KR101423224B1 - Vehicle Having Changeable Link and Mobile Robot Having the Same - Google Patents

Abstract

A vehicle having variable links and a mobile robot having the same are disclosed. According to an embodiment of the present invention, the vehicle (800) capable of moving on the surface of uneven roads comprises: a vehicle body (100) having a receiving space (130), a left main hinge part (110), and a right main hinge part (120); a power supply part (140); a left link assembly (710); and a right link assembly (720). The left link assembly (710) and the right link assembly (720) comprise a first link part (711), a second link part (712), a first rotary frame (510), a second rotary frame (520), and a horizontal support (350), respectively. In order to change the position of wheels (201, 202, 203) according to the surface shape of the uneven roads (10), the length of variable links (410, 420, 430, 440) are changed to change the shape of the left link assembly (710) and the right link assembly (720).

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a traveling vehicle including a variable link and a mobile robot including the variable link.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling vehicle including a variable link and a mobile robot including the variable link, and more particularly to a traveling vehicle including a variable link and a link assembly having a specific structure so as to have improved mobility with respect to a non- To a mobile robot.

Until recently, there have been active researches on traveling bodies for traveling on irregular terrain.

In general, many studies have proposed or analyzed the form of a vehicle that can effectively travel on a bad terrain, and proposed several types of vehicle types.

As a representative example, there are a traveling body type using a passive linkage system, a legged robot type, and a traveling body having a special type of wheel in which the shape of the wheel is not a circle .

On the other hand, studies on the evaluation of the mobility of the traveling body have been carried out steadily in order to effectively travel on the irregular terrain.

According to the results of these studies, the shape of the optimized vehicle is specially determined according to the type of terrain.

For example, as a result of the safety evaluation of a CRAB type traveling vehicle having the same manual link system in the front and rear, it can be confirmed that the same safety is obtained when traveling uphill and downhill. However, RB (Rocker-Bogie) type and RCLE As a result of the safety evaluation of the traveling bodies of the type, it can be confirmed that the safety is higher than the case where the vehicle travels uphill when traveling downhill.

In other words, it means that there is a hardware structure of the traveling body that has a relatively high safety depending on the type of the terrain.

Also, although the traveling body has the same number of wheels, the energy consumption rate is evaluated differently even if the same terrain is driven according to the hardware structure. Specifically, the RB type consumes less energy than the CRAB type, and the RCLE type consumes the most energy.

Therefore, the mobility of the vehicle is evaluated by the items such as safety and energy consumption, and it can be seen from the above results that the structure of the vehicle having high mobility according to the topography type exists.

This is because, once the structure of the traveling body of the traveling body is determined once, the shape of the traveling body can not be changed according to the topography, in which the mobility of each traveling body can be evaluated differently according to the shape of the terrain.

Therefore, in order for the mobility of the traveling body to be optimized in accordance with the change of the terrain, the structure of the traveling portion that meets the terrain, that is, the shape of the traveling portion of the traveling body, must be real-time.

As a traveling body including a structure capable of solving such a problem, for example, a traveling body of a robot structure having a leg is exemplified.

In the case of a traveling body having a plurality of legs, the shape of the traveling body changes in real time according to the change of the terrain, and the surface of the uncertain terrain can be moved.

However, in the case of a traveling body having a plurality of legs, a mechanical structure capable of realizing a stable movement of the legs is very complicated, and a control method of driving the legs is very difficult. In addition, there is a problem in that it can not be stably grounded on the surface of the irregular surface and can not be moved. For example, a traveling structure having a plurality of legs has a problem in that it can be tilted or overturned by an obstacle formed by slipping on a surface of irregular terrain or being protruded or entangled on an irregular terrain surface.

Korean Patent Publication No. 10-2012-0127353 (published on November 21, 2012)

It is an object of the present invention to provide a vehicle having a smooth surface that can be smoothly changed in shape depending on the surface shape of the rough terrain and which can be smoothly improved by a simple structure and a control method even in a front and rear asymmetric non- Thereby providing a traveling body having mobility.

It is still another object of the present invention to provide a mobile robot which can be used in various fields by mounting an external mounting member capable of performing various tasks.

According to an aspect of the present invention,

A traveling body capable of moving on a surface of an irregular surface,

A vehicle body including a left main hinge portion protruding from a central portion of a left side surface and a right main hinge portion protruding from a center portion of a right side surface, the vehicle main body including a storage space in which an external mounting member can be mounted;

A power supply unit mounted in the storage space of the vehicle body and supplying power to the variable link and the wheels;

A left link assembly including a turning frame hinge mounted to the left main hinge so as to be rotatable by a predetermined angle, the link shape changing depending on the shape of the irregular surface; And

A right link assembly including a rotation frame hinge mounted to the right main hinge so as to be rotatable by a predetermined angle, the link shape changing according to the shape of the irregular surface;

, ≪ / RTI &

The left link assembly and the right link assembly include:

A first vertical support for mounting a first wheel at a lower end thereof, a second vertical support connected to the first vertical support by a first variable link and a second variable link, The piston of the first variable link is fastened to the upper end of the first vertical support by a hinge structure and the body of the second variable link is located at the lower portion of the first variable link body, A first link portion which is fastened with two vertical supports and a hinge structure, the piston of the second variable link is positioned below the first variable link piston and is fastened with the first vertical support and the hinge structure;

A fourth vertical support for mounting a third wheel at a lower end thereof, a third vertical support connected by the fourth vertical support and a third variable link, and a fourth variable link, The piston of the third variable link is fastened to the upper end of the fourth vertical support by a hinge structure and the body of the fourth variable link is located at the lower portion of the third variable link body, A second link portion which is fastened with the third vertical link and the hinge structure, the piston of the fourth variable link is located below the third variable link piston and is fastened with the fourth vertical support and the hinge structure;

And the upper ends thereof are fastened to the main body of the first variable link by a hinge structure and the lower ends thereof are fastened to the main body of the second variable link And the other end of the other end is coupled to the side end of the second rotating frame by a hinge structure;

And the upper ends thereof are fastened to the body of the third variable link by a hinge structure and the lower ends thereof are fastened to the body of the fourth variable link And the other side end portion of the second rotating frame is coupled to the side end portion of the first rotating frame by a hinge structure; And

One end is fastened to the lower end of the second vertical support by a hinge structure and the other end is fastened to the lower end of the third vertical support by a hinge structure and the second wheel is fastened by a hinge structure Horizontal support;

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The length of the variable link may be changed to change the shape of the left link assembly and the right link assembly so that the position of the wheel can be changed according to the surface shape of the unfixed terrain.

In addition, the variable link may be a linear actuator.

The variable link gripper is fastened to the upper end portion and the lower end portion of the first rotating frame and the second rotating frame by a hinge structure,

The variable link gripper includes a horizontal portion and two vertical portions protruding vertically from both ends of the horizontal portion,

The horizontal link portion of the variable link gripper is fastened to the upper end portion and the lower end portion of the pivot frame by a hinge structure,

The vertical portion of the variable link gripper can be integrated with the body of the variable link in the form of wrapping the outer peripheral surface of the variable link body.

The outer diameters of the first wheel, the second wheel and the third wheel are the same,

The outer diameter D of the wheel may be 110 to 500% of the length L of the horizontal support.

Also, an in-wheel motor may be built in the inside of the wheel.

Further, on the outer surface of the wheel, a frictional portion of a protruding or recessed shape may be formed to improve frictional force with the surface of the irregular surface.

The present invention also provides a mobile robot including the traveling body, wherein the mobile robot according to an aspect of the present invention includes:

And the traveling body,

In the storage space of the traveling body,

Camera equipment capable of observing a surface of a rough terrain located at the front, rear, left and right sides of the traveling body; And

A control unit for synthesizing data observed from the camera equipment and transmitting a length change control signal to the variable link;

As shown in FIG.

According to another aspect of the present invention, there is provided a mobile robot including the traveling body, wherein the mobile robot according to another aspect of the present invention includes:

And the traveling body,

In the storage space of the traveling body,

A storage device for storing information of the unstructured terrain to be traveled by the traveling vehicle;

A GPS device capable of detecting position information of the traveling body; And

A control unit for synthetically processing data obtained from the storage device and the GPS device and transmitting a length change control signal to the variable link;

As shown in FIG.

According to another aspect of the present invention, there is provided a mobile robot including the traveling body, wherein the external mounting member is mounted in the receiving space of the traveling body.

In this case,

And may be selected from the group consisting of boarding equipment, space exploration equipment, underwater exploration equipment, mountain exploration equipment, cleaning equipment, camera equipment, fire equipment, disaster relief equipment, weather measurement equipment, heat sensing equipment and welding equipment.

As described above, the traveling body according to the present invention includes the flexible link having the specific structure and the link assembly including the variable link, so that the shape of the link assembly can be smoothly changed according to the shape of the irregular surface, By a very simple structure and control method, improved mobility can be achieved in moving the surface of the irregular surface.

In addition, the mobile robot according to the present invention can mount an external mounting member capable of performing various tasks on the traveling body, and can be utilized in various fields.

1 is a perspective view of a traveling body according to one embodiment of the present invention.
2 is a side view of a traveling body according to one embodiment of the present invention.
3 is a front view of a traveling body according to one embodiment of the present invention.
4 is a plan view of a traveling body according to one embodiment of the present invention.
5 is a front view of a link assembly in accordance with one embodiment of the present invention.
6 is a front view showing a state in which the pivot frame is removed from the link assembly of Fig. 5;
7 is a front view showing only the rotation frame of Fig.
8 is a cross-sectional view taken along line AA of FIG.
Figs. 9 to 11 are schematic views showing that the shape of the link assembly of Fig. 5 is changed according to the surface shape of the irregular surface.
Figs. 12 to 14 are perspective views showing a traveling body according to an embodiment of the present invention, which changes the shape of the link assembly according to the surface shape of the uneven terrain and shows a corresponding view. Fig.
15 and 16 are perspective views of a mobile robot according to another embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, but the scope of the present invention is not limited thereto. In the description of the present invention, a detailed description of known configurations will be omitted, and a detailed description of configurations that may unnecessarily obscure the gist of the present invention will be omitted.

FIG. 1 is a perspective view of a traveling body according to an embodiment of the present invention, and FIGS. 2 to 4 are respectively a side view, a front view, and a plan view of the traveling body shown in FIG.

Referring to these drawings, the traveling body 800 according to the present embodiment may be constituted of a vehicle body 100, a power supply unit 140, a left link assembly 710, and a right link assembly 720.

Specifically, the vehicle body 100 includes a housing space 130 in which an external mounting member can be mounted, and includes a left main hinge portion 110 protruding from a center portion of a left side surface thereof, And a right main hinge portion 120. [

The power supply unit 140 is mounted in the storage space 130 of the vehicle body 100 and can supply power to the variable links 410, 420, 430, 440 and the wheels 201, 202, 203.

Meanwhile, the left link assembly 710 includes a rotation frame hinge 610 mounted to the left main hinge 110 so as to be rotatable by a predetermined angle, and the shape of the link can be changed according to the shape of the irregular surface . The right link assembly 720 includes a rotation frame hinge 620 mounted to the right main hinge 120 so as to be rotatable by a predetermined angle and the shape of the link can be changed according to the shape of the irregular surface .

The outer surfaces of the three wheels 201, 202, and 203 may be formed with projecting frictional portions 210 to improve the frictional force with the surface of the irregular surface.

FIG. 5 is a front view of a link assembly according to an embodiment of the present invention, and FIG. 6 is a front view illustrating a state where the link assembly shown in FIG. 5 is removed from the link frame.

Referring to these drawings, the left link assembly 710 and the right link assembly 720 include a first link portion 711, a second link portion 712, a first rotating frame 510, a second rotating frame 520 and a horizontal support 350.

Specifically, the first link portion 711 includes a first vertical support 310 for mounting the first wheel 201 at a lower end thereof, a first vertical support 310, a first variable link 410, And a second vertical support 320 connected by a second vertical support 420. More specifically, the body of the first variable link 410 is fastened to the upper end of the second vertical support 320 with the hinge structure 321, and the rod 411 of the first variable link 410 is fastened to the first vertical support 320. [ The main body of the second variable link 420 is positioned at a lower portion of the main body of the first variable link 410 and is connected to the second vertical support 320 and the hinge structure 322 And the rod 421 of the second variable link 420 is positioned below the first variable link 410 rod 411 and is fastened to the first vertical support 310 and the hinge structure 312 .

The second link portion 712 includes a fourth vertical support 340 for mounting a third wheel 203 at a lower end thereof and a third vertical support 340 for supporting the fourth vertical support 340 and the third variable link 430, And a third vertical support 330 connected by a link 440. More specifically, the body of the third variable link 430 is fastened to the upper end of the third vertical support 330 by the hinge structure 331, and the rod 431 of the third variable link 430 is fastened by the fourth vertical support The main body of the fourth variable link 440 is positioned at a lower portion of the body of the third variable link 430 and is connected to the third vertical support 330 and the hinge structure 332 And the rod 441 of the fourth variable link 440 is positioned under the third variable link 430 rod 431 and is fastened to the fourth vertical support 340 and the hinge structure 342 .

The variable links 410, 420, 430, and 440 are not particularly limited as long as the variable links 410, 420, 430, and 440 are capable of receiving a control signal from the outside to change the length thereof. For example, the variable links 410 and 420 may be linear actuators .

One end of the horizontal support 350 is fastened to the lower end of the second vertical support 320 by the hinge structure 323 and the other end is fastened to the lower end of the third vertical support 330 by the hinge structure 333. [ And the hinge structure 351 can be fastened to the center portion so that the second wheel 202 is rotatable.

At this time, as shown in FIG. 6, the outer diameters of the first wheel 201, the second wheel 202, and the third wheel 203 may be equal to each other. The outer diameter D of the wheels 201, 202 and 203 is not particularly limited as long as it can prevent interference between the irregular surface surface and the link assembly due to the shape change of the link assembly in moving on the irregular surface. But it may preferably be 110 to 500% of the length L of the horizontal support 350.

In addition, an in-wheel motor is built in the wheels 201, 202, and 203 so that the wheels themselves can be independently driven.

Fig. 7 is a front view showing only the pivotal frame in the link assembly shown in Fig. 5, and Fig. 8 is a sectional view taken along the line A-A in Fig.

Referring to these drawings together with FIG. 5, the first rotating frame 510 may be in the shape of a 'T' having three planar end portions 511, 512 and 513.

More specifically, the two end portions 511 and 512 of the first rotating frame 510 facing each other are vertically positioned, and the upper end portion 511 is connected to the body of the first variable link 410 and the hinge structure 540 The lower end portion 512 is fastened to the main body of the second variable link 420 by the hinge structure 540 and the other end portion 513 is fastened to the side end portion 523 of the second rotating frame 520 And can be fastened with the hinge structures 610 and 620.

In addition, the second rotating frame 520 may be in the shape of a " T " having three planar ends 521, 522 and 523.

More specifically, the two opposite end portions 521 and 522 of the second rotating frame 520 are vertically positioned and the upper end portion 521 is connected to the body of the third variable link 430 and the hinge structure 540 The lower end portion 522 is fastened to the main body of the fourth variable link 440 by the hinge structure 530 and the other end portion 523 is fastened to the side end portion 513 of the first rotating frame 510 And can be fastened with the hinge structures 610 and 620.

The variable link gripper 530 can be fastened to the upper end portion and the lower end portion of the first rotating frame 510 and the second rotating frame 520 with a hinge structure 540.

Specifically, as shown in FIG. 8, the variable link gripper 530 includes a horizontal portion 532 and a vertical portion 532 which includes two vertical portions 532 formed vertically from both ends of the horizontal portion 531, Quot; C " shape. The horizontal link 531 of the variable link gripper 530 is fastened to the upper end portions 511 and 521 and the lower end portions 512 and 522 of the pivotal frames 510 and 520 by the hinge structure 540, The vertical portion 532 of the variable link body 530 may be integrated with the body of the variable links 410, 420, 430, and 440 in the form of wrapping the outer peripheral surface of the variable link body.

The length of the variable links 410, 420, 430 and 440 is changed so that the distance between the left link assembly 710 and the right link assembly 720 Since the shape can be changed according to the surface shape of the irregular terrain, it can be stably moved on the irregular terrain surface. The specific operating mechanism for this will be described later.

9 to 11 are schematic views showing that the shape of the link assembly shown in Fig. 5 is changed according to the surface shape of the irregular surface.

2 and 5, the link assemblies 710 and 720 can be changed in accordance with the surface shape of the irregular land 10.

Specifically, as shown in Figs. 9 to 11, the variable links 410, 420, 430, and 440 (not shown) are disposed so that the positions of the wheels 201, 202, and 203 can be changed according to the surface shape of the non- May be changed, so that the shape of the link assemblies 710 and 720 may be changed.

The traveling body 800 according to the present embodiment minimizes the lengths of the variable links 410, 420, 430 and 440 and improves the flat running when the vehicle is traveling in a normal driving mode, .

However, when the variable links 410, 420, 430, and 440 are in an extreme driving mode in which various types of obstacles move on irregular terrains formed by protrusions or indentations, as shown in FIGS. 9 to 11, It is possible to appropriately extend the length of the crushing area to improve the running property on the irregular terrain.

7 to 11, the traveling body 800 appropriately extends the lengths of the variable links 410, 420, 430, and 440 in the case of the hill driving mode, and the link assemblies 710 and 720 It is possible to stably move on the irregular surface 10, thereby achieving improved mobility.

12 to 14 are perspective views showing a traveling body according to one embodiment of the present invention, which changes the shape of the link assembly according to the surface shape of the irregular surface and shows a corresponding view.

Referring to these drawings, the mobile robot 800 according to the present embodiment may include a link assembly 710, 720 having a structure that can be changed according to the surface shape of the punctate 10.

14, each of the left link assembly 710 and the right link assembly 720 may have a shape different from that of the left link assembly 710 and the right link assembly 720. As shown in FIG. 14, Improved mobility can also be achieved in terrain.

15 and 16 are perspective views of a mobile robot according to another embodiment of the present invention.

Referring to Fig. 15, a mobile robot 800A according to another embodiment of the present invention,

And a traveling body (800)

In the storage space 130 of the traveling body,

Camera equipment (910) capable of observing the surface of the uneven terrain located on the front, rear, left and right sides of the traveling body (800); And

A control unit 920 for synthesizing the data observed from the camera equipment 910 and transmitting a length change control signal to the variable links 410, 420, 430, and 440;

As shown in FIG.

16, a mobile robot 800B according to another embodiment of the present invention includes:

And a traveling body (800)

In the storage space 130 of the traveling body,

A storage device 930 for storing information on the irregular terrain to be traveled by the traveling body 800;

A GPS device 940 capable of detecting position information of the traveling body 800; And

A control unit 920 'which synthesizes data obtained from the storage device 930 and the GPS device 940 and transmits a length change control signal to the variable links 410, 420, 430 and 440;

As shown in FIG.

Meanwhile, the mobile robot (not shown) according to another embodiment of the present invention can be utilized in various fields by mounting an external mounting member in the storage space 130 of the traveling body 800.

The external mounting member (not shown) is not particularly limited as long as it is a mounting member that is attached to the storage space 130 of the traveling body 800 for a predetermined purpose and can achieve a predetermined purpose. For example, And may be selected from the group consisting of boarding equipment, space exploration equipment, underwater exploration equipment, mountain exploration equipment, cleaning equipment, camera equipment, fire equipment, disaster relief equipment, weather measurement equipment, heat sensing equipment and welding equipment.

Therefore, a mobile robot (not shown) including the traveling body 800 can be easily used by mounting suitable equipment for various purposes.

Therefore, the traveling body according to the present embodiment is provided with the flexible link having the specific structure and the link assembly including the flexible link, so that the shape of the link assembly can be smoothly changed according to the irregular surface shape, And control methods, it is possible to achieve improved mobility in moving the illegal terrain surface. In addition, the mobile robot according to the present embodiment can mount an external mounting member capable of performing various tasks on the traveling body, and thus has a technical advantage that can be utilized in various fields.

In the foregoing detailed description of the present invention, only specific embodiments thereof have been described. It is to be understood, however, that the invention is not to be limited to the specific forms thereof, which are to be considered as being limited to the specific embodiments, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims. .

10: corrupt terrain 11: protruding terrain
12: moving direction of the mobile robot 100:
110: left main hinge part 120: right main hinge part
130: storage space 140:
201: first wheel 202: second wheel
203: third wheel 210: friction portion
310: first vertical support 311, 312: variable link hinge part
313: first wheel fastening part 320: second vertical support
321, 322: variable link hinge portion 323: vertical support hinge portion
330: third vertical support 331, 332: variable link hinge part
333: Vertical support hinge part 340: Fourth vertical support
341, 342: variable link hinge portion 343: third wheel coupling portion
350: horizontal support 351: second wheel fastening part
410: first variable link 411: rod
420: second variable link 421: rod
430: third variable link 431: load
440: fourth variable link 441: load
510: first rotating frame 520: second rotating frame
530: Variable link gripper 531: Horizontal part
532: vertical part 540: hinge part
610: Rotating frame hinge 620: Rotating frame hinge
710: Left link assembly 711: First link part
720: right link assembly 712: second link portion
800, 800A, 800B: traveling body 910: camera equipment
920: control unit 930: storage device
940: GPS device

Claims (10)

A traveling body (800) capable of moving on an irregular surface,
A left main hinge portion 110 protruding from a center portion of a left side surface and a right main hinge portion 120 protruding from a center portion of a right side surface, A vehicle body 100;
A power supply unit 140 installed in the storage space 130 of the vehicle body 100 and supplying power to the variable links 410, 420, 430, 440 and the wheels 201, 202, 203;
A left link assembly 710 including a rotation frame hinge 610 mounted on the left main hinge 110 so as to be rotatable by a predetermined angle and having a modified link shape according to the shape of the irregular surface; And
A right link assembly 720 including a turning frame hinge 620 mounted on the right main hinge 120 so as to be rotatable by a predetermined angle and having a modified link shape according to the shape of the irregular surface;
, ≪ / RTI &
The left link assembly 710 and the right link assembly 720,
A second vertical link 310 connected to the first vertical support 310 by a first variable link 410 and a second vertical link 420 by a first vertical support 310, The body of the first variable link 410 is connected to the upper end of the second vertical support 320 by the hinge structure 321 and the rod 411 of the first variable link 410 is connected to the hinge structure 321, The main body of the second variable link 420 is positioned at a lower portion of the main body of the first variable link 410 and the second vertical support 320 is connected to the upper end of the first vertical support 310 and the hinge structure 311, And the hinge structure 322 and the rod 421 of the second variable link 420 is positioned below the first variable link 410 rod 411 so that the first vertical support 310 and the hinge structure A first link portion 711 fastened to the first link portion 312;
A fourth vertical support 340 for mounting a third wheel 203 at a lower end thereof and a third vertical support 340 connected to the fourth vertical support 340 by a third variable link 430 and a fourth variable link 440. [ The body of the third variable link 430 is fastened to the upper end of the third vertical support 330 by the hinge structure 331 and the rod 431 of the third variable link 430 is fastened by the hinge structure 331, The main body of the fourth variable link 440 is positioned at a lower portion of the body of the third variable link 430 and the third vertical support 330 is coupled to the upper end of the fourth vertical support 340 by the hinge structure 341, And the rod 441 of the fourth variable link 440 is positioned below the third variable link 430 rod 431 and is connected to the fourth vertical support 340 and the hinge structure 332. [ A second link portion 712 fastened to the second link portion 342;
The upper end 511 is connected to the first variable link 410 and the upper end 511 is connected to the lower end of the first variable link 410, The lower end portion 512 is fastened to the body of the second variable link 420 by the hinge structure 540 and the other end portion 513 is fastened to the second rotating frame 520) and a hinge structure (610, 620);
The upper end portion 521 is connected to the third variable link 430 and the upper end portion 521 is connected to the lower end of the third variable link 430, The lower end portion 522 is fastened to the main body of the fourth variable link 440 by the hinge structure 530 and the other end portion 523 is fastened to the first rotating frame 510) and the hinge structures (610, 620); And
One end of the second vertical support 320 is fastened to the lower end of the second vertical support 320 by the hinge structure 323 and the other end is fastened to the lower end of the third vertical support 330 by the hinge structure 333, A horizontal support 350 fastened to the hinge structure 351 so that the two wheels 202 are rotatable;
Lt; / RTI >
The lengths of the variable links 410, 420, 430, and 440 are changed so that the positions of the wheels 201, 202, and 203 can be changed according to the surface shape of the non- And the shape of the right link assembly (720) are changed.
The method according to claim 1,
Wherein the variable links (410, 420, 430, 440) are linear actuators.
The method according to claim 1,
The variable link gripper 530 is fastened to the upper and lower ends of the first rotating frame 510 and the second rotating frame 520 by a hinge structure 540,
The variable link gripper 530 is laterally " C " shaped including two vertical portions 532 formed vertically protruding from both ends of the horizontal portion 532 and the horizontal portion 531,
The horizontal portion 531 of the variable link gripper 530 is fastened to the upper end portions 511 and 521 and the lower end portions 512 and 522 of the pivotal frames 510 and 520 by the hinge structure 540,
Wherein the vertical portion (532) of the variable link gripper (530) is integrated with the main body of the variable links (410, 420, 430, 440) so as to surround the outer peripheral surface of the variable link main body.
The method according to claim 1,
The outer diameters of the first wheel 201, the second wheel 202 and the third wheel 203 are the same,
Wherein an outer diameter (D) of the wheels (201, 202, 203) is 110 to 500% of a length (L) of the horizontal support (350).
The method according to claim 1,
Wherein an in-wheel motor is built in the wheels (201, 202, 203).
The method according to claim 1,
Wherein a frictional portion of a protruded or indented shape is formed on an outer surface of the wheels (201, 202, 203) so as to improve frictional force with the surface of the irregular surface (10).
A traveling vehicle comprising the traveling body according to any one of claims 1 to 6,
In the storage space 130 of the traveling body,
Camera equipment (910) capable of observing the surface of the uneven terrain located on the front, rear, left and right sides of the traveling body (800); And
A control unit 920 for synthesizing the data observed from the camera equipment 910 and transmitting a length change control signal to the variable links 410, 420, 430 and 440;
Is mounted on the mobile robot (1).
A traveling vehicle comprising the traveling body according to any one of claims 1 to 6,
In the storage space 130 of the traveling body,
A storage device (930) for storing information of the irregular terrain to be traveled by the traveling body (800);
A GPS device 940 capable of detecting position information of the traveling body 800; And
A control unit 920 'which synthesizes data obtained from the storage device 930 and the GPS device 940 and transmits a length change control signal to the variable links 410, 420, 430 and 440;
Is mounted on the mobile robot (1).
A mobile robot comprising at least one traveling body according to any one of claims 1 to 6, wherein an external mounting member is mounted in the storage space (130) of the traveling body.
10. The method of claim 9,
Wherein the external mounting member comprises:
Wherein at least one selected from the group consisting of a navigation device, a space exploration device, a submarine exploration device, a mountain exploration device, a cleaning device, a camera device, a fire device, a disaster relief device, a weather measurement device, Mobile robot.

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