface of the support plate 120.

The first main frame 62 and the second main frame 63 may be equally spaced apart from the center of the support plate 120 to both sides. In another aspect, the first main frame 62 and the second main frame 63 may be symmetrical with respect to the center of the support plate 120. The head part 50 may be coupled to upper ends of the first main frame 62 and the second main frame 63.

The body part 60 may further include a body plate 61. The body plate 61 may be penetrated by the main frames 62 and 63 to be fitted at any point of the main frames 62 and 63. The body plate 61 may be positioned below the bisector line with respect to the bisecting points of the main frames 62 and 63. The body plate 61 has a disk shape and may form a hollow part to minimize weight.

The body portion 60 may include various boards (substrates) for controlling the overall operation of the guide robot (1). That is, core electronic equipment of the guide robot 1 may be disposed in the body part 60.

The body part 60 may include an AP board (Application Processor) 74. The AP board may be disposed on an upper surface of the body plate 61. The AP board may function as a device for managing the entire hardware module system of the guide robot 1, that is, a controller.

The plurality of frames may further include subframes. The sub-frame may be formed under the body plate 61 to perform a function of supporting the body plate 61. The plurality of subframes is formed lower than the heights of the main frames 62 and 63. In more detail, the subframe may include a first subframe and a second subframe.

The first subframe and the second subframe may have a columnar shape and may be elongated in the vertical direction. The first subframe and the second subframe may be fixed to an upper surface of the support plate 120.

The first subframe and the second subframe are equally spaced apart rearward from the first main frame 62 and the second main frame 63, respectively, and may be formed at a position lower than the body plate 61. Can be. That is, the first subframe and the second subframe may be symmetrical with respect to the center of the support plate 120. The body plate 61 may be coupled to an upper end of the first subframe and the second subframe.

In addition, the subframe 134 may further include a third subframe. The third subframe may be fixed to an upper surface of the support plate 120. The third subframe may be disposed adjacent to the main frame. For example, the third surf frame may be spaced apart from the center of the support plate 120 to the front by a predetermined interval. That is, the third subframe may be located at the front of the support plate 120 in consideration of the center of gravity of the body plate 61. The body plate 61 may be coupled to an upper end of the third subframe.

The body part 60 may further include installation plates 64 and 65. The installation plates 64 and 65 may have a plate shape and may be formed to be long in the vertical direction and may be coupled to the main frames 62 and 63.

The mounting plates 64 and 65 may include a first mounting plate 64 and a second mounting plate 65. For example, the first mounting plate 64 may be coupled to the first main frame 62, and the second mounting plate 65 may be coupled to the second main frame 63.

The first mounting plate 64 and the second mounting plate 65 may be disposed to face each other. Here, the surfaces of the first installation plate 64 and the third installation plate 65 may be referred to as respective inner surfaces. The first main frame 62 may be coupled to an outer surface of the first mounting plate 64, and the second main frame 63 may be coupled to an outer surface of the second mounting plate 65. .

The first installation plate 64 may be formed to extend downward from an upper end of the first main frame 62. The second installation plate 65 may extend in a downward direction from an upper end of the second main frame 63.

The lower portion of the first mounting plate 64 and the lower portion of the second mounting plate 65 may pass through the body plate 61. In addition, the first installation plate 64 and the second installation plate 65 may form a plurality of hollow parts for weight reduction.

The body unit 60 may further include a microcontroller unit (MCU) board. The MCU board may be located on an inner surface of the first installation plate 64. The MCU board may control overall driving of the guide robot 1 and may include a memory in which data for supporting various functions of the guide robot 1 is stored.

The body part 60 may further include a power board 75. The power board 75 may be located on an inner side surface of the first installation plate 64. The power board may control that power of the battery 117 is supplied to each component included in the guide robot 1.

The body part 60 may further include a user interface board. The user interface board may be located on an inner side surface of the first installation plate 64. The user interface board may control the operation of a component in charge of input and output of a user.

The body part 60 may further include a main PCB or a stereo board 73. The main PCB or stereo board 73 may be positioned below the body plate 61 and may be installed between the stereo camera 43 and the third auxiliary frame. The stereo board may be in charge of data management for location recognition and obstacle recognition of the guide robot 1 by processing and processing sensing data collected from various sensors and cameras.

Various boards (substrates) in the present embodiment is not limited to the above number, may be less or more than the number. The type of the board is described as an example, and of course, the board type is not limited to the type of the board.

The body portion 13 may further include a front rider 137. The front rider 137 is a laser radar, and may be a sensor that irradiates a laser beam and collects and analyzes back scattered light among light absorbed or scattered by an aerosol to perform position recognition. The front rider 137 may have the same configuration as the rear rider 118. However, the front rider 137 may be disposed on the front side of the second support plate 120. That is, the front rider 137 may be disposed toward the front of the guide robot (1). The front rider 137 may be exposed to the outside through the first cutout 331 formed in the second middle cover 33.

The body part 13 may further include a stereo camera 137. The stereo camera 137 may perform a function of detecting an obstacle in front of the guide robot 1 together with the RGBD sensor 321.

The body part 60 may further include a movement guide device 200 which may move the display unit 20 to the front or the rear through the sliding movement. The movement guide device 200 may be coupled to the second installation plate 65. Detailed description thereof will be provided later.

The head part 50 may be rotatably installed on the upper side of the body part 60. The head part 50 may be coupled to the top cover 31, and the top cover 31 may be installed to be rotatable through the head part 50. In addition, the head unit 50 may further include a rotation motor. The rotating motor may provide power for rotating the rotating member.

The head unit 50 may further include a reader 55. The reader 55 may have an opening located at an upper portion of the coupling hole 32b. That is, the inner space of the reader 55 may be located above the coupling hole 32b. Therefore, the reader 55 may be connected to the reader connection hole 25 of the coupling portion 22.

When the display unit 20 is closed and the coupling hole 32b is closed, the reader connection hole 25 and the internal space of the reader 55 may be connected. Therefore, the user can insert a ticket or the like into the reader 55 through the reader connection hole 25.

The reader 55 may scan or recognize a passport, a ticket, a mobile barcode, or the like of the user. Therefore, based on the information obtained through the reader 55, information necessary for the user may be displayed through the display unit 20. For example, when a user inserts a mobile device into the reader 55 to recognize a barcode of the mobile boarding pass, the display unit 20 displays a boarding gate to which the user should move based on the information obtained through the mobile boarding pass. Can guide.

4 is an enlarged view showing a partial configuration of the guide robot according to an embodiment of the present invention, Figure 5 is an enlarged view showing a partial configuration of the guide robot according to another embodiment of the present invention, Figure 6 is a view of the present invention 7 is an enlarged view illustrating a coupling device of a guide robot according to an embodiment, and FIG. 7 is an enlarged view illustrating a connection relationship between a movement guide device and a slide guide of the guide robot according to an embodiment of the present invention.

A first embodiment of the movement guide apparatus 200 will be described in detail with reference to FIGS. 4 and 7.

The movement guide device 200 may include slide guides 220 and 221 installed on the inner surface of the second installation plate 65 and guide plates 210 which slide by inserting the slide guides 220 and 221. Can be.

The slide guides 220 and 221 may be formed as a frame extending in front and rear along the inner surface of the second installation plate 65. The slide guides 220 and 221 may have a plurality. For example, the slide guides 220 and 221 may include a first slide guide 220 inserted into an upper portion of the guide plate 210 and a second slide guide 221 inserted into a lower portion of the guide plate 210. .

The first slide guide 220 may protrude a predetermined distance from the inner surface of the second installation plate 65, and may extend in the vertical direction from the protruded end. For example, the first slide guide 220 may have a 'ㅓ' shape.

The second slide guide 221 may be located below the first slide guide 220. The second slide guide 220 may protrude a predetermined distance from the inner surface of the second installation plate 65 and extend in the vertical direction from the protruded end. The second slide guide 220 may have the same shape as the first slide guide.

The guide plate 210 may slide forward or backward from the inside of the main body 10 according to the guide of the slide guide 220. That is, the guide plate 210 may slide forward or backward in the internal space of the body part 60 formed by the first installation plate 64 and the second installation plate 65.

In another aspect, the guide plate 210 may be drawn in or drawn out through the sliding movement to the main body 10 along the inner surface of the second installation plate (65).

The guide plate 210 may be formed in various shapes. For example, the guide plate 210 may be formed as a plate of a square shape.

One side of the guide plate 210 may be formed with a guide connecting portion (211, 212) sliding the sliding guide (220, 221) is inserted or connected. Here, one surface of the guide plate 210 may be understood as a surface facing the inner surface of the second installation plate 65, that is, the outer surface of the guide plate 210. Therefore, the guide connecting portion may be located on the outer surface of the guide plate 210.

The guide connection parts 211 and 212 may be formed on the outer surface of the guide plate 210 to correspond to the slide guides 220 and 221. For example, the guide connecting portions 211 and 212 may include a first guide connecting portion 211 that slides by inserting the first slide guide 220 and a second sliding insert which inserts the second slide guide 221. Guide connection portion 212 may be included.

The first guide connecting portion 211 and the second guide connecting portion 212 may be formed to correspond to the shapes of the first slide guide 220 and the second slide guide 221. For example, the first guide connecting portion 211 and the second slide guide 221 may be formed in the groove of the 'ㅓ' shape from the outer surface of the guide plate 210 to insert the 'ㅓ' shape. can do.

According to this, the first guide connecting portion 211 and the second guide connecting portion 212, the guide plate 210 in a stable manner to the front or rear in accordance with the guide of the first slide guide 220 and the second slide guide. Sliding can be moved.

The movement guide device 200 may further include an opening device 300 that can restrain the guide plate 210 and an insertion member 351 that is inserted into or taken out of the opening device 300.

The insertion member 351 may be provided at the front portion of the guide plate 210. In detail, the insertion member 351 may be positioned on one surface of the guide plate 310 facing the main body 10 when the guide plate 310 slides inside the main body 10, that is, forward. Can be.

The insertion member 351 may have a protrusion shape and may include a plurality of protrusions. In addition, the insertion member 351 may be installed in the guide plate 210 corresponding to the position of the opening device 300.

The opening device 300 may be formed to allow the insertion member 351 to be drawn in or drawn out. Therefore, the opening device 300 may be fixed so that the guide plate 210 is constrained and cannot be moved back to the rear when the insertion member 351 is drawn by the user's pressure and is engaged. In addition, the opening device 300 may be released by the insertion member 351 by the secondary pressure of the user. At this time, the restraint of the guide plate 210 is released to allow the sliding movement to the rear.

The opening device 300 may be installed on an inner side surface of the second installation plate 65. The opening device 300 may include a plurality. For example, the opening device 300 may be located below the slide guides 220 and 221. In this case, the insertion member 351 may be located on the guide plate 210 corresponding to the corresponding position. Therefore, the insertion member 351 may be inserted into the opening device 300 to be engaged when the guide plate 210 is inserted into the inside of the main body 10 as much as possible.

Details of the structure of the insertion member 351 and the opening device 300 will be described later.

Another embodiment (second embodiment) of the movement guide device 200 will be described in detail with reference to FIG. 5. The second embodiment, in the above-described first embodiment, there is a difference in the shape of the guide plate 210, the configuration of the slide guide 220 and the guide connection (not shown). The description of the configuration overlapping with the first embodiment in the second embodiment uses the description of the first embodiment.

The movement guide device 200 may include a guide plate 210 connected to the coupling device 240, 250 to be described later. The guide plate 210 may form a plurality of hollow parts to reduce the weight. The guide plate 210 may be connected to the second installation plate 65 to lead or withdraw into the inner space of the main body 10 through a sliding movement.

The movement guide device 200 may further include roller guides 225 and 226 connecting the guide plate 210 and the second installation plate 65.

The roller guides 225 and 226 may include upper rails 225a and 226a and lower rails 225b and 226b that are connected to the upper rails 225a and 226a and are movable by rollers. The roller guides 225 and 226 may be provided in plural numbers.

For example, the roller guides 225 and 226 are connected to an upper surface of the outer side of the guide plate 210 and a first roller guide 225 and a second roller guide 226 connected to the lower side of the outer side of the guide plate 210. ) May be included. Therefore, by the first roller guide 225 and the second roller guide 226, the guide plate 210 can achieve a stable sliding movement back and forth.

In this case, the first roller guide 225 may include an upper rail 225a connected to the upper portion of the guide plate 210 and a lower rail 225b connected to the second installation plate 65. . Meanwhile, unlike the first roller guide 225, the second roller guide 226 is connected to the lower rail 226b and the second installation plate 65 connected to the lower portion of the guide plate 211. It may include an upper rail 226a.

According to this, the lower rail 225b of the first roller guide 225 and the upper rail 226a of the second roller guide 226 connected to the second installation plate 65 are fixed, and the guide plate ( The upper rail 225a of the first roller guide 225 and the lower rail 226b of the second roller guide 226 connected to 210 may be moved back and forth by a roller.

Referring to Figure 6 will be described in detail with respect to the coupling device (240, 250) connected to the guide plate (210).

Referring to FIG. 6, the movement guide device 200 may further include coupling devices 240 and 250. In detail, the coupling devices 240 and 250 may be installed on the inner surface of the guide plate 210. That is, the coupling devices 240 and 250 may be located on one surface of the guide plate 210 facing the power board 75. In addition, the coupling device 240, 250 may be located in the rear portion of the inner surface of the guide plate 210. Therefore, the coupling devices 240 and 250 may easily connect the display unit 20 located behind the main body 10.

The coupling devices 240 and 250 may include a plurality of coupling devices. For example, the coupling devices 240 and 250 may include a first coupling device 240 and a second coupling device 250 positioned below the first coupling device 240.

The first coupling device 240, the first support plate 241 is coupled to the guide plate 210, the first link 242 rotatably connected to the first support plate 241, the first link A first attachment plate 246 connected to the second link 243 and the second link 243 to be rotatably connected to the second installation groove 21a of the display unit 20. It may include.

The first support plate 241 may be located above the inner side surface of the guide plate 210. The first support plate 241 may be hinged to the first link 242 and the third link 244. That is, the first support plate 241 may form a pin joint with the first link 242 and the third link 244. Accordingly, the first link 242 and the third link 244 may rotate about 180 degrees with respect to the support plate 241.

The first link 242 may have a quadrangular shape in which a center thereof is opened. At this time, one edge portion of the first link 242 forms a hinge coupling with the first support plate 241, and the other edge portion of the symmetrical position may form a hinge coupling with the second link 243 in the center. Therefore, the second link 243 is rotatable around the other edge of the first link 242 as a central axis.

In another aspect, the first link 242 may be rotatably connected with the first support plate 241 as a central axis. In addition, the second link 243 may be rotatably connected with the first link 242 as a central axis.

The second link 243 may have a rectangular bar shape. One end of the second link 243 may be connected to one side end of the first link 242, and the other end of the second link 243 may be connected to the first attachment plate 246.

The first mounting plate 246 may be fastened by fastening with the first installation groove 22a of the coupling part 22. That is, one surface of the first attachment plate 246 may be connected to the second link 243, and the other surface thereof may be connected to the first installation groove 22a.

The first mounting plate 245 may be fastened to the first installation groove 22a by a separate fastening member. Therefore, when the user wants to separate the display unit 20 from the guide robot 1, the user can easily detach the disassembled fastening member fastened to the first mounting plate 245 and the first installation groove 22a. have.

The first coupling device 240 is. A third link 244 spaced apart from the first link 242 and rotatably connected to the support plate 241, and a fourth link 245 rotatably connected to the third link 244. can do.

In another aspect, the third link 244 may be rotatably connected with the first support plate 241 as a central axis. In addition, the fourth link 245 may be rotatably connected with the third link 244 as the center axis.

The third link 244 may be located rearward of the first link 242. In addition, the third link 244 may have a quadrangular shape in which a center thereof is opened in the same manner as the first link 242. However, the length of the third link 244 may be longer than the length of the first link 242. Accordingly, since the second link 243 is located in the open center space of the third link 244 at a lower position than the fourth link 245, the second link 243 may be moved in a predetermined angle range.

One edge portion of the third link 244 may be hinged to the support plate 241, and the other edge portion of the position symmetrical to the one edge portion may be hinged to the fourth link 245 at the center. Therefore, the fourth link 245 can be rotated around the other edge of the third link 244 as the central axis.

The fourth link 245 may have the same rectangular bar shape as the second link 243. However, the length of the fourth link 245 may be shorter than the length of the second link 243. In detail, since the second link 243 is engaged with the first link 242 at a position ahead of the fourth link 245, the length of the second link 243 is greater than the fourth link ( It must be longer than the length of 245 to be perpendicular to one plane of the first mounting plate 246.

One end of the fourth link 245 may be connected to one side end of the third link 244, and the other end of the fourth link 245 may be connected to the first attachment plate 246. The fourth link 245 may be spaced apart from the second link 243 to be connected to the first attachment plate 246.

In summary, the length of the first link 242 may be shorter than the length of the third link 244, and the length of the second link 243 is shorter than the length of the fourth link 245. Can be formed.

Accordingly, the second link 243 connected to the first link 242 may rotate in the open center space of the third link 244, and at the same time, perpendicular to the fourth link 245. It may be connected to one surface of the first mounting plate 246 that is flat. Therefore, since the first link 242 to the fourth link 245 may be rotated within a range of a predetermined angle, the display unit 20 connected to the other surface of the attachment plate 246 is different. It may be provided to enable rotation at an angle within a certain range without having to consider the interference with. In FIG. 6, the solid arrow indicates the square in which the first link 242 to the fourth link 245 rotate.

The second coupling device 250 is located on the lower side of the first support plate 241 and is coupled to the guide plate 210 with the second support plate 251 and the second support plate 251 as a central axis. A first link 252 rotatably connected, a third link 254 rotatably connected about the second support plate 251 at a position spaced apart from the first link 252, and the first link 252. A second link 253 rotatably connected with a first link 252 as a center axis, a fourth link 255 rotatably connected with the third link 254 as a center axis, and the second link 252. The link 253 and the fourth link 255 may include a second attachment plate 256 coupled at a spaced apart position.

The configuration of the second coupling device 250 and the connection relationship between the configuration is the same as the first coupling device 240. Therefore, the duplicated description of the second coupling device 250 uses the description of the first coupling device 240.

7 is an enlarged view illustrating a connection relationship between a slide guide and a movement guide device of a guide robot according to an exemplary embodiment of the present invention, and FIG. 8 illustrates a coupling state of an opening device and an insertion member of the guide robot according to an exemplary embodiment of the present invention. 9 is a cross-sectional view showing a state in which the opening device and the insertion member of the guide robot according to an embodiment of the present invention is separated.

As described above, the movement guide device 200 may further include an opening device 300 and the insertion member 351. Hereinafter, the coupling and release relationship between the opening device 300 and the insertion member 351 will be described in detail.

7 to 9, the movement guide device 200 according to the embodiment of the present invention is installed on the inner side of the second mounting plate 65, and the inner side of the second mounting plate 65. It may further include an opening device 300 extending rearward from one point. The opening device 300 may be located below the slide guides 220 and 221.

The opening device 300 may include an insertion part which is an opening into which the insertion member 351 positioned on one surface of the guide plate 210 is inserted.

The opening device 300 may include a locking member 315 that selectively engages the insertion member 351 during the withdrawal process of the insertion member 351.

The insertion member 351 is provided on the front surface of the guide plate 210 facing the main body 10, and may be selectively coupled to the opening device 200.

The insertion member 351 includes a protrusion 351a inserted into the insertion portion and a rail connection portion 351b for allowing the protrusion 351a to be connected to the guide plate 210. Here, the insertion member 351 may be defined as a part of the guide plate 210.

The rail connecting portion 351b has a shape extending forward from the guide plate 210, and the protrusion 351a is coupled to one end of the rail connecting portion 351b. The protrusion 351a is disposed to be spaced apart by a predetermined distance toward the front of the guide plate 210.

The protrusion 351a opens toward the front to form an opening end 351c in which the locking member 315 is accommodated. The locking member 315 forms a locking end 316 on the inner surface of the protrusion 351a. The locking member 315 may be provided in plurality, spaced apart from each other.

The locking member 315 may be deformed in a direction in which the plurality of locking members 315 are close to each other in the process of being accommodated in the protrusion 351a.

The locking end 316 may include an inclined surface so that the locking member 315 may be easily inserted into the opening end 351c. In addition, an inner side surface of the protrusion 351a in which the locking end 316 is engaged has an inclined surface corresponding to the locking end 316.

In the process of inserting the insertion member 351 into the opening device 300, the locking end 316 is guided along the opening end 351c and inserted into the protrusion 351a. In this case, the plurality of locking members 315 may be elastically deformed in a direction in which they are narrowed.

When the locking member 315 is completely inserted into the inside of the protrusion 351a, the plurality of locking members are restored to the original direction, and the locking member 315 is caught on the inner side of the protrusion 351a.

The opening device 300, in the process of moving the insertion member 351 to the rear, so as to enable the elastic movement of the pressing portion 321 and the pressing portion 321 pressed by the insertion member 351. It may include a first elastic member 330.

The pressing unit 321 and the first elastic member 330 may be provided in plural on both sides of the opening device 300.

The pressing unit 321 may include an inclined surface counterpart 321a which is formed to be inclined in one direction. The locking member 315 may form at least a portion of the locking member 315, and the inclined surface 325 and the locking member 315 corresponding to the inclined surface counterpart 321a may be elastically moved backwards. It may include a second elastic member 340 to be. Here, the elastic modulus of the second elastic member 340 may be formed smaller than the elastic modulus of the first elastic member 330.

The operation of the insertion member 351 and the opening device 300 according to the above configuration will be described briefly.

When the display unit 20 is pushed forward to guide the coupling portion 22 of the display portion 20 to the coupling hole 32b, the guide plate 210 may follow the slide guides 220 and 221. The insertion member 351 may be inserted into the main body 10, and the insertion member 351 may be inserted into the opening device 300.

The locking member 351 is inserted into the protrusion 351a, and the locking end 316 is caught by an inner surface of the protrusion 351a. As a result, the guide plate 210 may be coupled to the slide guides 220 and 221 side, whereby the guide plate 210 may be fixed to the second installation plate 65. Therefore, the coupling portion 22 of the display unit 20 may be maintained in the inserted state inside the coupling hole (32b).

Of course, one side of the coupler (32b), for example, may be provided with a coupling portion connecting device, such as a door catch, a magnetic latch. The coupling unit connection device may stably couple the display unit 20 and the main body 10 by coupling the coupling unit 22 and the coupling hole 32b with magnets, latches, and the like.

Meanwhile, when the inserting member 351 is coupled to the opening device 300, when the display unit 20 is pressed, the inserting member 351 may move backward, that is, in a direction toward the display.

The insertion member 351 is moved to press the pressing portion 321, the pressing portion 321 is moved to the rear. At this time, the first elastic member 330 is compressed.

As the pressing unit 321 is moved backward, the inclined surface counterpart 321a presses the inclined surface 325.

In this process, a force applied to the inclined surface 325 and a force applied in a direction of pushing down the plurality of locking members 315 are applied to the inclined surface 325. Therefore, the plurality of locking members 315 may be moved backwards while being deformed in a direction closer to each other.

In addition, the locking end 316 is moved to the outside of the protrusion 351a while the engagement with the protrusion 351a is released. At this time, the second elastic member 340 is compressed. Then, when the pressing operation of the display unit 20 is stopped, the first elastic member 330 is restored to its original direction, and the pressing unit 321 is moved forward to push the protrusion 351a forward. .

The protrusion 351a may be moved to the outside of the opening device 300 by the action force of the pressing unit 321, and may be separated from the opening device 300. As a result, the display unit 20 may be pulled out rearward by a predetermined distance.

Then, when the display unit 20 is pulled out, the coupling unit 22 is separated from the coupling tool 32b, and the coupling unit 22 is rearward of the main body 10 together with the guide plate 210. Can be withdrawn.

That is, the insertion member 351 and the opening device 300 may be selectively coupled according to the number of times of pressing the display unit 20. For example, the coupling part 22 of the display unit 20 may be introduced into the main body 10 by a first pressing action, and may be easily pulled out by a second pressing action.

As a result, the difficulty that the user must put a lot of power in order to withdraw the display unit 20 can be solved.

10 to 12 are rear perspective views illustrating a process of opening a display unit of a guide robot according to an embodiment of the present invention, and FIGS. 13 to 15 illustrate a process of opening a display unit of a guide robot according to an embodiment of the present invention. It is a top view showing step by step from the top.

In more detail, FIG. 10 shows a closed state in which the display unit 20 is integrally coupled with the main body 10, and FIG. 11 shows that the display unit 20 slides backward by the guide plate 210. FIG. FIG. 12 illustrates an open state in which the display unit 20 is rotated by the first coupling device 240 and the second coupling device 250 to completely open the main body 10. Figure showing.

FIG. 13 is a view of the closed state of FIG. 10 from above, FIG. 14 is a view of the pulled state of FIG. 11 from above, and FIG. 15 is a view of the rotation state of FIG. 12 from above.

10 to 15, an open operation or a close operation of the display unit 20 will be described in detail. As described above, the display unit 20 may perform an open operation or a close operation of opening and closing the coupling hole 32b which is an opening of the main body 10.

The opening operation refers to an operation of releasing the coupling between the display unit 20 and the main body 10 to open the coupling hole 32b.

The opening operation starts in the closed state in which the display unit 20 closes the coupling hole 32b of the main body 10.

The user may push the display unit 20 out of the coupling hole 32b of the main body 10. For example, when the user presses the display unit 20 forward, the insertion member 351 of the opening device 300 may be unlocked. In addition, the display unit 20 may be pulled out by a predetermined distance to the rear, that is, the outer direction of the coupling hole (32b) by the elastic force.

Thereafter, the user may pull the display unit 20 backward. By providing a pulling force to the display unit 20 by the user, the coupling unit (240, 250) for connecting the coupling portion 22 of the display 20 and the guide plate 210 of the movable guide device 200 The pulling force can be transmitted. Therefore, the guide plate 210 may slide backward. That is, the guide plate 210 may be drawn out from the coupling hole 32b according to the guide of the slide guide 220.

When the guide plate 210 is drawn out to the rear from the coupling hole 32b to the maximum, the display unit 20 may also be drawn out to the rearmost position. This may be referred to as a pulled state of the display unit 20.

Thereafter, the display unit 20 may be rotated clockwise or counterclockwise by the coupling devices 240 and 250. That is, the display unit 20 may rotate at a predetermined angle through the rotation of the plurality of links 242.243, 244, 245, 252, 253, 254 and 255 provided in the coupling device 240 or 250. Therefore, the coupling hole 32b of the main body 10 may be completely opened as the display unit 20 rotates. This can be called open. Then, the opening operation is finished in the open state.

The close operation refers to an operation in which the display unit 20 and the main body 10 are integrally coupled to close the coupling hole 32b.

The closing operation can be understood in the reverse order of the opening operation. Thus, the closing operation starts in the open state. The user may rotate the coupling unit 22 of the display unit 20 back to the position corresponding to the coupling hole 32b in the reverse order. In this case, the display unit 20 may be named even in the correct position return state.

Thereafter, the user may push the display unit 20 forward. By providing a force pushed by the user to the display unit 20, the guide plate 210 connected to the display 20 may slide forward. That is, the guide plate 210 may be drawn into the coupling hole 32b according to the guide of the slide guide 220.

When the guide plate 210 is fully inserted into the coupling hole 32b and the lower surface of the coupling portion 22 is seated on the seating portion 32a, the main body 10 and the display portion 20 are It is integrally coupled to achieve the closed state.

At this time, the insertion member 351 of the moving guide device 200 is joined to the opening device 300 to form a coupling. Accordingly, the display unit 200 may be stably fixed in the closed state. And the closing operation is terminated by this.

On the other hand, the display unit 20 for opening and closing the coupling hole 32b of the main body 10 by the opening operation and the closing operation performs a function of a door (door) for the main body 10 "door part", It may be called "door display" or "door type display".

FIG. 16 is a perspective view illustrating a part of a guide robot according to a third embodiment of the present invention, FIG. 17 is an exploded view of FIG. 16, and FIG. 18 is a part of a guide robot according to a third embodiment of the present invention. 19 is a perspective view showing a movement guide device of a guide robot according to a third embodiment of the present invention.

16 to 19, the guide robot according to the third embodiment of the present invention will be described in detail. The third embodiment is different from the configuration of the first and second embodiments in that it can easily separate or combine the display unit 20 from the movement guide device 200.

In the first and second embodiments, the opening operation of the display unit 20 is because the rotation angle of the display unit 20 is small, so that only a part of the coupling hole 32b is opened, so that the operator has a main configuration inside the guide robot. There is a problem that accessibility for access is somewhat inferior. However, according to the third embodiment, since the rotated display unit 20 can be easily separated or combined, it is possible to improve accessibility to the main components of the interior.

In the third embodiment, the description of the configuration overlapping with the first embodiment or the second embodiment uses the description of the first embodiment or the second embodiment.

The movement guide device 200 of the guide robot 1 according to the third embodiment of the present invention is connected to the slide guides 220a and 221a coupled to the second installation plate 65a and the slide guides 220a and 221a. And sliding sliders 271 and 272, a first guide plate 210a coupled to the sliders 271 and 272, a stopper 270 and a first guide plate 210a for restricting movement of the first guide plate 210a. ) And a second guide plate 210b connecting the display unit 20.

In the third embodiment, the second installation plate 65a is connected to one side of the main frames 62 and 63 and may be formed to have a vertical length corresponding to the vertical lengths of the guide plates 210a and 210b. have. That is, it may be compactly formed so as to correspond to the sizes of the guide plates 210a and 210b.

The slide guides 220a and 221a may be coupled inwardly of the second installation plate 65a. The slide guides 220a and 221a guide the withdrawal and withdrawal of the first guide plate 210a through the movement of the sliders 271 and 272 so that the slide guides 220a and 221a extend along the withdrawal or withdrawal direction of the first guide plate 210a. can do. Here, the withdrawal or withdrawal direction can be understood as the front and rear direction.

The slide guides 220a and 221a may be provided in plural numbers. The plurality of slide guides 220a and 221a may be spaced apart from each other in the vertical direction by the second installation plate 65a. In detail, the slide guides 220a and 221a are coupled to the lower side of the first slide guide 220a and the second mounting plate 65a that are coupled to the upper side of the second mounting plate 65a. 221a.

The sliders 271 and 272 may slide along the extension direction of the slide guides 220a and 221a by inserting the slide guides 220a and 221a. The sliders 271 and 272 may be provided in plural numbers. In detail, the sliders 271 and 272 may slide along the extension direction of the upper slider 271 and the second slide guide 220b to slide along the extension direction of the first slide guide 220a. ) May be included. The upper slider 271 and the lower slider 272 may be provided in plural numbers.

The sliders 271 and 272 may insert the slide guides 220a and 221a on one side thereof, and may be fixed to the first guide plate 210a on the other side thereof. Here, the sliders 271 and 272 may slide and slide by inserting the slide guides 220a and 221a in a direction facing the second installation plate 65a.

The sliders 271 and 272 and the slide guides 220a and 221a may include linear motion guides (LM guides).

The first guide plate 210a is coupled to the lower slider coupled to the upper slider coupling groove 273 and the lower slider 272 coupled to the upper slider 271 in the direction facing the second installation plate 65a. It may include a groove 274.

The upper slider coupling groove 273 may be located at an upper end of the first guide plate 210 and may be formed to correspond to the number of upper sliders 271. The lower slider coupling groove 274 may be positioned at the lower end of the first guide plate 210 and may be formed to correspond to the number of lower sliders 272.

The first guide plate 210a is drawn out to the outside of the coupling hole 32b by the linear movement of the sliders 271 and 272 coupled to the upper slider coupling groove 273 and the lower slider coupling groove 274. Can be drawn into.

In addition, the second guide plate 65a may form a locking hole 66 at a central portion thereof. The locking hole 66 may be understood as a space in which the stopper 270 connected to the first guide plate 210a is moved as the first guide plate 210a is drawn out or drawn in.

The first guide plate 210a may be formed in a 'c' shape to reduce weight. In addition, the stopper 270 may be coupled to a position recessed therein.

The stopper 270 may be located at one side of the first guide plate 210a to move the space of the engaging hole 66 of the second installation plate 65a. The stopper 270 may be dependent on the linear movement of the first guide plate 210a in the front-rear direction to move the locking hole 66.

The stopper 270 may be positioned at a front end of the first guide plate 210a to make contact with a rear end of the locking hole 66 at the maximum drawing distance of the first guide plate 210a. Therefore, the withdrawal distance of the first guide plate 210a may be limited by the contact of the stopper 270.

According to this, the sliders 271 and 272 connecting the first guide plate 210a and the second installation plate 65a can prevent the risk of detachment from the slider guides 220a and 221a.

The first guide plate 210a may include a cutoff part 275, a first assembly part 276, and an insertion groove 276a in contact with the second guide plate 210b.

The cut-off part 275, the first assembling part 276, and the insertion groove 276a may be formed in the first guide plate 210a so that the second guide plate 210b is assembled to be integrated with each other.

The cutoff part 275 may be located at an upper end of the first guide plate 210a. In detail, the cutoff part 275 may be formed by cutting a portion of the upper portion of the first guide plate 210a into a 'b' shape so that the upper portion of the second guide plate 210b is seated. For example, the cutoff part 275 may be formed to be vertically recessed inward with respect to a vertex formed by the rear end and the upper end of the rectangular first guide plate 210a. The cutoff part 275 may support the upper end of the second guide plate 210b from below.

The first assembly portion 276 may be formed by recessing one side surface of the first guide plate 210a. In detail, the first assembly part 276 may be formed as a surface recessed from the cutoff part 275 to one point of the rear end portion of the first guide plate 210a downward.

That is, the first guide plate 210a may have a stepped surface such that a rear end portion of the first guide plate 210a has a height lower than that of the front portion of the pulling direction due to the first assembly portion 276. Here, one surface of the first assembly portion 276 forming the step of the first guide plate 210a may be referred to as a first step surface.

The first assembly portion 276 may be formed to correspond to the second assembly portion 277 of the second guide plate 210b to be described later. That is, the first assembly portion 276 and the second assembly portion 277 may be formed to form a mold.

The first assembly part 276 may make contact with the second assembly part 277 of the second guide plate 210b. At this time, by the contact between the first assembly portion 276 and the second assembly portion 277, one side of the first guide plate 210a may have a flat surface without a step.

In addition, the first assembly portion 276 and the second assembly portion 277 may be coupled by the coupling by the fixing member 280, in which the first guide plate 210a and the second guide plate 210b. ) Can be combined.

The insertion groove 276a may be formed to extend from the first assembly portion 276 to a stepped surface downward. The stepped surface of the insertion groove 276a may have a width narrower than the width of the stepped surface of the first assembly portion 275.

The insertion groove 276a may be formed to have a step at a position spaced forward from the rear end of the first guide plate 210a. Therefore, the first guide plate 210a may form an outer protrusion 276b at a rear end thereof.

The insertion groove 276a may be formed to correspond to the protrusion 277a of the second guide plate 210b to be described later. That is, the insertion groove 276a may be formed to fit the protrusion 277a of the second guide plate 210b.

On the other hand, the movement guide device 200 may further include a fixing member 280 for coupling the first guide plate 210a and the second guide plate 210b.

The first assembly part 276 may form a first fixture 278. The first fixture 278 may be understood as a position at which the fixing member 280 is inserted to couple the second guide plate 210b. The first fastener 278 may be formed in plural numbers. In addition, the first fastener 278 may be formed at a position corresponding to the second fastener 279 of the second assembly portion 277.

In addition, the fixing member 28 may be inserted into the first fixing part 278 and the second fixing tool 279 to couple the first guide plate 210a and the second guide plate 210b.

The second guide plate 210b may be seated and supported to make contact with the first assembly portion 276.

The second guide plate 210b may include a second assembly portion 277 and a protrusion portion 277a formed corresponding to the first assembly portion 276.

The second assembly portion 277 may be formed by recessing one surface of the second guide plate 210b from one front end portion to one point toward the rear end portion. That is, one surface of the second plate 210b may be formed to have a step. Here, one surface of the second guide plate 210b may be understood as a surface making contact with the first guide plate 210a.

In addition, one surface of the second assembly portion 277 forming the step of the second guide plate 210b may be referred to as a second step surface. The second stepped surface may be assembled to form a shape with the first stepped surface.

That is, the second assembly part 277 may be formed to be in contact with the first assembly part 276.

The protrusion 277a may be formed such that a stepped surface extends downward from a lower end of the second assembly 277. The stepped surface of the protrusion 277a may have a width narrower than the width of the stepped surface of the second assembly portion 277.

The stepped surface extended by the protrusion 277a may extend along the front end of the second guide plate 210b such that a groove 277b is formed inside the second guide plate 210b.

The inner groove 277b of the second guide plate 210b may be understood as a space into which the outer protrusion 276b of the first guide plate 210a is inserted.

In summary, the first guide plate 210a and the second guide plate 210b include a first assembly portion 276 and a second assembly portion 277 assembled and connected to each other. In addition, the second guide plate 210b may be seated and supported by the cut-off part 275 of the first guide plate 210a.

In addition, each of the first guide plate 210a and the second guide plate 210b is provided with an insertion groove 276a and a protrusion 277a in a corresponding shape to achieve a stable assembly, and the first guide plate The outer protrusion 276b of 210a and the inner groove 277b of the second guide plate 210b are provided.

According to this, the first guide plate 210a and the second guide plate 210b are assembled to be fitted together, and stably support the second guide plate 210b coupled to the display unit 20. Can be.

In particular, since the second guide plate 210b is seated on the upper side of the first guide plate 210a and inserted into the first assembling unit 276 to assemble, the disassembly or assembly of the display unit 20 is performed. The operator has the advantage that the display 20 can be stably supported so that it can be disassembled or assembled without significant force. In addition, when disassembling or assembling, there is an advantage of preventing the risk of the display 20 falling down after removal of the fixing member 280.

On the other hand, the second guide plate 210b may be combined with the first coupling device 240 and the second coupling device 250. The first coupling device 240 and the second coupling device 250 may be coupled to one side of the second guide plate 210b spaced apart in the vertical direction. For example, the first coupling device 240 may be located outward on the upper end of the second guide plate 210b, and the second coupling device 250 may be the lower end of the second guide plate 210b. It can be located toward the outside.

The second guide plate 210b may be connected to the display unit 20 by the first coupling device 240 and the second coupling device 250. The description of the first coupling device 240 and the second coupling device 260 uses the description of the first and second embodiments described above.

20 to 22 are views showing step by step the process of separating the display unit of the guide robot according to a third embodiment of the present invention. 20 to 22, the separating step of the display unit 20 will be described.

In the third embodiment of the present invention, like the first and second embodiments, the guide plates 210a and 210b are slid out to the rear, and the display unit 20 is connected to the first coupling device 240 and the first embodiment. The coupling hole 32b may be opened by rotating through the second coupling device 250.

In this case, when the display unit 20 is drawn out at the maximum distance, the stopper 270 contacts the rear end of the locking hole 66 of the second installation plate 65a to prevent further extraction.

The worker can access the internal configuration through the open coupling hole 32b, but when the large configuration of the internal configuration is to be managed or a separate equipment is required for management, the display unit 20 rotates. It is necessary to separate the display unit 20 when it is difficult to work with only the open coupling hole 32b.

In this case, the worker may release the fastening by turning the fixing member 280 that couples the first guide plate 210a and the second guide plate 210b by hand.

As the fixing member 280 releases the fastening, the restraint of the first guide plate 210a and the second guide plate 210b disappears, and the second guide plate 210b is the first guide plate 210a. ) Is inserted into the seat.

When the operator lifts the display 20 upward, the second assembly 277 may slide upward along the first assembly 276. The display unit 20, the first and second coupling devices 240 and 250, and the second guide plate 210b may be separated from the first guide plate 210a.

In addition, after the operation is completed, the separated display unit 20 may be assembled in the reverse order of the above-described separation order to close the coupling hole 32b again.

According to this, the operator can easily detach or assemble the display unit 20, thereby improving the convenience of the work. That is, there is an advantage that the management of the guide robot 1 becomes convenient.

In addition, accessibility to the internal structure through the coupling hole 32b may be further improved through easy separation of the display unit 20.

10: main body 20: display unit
50: head portion 60: body portion
100: driving unit 200: moving guide device

Claims (20)

A driving unit provided with a plurality of wheels;
A body part positioned on an upper side of the driving part and having a movement guide device which slides forward and backward;
A case covering the body part by forming a coupling hole through which the inside is exposed; And
And a display unit connected to the movement guide device to open or shield the coupling hole.
The method of claim 1,
The display unit,
display; And
Guide robot including a display cover for receiving the display on the back.
The method of claim 2,
The display includes a curved display,
The display cover is a guide robot, characterized in that to form a concave back portion to correspond to the curved display.
The method of claim 2,
The display unit,
Further comprising a coupling portion protruding on the front of the display cover,
The coupling hole is guide robot that is opened and closed by the coupling portion.
The method of claim 4, wherein
The case includes a seating portion formed on the lower side of the coupling hole,
The lower surface of the coupling portion is guide robot, characterized in that seated on the seating portion.
The method of claim 1,
The movement guide device,
A slide guide supported by the frame of the body part and guiding movement toward the coupling hole; And
A guide plate connected to the slide guide to enter and exit the coupling hole,
The display unit, the guide robot is connected to the guide plate.
The method of claim 6,
The body portion,
An insertion member positioned on one surface of the guide plate; And
A guide robot further comprising an opening device that engages with the insertion member.
The method of claim 7, wherein
Guide robot, characterized in that the combination of the insertion member and the opening device is selectively made according to the number of times to press the display unit.
The method of claim 6,
The movement guide device further includes a coupling device positioned at one side of the guide plate and coupled to the display unit.
The coupling device,
A support plate coupled to the guide plate;
A link rotatably connected to the support plate; And
One end is connected to the link, the other end comprising a guide plate which is fastened to the display unit.
The method of claim 9,
The link,
A first link rotatably connected to the support plate;
And a second link rotatably connected to the first link and coupled to the attachment plate.
The method of claim 10,
The link,
A third link spaced apart from the first link; And
And a fourth link rotatably connected to the third link.
The method of claim 6,
The display unit,
A guide robot that slides back and forth by the guide plate and rotates about the guide plate by a coupling device.
delete delete The method of claim 1,
The display unit is guide robot, characterized in that connected to the rotatable guide device.
The method of claim 6,
Guide robot further comprising an installation plate coupled to the frame of the body portion.
The method of claim 16,
The installation plate, the guide robot is formed with a locking hole for limiting the withdrawal of the movement guide device.
The method of claim 17,
The movement guide device further comprises a stopper for contacting the engaging hole to limit the withdrawal distance.
The method of claim 17,
The guide plate,
A first guide plate moving in the front-rear direction; And
It includes a second guide plate detachably inserted into the first guide plate,
The second guide plate is coupled to the display robot.
A case in which a coupling hole is formed;
A display unit for opening and closing the coupling hole;
A driving unit located inside the case and having a plurality of wheels and a support plate;
A main frame located inside the case and extending upward from the support plate;
A slide guide supported by the main frame and guiding movement toward the coupling hole;
A guide plate connected to the slide guide to enter and exit the coupling hole; And
Located on one side of the guide plate, the guide robot including a coupling device for coupling with the display.

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