KR102085524B1 - Sweeping device and sweeper robot comprising the same - Google Patents

Abstract

The present invention discloses a sweeping device that may perform a high-speed sweeping operation on a floor. The sweeping device according to the present invention comprises: a first link; a second link, one end of which is rotatably coupled to an upper end of the first link; a third link, one end of which is rotatably coupled to a lower end of the first link; a fourth link, one end of which is rotatably coupled to an opposite end of the third link; a fifth link, one end of which is rotatably connected to the second link and an opposite end of which is rotatably connected to the fourth link; a sixth link, installed at a lower portion of the fifth link, and one end of which is rotatably connected to the second link and an opposite end of which is rotatably connected to the fourth link; a brush coupled to the fourth link; and a rotation training device configured to reciprocally rotate the second link within a predetermined angle range about a shaft connected to the first link. The sweeping device according to the present invention can convert a one-directional rotation substantially to a reciprocal linear motion by properly selecting the lengths of the links of a link mechanism without using a linear motion guide such as an LM guide or a ball screw. Accordingly, the weight and the size of the sweeping device can be reduced as compared with a conventional reciprocal device that uses a linear motion guide and vibration generated during a change in the direction thereof can be remarkably reduced as the inertia is small.

Description

Sweeping device and sweeper robot comprising the same

The present invention relates to a sweeping mechanism for reciprocating a brush and a sweeper robot including the same, for example, a sweeping mechanism for performing a sweeping operation for reciprocating a brush on an ice surface of a curling arena. It relates to a sweeper robot having this.

The curling game is a game in which a curling stone (hereinafter referred to as 'stone' for convenience) is slipped on a rectangular ice rink to score a goal by concentric targeting a house. And the number of Dongho people is increasing.

This curling event is the most static sport among winter sports, but it is known that a high level of concentration and stamina is required for pitching and brushing stones, as well as a high level of strategic thinking in determining the location and route of the stones.

In curling, once a stone is thrown, no one can touch the stone, and a sweeping action is performed using a brush (bloom) to rub and remove the pebble formed on the ice surface by rubbing the ice in the path that the stone will pass. Controls the direction and speed of the stone.

An athlete dedicated to sweeping is called a sweeper, and in general, the sweeper performs a sweeping operation at a speed of about 3 to 5 Hz with more than half of the weight on the brush. The more weight you put on, the faster it is difficult to move, so in the beginning, you perform a light and fast sweeping motion, and when necessary, perform the sweeping motion as quickly as possible.

Meanwhile, in recent years, research and development of curling robots capable of autonomously performing curling competitions has been actively conducted.

Curling robots can be divided into skip robots, helmet robots, and sweeper robots depending on their role. The skip robot establishes the game strategy and transmits the necessary commands to the pitching robot or the sweeper robot, the pitching robot plays the role of throwing stones according to the skip robot's instructions, and the sweeper robot plays the stone after the stone is thrown. It plays a role of performing a sweeping motion while driving in front of the.

Among these curling robots, a sweeper robot that performs a sweeping motion while driving along a predicted path in front of a stone can be seen to play the most dynamic role.

The sweeper robot must be able to run stably while performing a sweeping motion of reciprocating the brush at a high speed within a certain range on the ice plate. However, the conventional reciprocating mechanism has a problem that is not suitable for the purpose of reciprocating the brush in the sweeper robot.

As an example, a reciprocating mechanism having a linear motion guide such as a ball screw or an LM guide has limitations in high-speed motion because the motor needs to accelerate and decelerate each time the rotation direction is changed. However, there is a big disadvantage of energy loss. In addition, there are limitations in reducing the size and weight of the linear motion guide, which makes it difficult to mount it in a small autonomous driving robot. In addition, the vibration caused by the forward and reverse rotation of the motor is large, which may impair the driving stability of the robot. In addition, since the motor must repeat the forward and reverse rotation at high speed, there is a problem in that the service life is shortened due to excessive load.

As another example, if a link mechanism is combined with a linear motion guide, one-way rotational motion of the motor can be converted to a linear reciprocating motion. In this case, however, both the linear motion guide and the link mechanism must be installed. There is a problem that it is difficult to mount on an autonomous driving robot.

As another example, a multi-joint robot arm may be used, but it is difficult to implement a high-speed reciprocating motion with the robot arm, and even if implemented, the driving stability of the robot is impaired due to vibrations caused by various driving mechanisms and power transmission mechanisms attached to the mechanism. There is a problem. Also, the articulated robot arm has a problem of high production cost.

Korean Patent Publication No. 10-2018-0098110 (published 2018.09.03)

The present invention has been devised in this background, and an object thereof is to provide a sweeping mechanism capable of more stably performing a high-speed reciprocating motion and a sweeper robot using the same. In addition, the present invention has an object to improve the running stability of the sweeper robot by minimizing the vibration of the sweeping mechanism.

In order to achieve this object, an aspect of the present invention, the first link; A second link having one end rotatably coupled to the top of the first link; A third link having one end rotatably coupled to the bottom of the first link; A fourth link having one end rotatably coupled to the other end of the third link; A fifth link having one end rotatably connected to the second link and the other end rotatably connected to the fourth link; A sixth link installed at the lower portion of the fifth link, one end rotatably connected to the second link and the other end rotatably connected to the fourth link; A brush coupled to the fourth link; It provides a sweeping mechanism including a rotary motion mechanism for reciprocating rotation of the second link within a predetermined angular range around an axis connected to the first link.

In the sweeping mechanism according to an aspect of the present invention, the other end of the third link may be located higher than the other end of the second link.

Further, in the sweeping mechanism according to an aspect of the present invention, the fourth link may be parallel to the second link, and the fifth link may be parallel to the sixth link.

In addition, in the sweeping mechanism according to an aspect of the present invention, the rotation axis connecting the fourth link and the fifth link may be coaxial with the rotation axis connecting the third link and the fourth link.

In addition, in the sweeping mechanism according to an aspect of the present invention, the rotational movement mechanism includes: a guide groove formed along the longitudinal direction of the second link; A rotation unit coupled to the first link and having a rotation axis in the same direction as the rotation axis of the second link; A cam protrudingly formed on one surface of the rotating part and inserted into the guide groove; It may include a rotating drive for rotating the rotating portion.

A sweeping mechanism according to another aspect of the present invention includes a first link; A second link having one end rotatably coupled to the top of the first link; One end is a third link rotatably coupled to the bottom of the first link; A fourth link having one end rotatably coupled to the other end of the third link; A fifth link having one end rotatably connected to the second link and the other end rotatably connected to the fourth link; A sixth link installed at the lower portion of the fifth link, one end rotatably connected to the second link and the other end rotatably connected to the fourth link; A seventh link having one end fixed to the fourth link and flexible; A brush coupled to the bottom of the seventh link; It may include a rotary motion mechanism for reciprocating rotation of the second link within a predetermined angular range around an axis connected to the first link.

A sweeping mechanism according to another aspect of the present invention includes a first link; A second link having one end rotatably coupled to the top of the first link; One end is a third link rotatably coupled to the bottom of the first link; A fourth link having one end rotatably coupled to the other end of the third link; A fifth link having one end rotatably connected to the second link and the other end rotatably connected to the fourth link; A sixth link installed at the lower portion of the fifth link, one end rotatably connected to the second link and the other end rotatably connected to the fourth link; A seventh link having one end rotatably coupled to the fourth link; An elastic member installed between the fourth link and the seventh link; A brush coupled to the bottom of the seventh link; It may include a rotary motion mechanism for reciprocating rotation of the second link within a predetermined angular range around an axis connected to the first link.

Another aspect of the present invention provides a sweeper robot including a frame on which a driving means is installed and the sweeping mechanism mounted on the frame to perform a sweeping operation on the floor.

The sweeper robot according to the present invention may include an elevating mechanism for elevating the sweeping mechanism. At this time, the lifting mechanism, the fixing portion coupled to the frame; A mounting portion to which the first link of the sweeping mechanism is coupled; A parallel link installed between the fixing part and the mounting part; It may include a rotating drive for rotating the parallel link.

In addition, the sweeper robot according to the present invention is for changing the sweeping direction of the brush, and may include a rotation driving means for rotating the sweeping mechanism around a vertical axis installed in the frame.

In addition, the sweeper robot according to the present invention can change the sweeping direction of the brush by changing the posture of the frame with respect to the driving direction.

In addition, the sweeper robot according to the present invention may include a first sensing unit for sensing the position of the stone, and a second sensing unit for sensing an obstacle ahead of the driving direction.

The sweeping mechanism according to the present invention can convert the unidirectional rotational motion into a reciprocating linear motion by appropriately selecting the length of each link in the linkage mechanism without using a linear motion guide such as an LM guide or a ball screw.

Therefore, compared to the conventional reciprocating mechanism using a linear motion guide, the weight and size can be reduced, and the vibration generated when changing directions due to less inertia can be greatly reduced.

In addition, since the motor is continuously rotated in one direction, the load applied to the motor is small, and the energy and acceleration / deceleration time required to change the rotation direction can be reduced, so that a high-speed linear reciprocating motion can be stably implemented.

In addition, according to the present invention, it is possible to provide a sweeper robot capable of stably driving while performing a sweeping operation at high speed.

1 is a view showing a link connection structure of a sweeping mechanism according to an embodiment of the present invention
2 is a view showing a state in which the link of the sweeping mechanism is folded to the maximum according to an embodiment of the present invention
Figure 3 is a graph showing the motion trajectory of the sweeping mechanism according to an embodiment of the present invention
4 is a perspective view of a sweeper robot according to an embodiment of the present invention
5 is a view showing a state in which the sweeper robot moves a brush in a horizontal direction according to an embodiment of the present invention
6 is a view showing a state in which the sweeper robot according to an embodiment of the present invention raises the brush in the vertical direction.
7 is a view showing a state in which the sweeping mechanism according to an embodiment of the present invention is coupled to the lifting mechanism
8 is a view showing a state in which the sweeping mechanism is folded when coupled to the lifting mechanism.
9 is a view showing a state in which the seventh link is fixed to the fourth link of the sweeping mechanism according to an embodiment of the present invention
10 is a view showing a state in which the seventh link is rotatably coupled to the fourth link of the sweeping mechanism according to an embodiment of the present invention
11 is a view showing the operation of the sweeper robot according to an embodiment of the present invention in a curling game
12 is a view showing a state in which two sweeper robots collaborate and sweep in a direction perpendicular to the driving direction.
13 is a view showing a state in which two sweeper robots collaborate and sweep in a direction crossing at an acute angle to the driving direction.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. For reference, when one element (element) is connected or combined with another component in the present specification, as well as when directly connected or combined with another component, indirectly connected or combined with another element in between. Also included. In addition, when one component is directly connected or directly coupled to another component, it means that the other component is not interposed. In addition, when a part includes or includes a certain component, it means that other components may be further included or provided rather than excluding other components unless otherwise specified. In addition, the drawings attached to this specification have portions that are exaggerated differently from actual dimensions, which are only for convenience of explanation and understanding, and of course, the scope of the present invention should not be interpreted or distorted limitedly.

1 is a view showing a link connection structure when the sweeping mechanism 100 according to an embodiment of the present invention is unfolded, and FIG. 2 is a view showing a link connection structure when fully folded.

The sweeping mechanism 100 according to an embodiment of the present invention implements a low-inertia and stable reciprocating mechanism using only a link mechanism without using linear motion guides such as LM guides and ball screws commonly used in conventional reciprocating mechanisms. There is a characteristic in the point.

Referring to the drawings, the sweeping mechanism 100 according to an embodiment of the present invention includes a first link 110, a second link 120, one end of which is rotatably coupled to the top of the first link, once A third link 130 rotatably coupled to the lower end of the first link 110, a fourth link 140 rotatably coupled to the other end of the third link 130, and a second link It includes a fifth link 150 and the sixth link 160 is installed between the 120 and the fourth link 140.

The first link 110 serves to maintain the posture while supporting the entire load of the sweeping mechanism 100. The first link 110 may be coupled to the frame or robot arm of the sweeper robot, or may be coupled to the lifting mechanism 200 provided on the sweeper robot, as described below.

The second link 120 reciprocates within a certain angular range around a rotation axis installed at the top of the first link 110, and the reciprocating rotation of the second link 120 is coupled to the fifth link 150. It is converted into the motion of the fourth link 140 by the sixth link 160.

In order for the second link 120 to reciprocate within a certain angular range, a rotational movement mechanism for this must be installed, which will be described later.

It is preferable that the third link 130 has a slope substantially opposite to the second link 120. That is, one end of the third link 130 is connected to the first link 110 in a place lower than one end of the second link 120, but the other end of the third link 130 is the other end of the second link 120 It is desirable to be located in a high place.

When the third link 130 is installed in this way, the third link 130 may serve to maintain the lower end of the fourth link 140 at a relatively constant height while the fourth link 140 is in motion.

Specifically, when the second link 120 descends toward the first link 110 while rotating clockwise around the rotation axis of the top, the third link 130 raises the top of the fourth link 140 By doing so, it serves to prevent the lower end of the fourth link 140 from descending.

In addition, when the second link 120 rotates counterclockwise around the rotation axis of the top, the third link 130 lowers the bottom of the fourth link 140 by lowering the top of the fourth link 140. It serves to stop doing.

Therefore, if the length of each link is properly adjusted in the sweeping mechanism 100 according to an embodiment of the present invention, the lower end of the fourth link 140 may maintain a constant height during exercise.

The fourth link 140 moves together when the second link 120 moves, but the third link 130 moves the reciprocating motion within a certain angular range based on the rotation center point while the rotation center point continues to change. do. The fourth link 140 is preferably parallel to the second link 120, but is not limited thereto.

3 is a graph showing the motion trajectory of the lower end of the fourth link 140 in the sweeping mechanism 100 according to an embodiment of the present invention, through which the lower end of the fourth link 140 is a horizontal displacement (TOOL It can be seen that the vertical displacement (TOOL (Y)) is very small compared to (X)).

As described above, the fourth link 140 rotates and reciprocates within a certain angular range according to the operation of the second link 120, but the bottom of the fourth link 140 is horizontal in a state in which the height in the vertical direction hardly changes. It will reciprocate in the direction.

That is, in the sweeping mechanism 100 according to an embodiment of the present invention, even though a linear motion guide such as an LM guide or a ball screw is not used, the lower end of the fourth link 140 can stably perform a linear reciprocating motion. Able to know.

Therefore, when the brush is installed at the bottom of the fourth link 140, the brush can be stably reciprocated along the horizontal direction. However, it is not always necessary to mount the brush at the bottom of the fourth link 140, as described later, the seventh link (170, 170a) is further coupled to the fourth link 140 and the seventh link (170, 170a) ) Can also be equipped with a brush.

One end of the fifth link 150 is rotatably coupled to the second link 120 and the other end is rotatably coupled to the fourth link 140. In this case, the rotation shaft connecting the fifth link 150 and the fourth link 140 is preferably coaxial with the rotation shaft connecting the third link 130 and the fourth link 140, but is not limited thereto.

The sixth link 160 is installed under the fifth link 150, one end being rotatably coupled to the second link 120 and the other end being rotatably coupled to the fourth link 140.

The fifth link 150 and the sixth link 160 are preferably parallel, but are not limited thereto.

Meanwhile, in order for the sweeping mechanism 100 to operate according to an embodiment of the present invention, the second link 120 must reciprocate within a certain angular range. When the second link 120 reciprocates, the lower end of the fourth link 140 moves away from the first link 110 as shown in FIG. 1 and then to the first link 110 as shown in FIG. 2. Approaching reciprocating linear motion is possible.

A rotary motion mechanism that reciprocates the second link 120 within a certain angular range may be a motor installed on a rotating shaft connecting the first link 110 and the second link 120 to rotate forward and backward within a predetermined angular range. have.

However, if the motor is rotated forward and backward, the high-speed reciprocating motion is not easy due to the acceleration / deceleration time, the vibration increases, and the motor is overloaded, which shortens the service life.

In order to solve this problem, as shown in FIG. 1, the rotation unit 180 and the rotation unit 180 coupled to the first link 110 and rotating about the rotation axis in the same direction as the rotation axis of the second link 120 ) Protruding to one surface and the cam 182 moving in the circumferential direction about the rotation axis when the rotating part 180 rotates, and a portion in which the cam 182 is inserted and moved, in the longitudinal direction to the second link 120. It is preferable to use a rotational movement mechanism including a guide groove 122 formed and a rotation driving unit (not shown in the drawing) for rotating the rotation unit 180.

A motor, a rotary cylinder, or the like may be used as the rotary driving unit for driving the rotary unit 180, or other types of rotary driving devices may be used. The rotary driving unit may be directly connected to the rotating shaft of the rotating unit 180, or may be indirectly connected to the rotating shaft through a power transmission means such as a belt or a gear.

When such a rotational movement mechanism is used, even if the rotation unit 180 is rotated in one direction, the cam 182 moves while drawing a circular trajectory, and simultaneously reciprocates within the guide groove 122 of the second link 120. As it does, the second link 120 reciprocates in a predetermined angular range around the upper rotation axis.

The reciprocating rotational motion of the second link 120 is converted to the reciprocating rotational motion of the fourth link 140 by the fifth link 150 and the sixth link 160 as described above, and in this process, the fourth link The lower end of 140 is reciprocating along the horizontal direction while maintaining a constant height.

The sweeping mechanism 100 according to an embodiment of the present invention does not use a linear motion guide such as an LM guide or a ball screw, and thus can reduce weight and size compared to a conventional reciprocating motion mechanism, and has less inertia when switching directions. Significantly reduce the vibration or load generated. In addition, since the motor is continuously rotated in one direction, the load applied to the motor is small, and the energy and acceleration / deceleration time required to change the rotation direction can be reduced, thereby realizing a high-speed linear reciprocating motion.

In addition, compared to a multi-joint robot arm that requires the use of two or more motors and reducers, manufacturing cost can be significantly reduced and vibration can be reduced.

4 shows a sweeper robot 10 equipped with a sweeping mechanism 100 according to an embodiment of the present invention.

The sweeper robot 10 includes a frame 11, a plurality of wheels 120 mounted to the frame 11, and a sweeping mechanism 100 coupled to the frame 11. Also, although not shown in the drawings, the sweeper robot 10 includes a driving device for rotating the wheel 120, a steering device for adjusting the direction of the wheel 120, a sensor for detecting the stone 50, and a sensor for detecting an obstacle, And communication devices for communication with other robots and / or external systems.

The sweeper robot 10 must perform a sweeping operation while traveling ahead of the stone 50 along the expected path of the pitched stone 50, and thus must be capable of stable driving even during the sweeping operation.

To this end, it is desirable to distribute the entire load evenly to each wheel 12 as much as possible to prevent the sweeper robot 10 from slipping on ice when driving. In addition, it is preferable to install a heavy part such as a motor or a reducer at the center of the sweeper robot 10 to position the center of gravity at the center of the sweeper robot 10.

In addition, it is preferable to perform the sweeping operation at a position as close as possible to the center of gravity of the sweeper robot 10 in order to minimize the impact on the running of the sweeper robot 10 due to the reaction force caused by the sweeping operation.

The brush 190 is coupled to the lower end of the sweeping mechanism 100, and the brush 190 is in a second position away from the sweeper robot 10 as shown in FIG. 5 from a first position close to the sweeper robot 10 as shown in FIG. 4. Rub the ice surface while reciprocating.

The first link 110 of the sweeping mechanism 100 may be directly coupled to the frame 11 of the sweeper robot 10 or indirectly through another member.

In addition, the sweeper robot 10 may include a lifting mechanism 200 for elevating the sweeping mechanism 100.

6 shows a state in which the sweeping mechanism 100 is raised using the lifting mechanism 200 so that the brush 190 does not contact the ice. When the lifting mechanism 200 is used in this way, the sweeper robot 10 moves in a state in which the sweeping mechanism 100 is raised when not sweeping, and sweeps as shown in FIGS. 4 and 5 when performing the sweeping operation. The mechanism 100 can be moved in a lowered state.

7 shows a state in which the sweeping mechanism 100 coupled to the lifting mechanism 200 is unfolded, and FIG. 8 shows a state in which the sweeping mechanism 100 coupled to the lifting mechanism 200 is folded.

As shown in the figure, the lifting mechanism 200 is a fixing portion 210 fixed to the frame 11 of the sweeper robot 10 and a mounting portion 230 to which the first link 110 of the sweeping mechanism 100 is coupled. ), One end is rotatably coupled to the fixing part 210 and the other end is a parallel link 220 rotatably coupled to the mounting part 230 and the rotation axis connected to the parallel link 220 to the fixing part 210 It includes a rotation driving part (not shown in the drawing) for rotating to the center. When the parallel link 220 is used as described above, even when the parallel link 220 rotates, the first link 110 of the sweeping mechanism 100 may maintain a constant posture.

On the other hand, in the sweeping mechanism 100 according to an embodiment of the present invention, even if there is no separate linear motion guide, the lower end of the fourth link 140 horizontally reciprocates at a relatively constant height, so that it is directly at the lower end of the fourth link 140. Sweeping can be performed even when the brush 190 is mounted.

However, as shown in the graph of FIG. 3, since a slight vertical displacement occurs during horizontal reciprocating motion, the brush 190 may not stably adhere to the ice surface during the sweeping operation. Therefore, it is necessary to install an auxiliary device capable of preventing this phenomenon.

As an example, when the brush 190 is directly coupled to the bottom of the fourth link 140, an elastic member such as a spring that provides elastic force to the ice plate may be installed on the brush 190. In this way, even when the brush 190 rises slightly during the horizontal reciprocating motion, the elastic member pushes the brush 190 toward the ice plate, so that the ice plate does not fall off and can stably sweep.

As another example, as illustrated in FIG. 9, a seventh link 170 capable of mounting a brush may be connected to the fourth link 140 and a brush 190 may be mounted at the bottom of the seventh link 170. . At this time, the seventh link 170 is fixed to the fourth link 140 in a state parallel to the fourth link 140, and an elastic member such as a compression spring is installed inside, so that it is possible to contract in the longitudinal direction. Do.

In this way, even if a displacement in the vertical direction occurs while the brush 190 is horizontally moved, the seventh link 170 absorbs the displacement in the vertical direction so that the brush 190 can be kept in close contact with the ice plate.

As another example, as illustrated in FIG. 10, the seventh link 170a can be rotatably coupled to the fourth link 140 and the brush 190 can be installed at the bottom of the seventh link 170a. In this case, it is preferable to install a spring that provides elastic force in a direction to narrow the gap between the fourth link 140 and the seventh link 170a because the seventh link 170a should not deviate from the sweeping range during the sweeping operation. Do. In this way, even if the displacement in the vertical direction occurs while the brush 190 is horizontally moved, the seventh link 170a can absorb the displacement in the vertical direction, thereby bringing the brush 190 into close contact with the ice plate.

Meanwhile, in order for the sweeper robot 10 to travel while maintaining a predetermined distance in front of the stone 50 along the expected path of the stone 50, it is necessary to recognize the correct position of the pitched stone 50, as well as obstacles in the driving direction. Must also be able to recognize.

Therefore, as shown in FIG. 11, the sweeper robot 10 includes a first sensing unit 310 for recognizing the position of the stone 50 and a second sensing unit 320 for recognizing obstacles in the driving direction. Should be.

The types of the first sensing unit 310 and the second sensing unit 320 are not limited. For example, an infrared sensor, an ultrasonic sensor, a laser sensor, a laser scanner, a laser radar (LIDAR), etc. may be used as needed.

On the other hand, since the trajectory of the stone 50 varies according to the sweeping direction, the sweeper robot 10 is preferably manufactured in a symmetrical shape as shown in FIG. 12, and disposed one on each side of the traveling direction of the stone 50, respectively.

At this time, in order to increase the sweeping effect, it is necessary to sweep as close as possible to the stone 50. Therefore, the robot in the direction of changing the path of the stone from the left sweeper robot 10a or the right sweeper robot 10b is added to the stone 50. It is desirable to place it closer.

FIG. 12 shows a state in which two sweeper robots 10a and 10b perform a sweeping operation in a direction orthogonal to a driving direction while collaborating. However, since the sweeping direction is not limited to this, if necessary, the sweeping may be performed in a direction that crosses obliquely with respect to the driving direction, as shown in FIG. 13.

In order to perform the sweeping operation in the inclined direction as described above, the posture of the sweeper robots 10a and 10b may be inclined with respect to the driving direction as shown in FIG. 13, and the posture of the sweeper robots 10a and 10b is maintained as it is. In the state, the sweeping mechanism 100 may be rotated relative to the frame 11 of the sweeper robot 10.

When changing the posture of the sweeper robots 10a and 10b, the driving control unit (not shown in the drawing) should properly control the angle of the wheel 12 to maintain the driving direction along the expected path even after changing the posture. In addition, in order to rotate the sweeping mechanism 100, while installing a vertical axis on the frame 11, it is necessary to install a rotation driving means for rotating the sweeping mechanism 100 around the vertical axis.

In the above, a preferred embodiment of the present invention has been described, but the present invention is not limited to the above-described embodiment, but may be modified or modified in various forms.

As an example, in this specification, the sweeper robot 10 and the sweeping mechanism 100 have been described as being used for curling competition, but the cleaning robot for cleaning the floor using a brush (including a mop) is also according to an embodiment of the present invention. Since the sweeping mechanism 100 can be used, the scope of the present invention is not necessarily limited to the curling robot.

As another example, although the driving means of the sweeper robot 10 is shown as the wheel 10 in the specification and the drawings, other types of driving means may be used because the driving means is not limited thereto.

As another example, since the range of use of the sweeping mechanism 100 according to the embodiment of the present invention is not necessarily limited to the autonomous driving robot, the sweeping mechanism 100 according to the embodiment of the present invention, such as an XY-axis robot, a multi-joint robot, or the like ) Is also possible.

As described above, the present invention may be modified or modified in various forms in a specific application process, and if the modified or modified embodiments include the technical spirit of the present invention disclosed in the following claims, of course, they belong to the scope of the present invention. Would say

10: Sweeper Robot 11: Frame 12: Wheel
50: Stone 100: Sweeping mechanism 110: First link
120: second link 122: guide groove 130: third link
140: fourth link 150: fifth link 160: sixth link
170: seventh link 180: rotating portion 182: cam
190: brush 200: lifting mechanism 210: fixing part
220: Parallel link 230: Mounting unit 310: First sensing unit
320: second detection unit

Claims (13)

First link;
A second link having one end rotatably coupled to the top of the first link;
One end is a third link rotatably coupled to the bottom of the first link;
A fourth link having one end rotatably coupled to the other end of the third link;
A fifth link having one end rotatably connected to the second link and the other end rotatably connected to the fourth link;
A sixth link installed at the lower portion of the fifth link, one end rotatably connected to the second link and the other end rotatably connected to the fourth link;
A brush coupled to the fourth link;
Rotating mechanism for reciprocating rotation of the second link within a certain angular range around an axis connected to the first link
Sweeping mechanism containing According to claim 1,
Sweeping mechanism, characterized in that the other end of the third link is located higher than the other end of the second link According to claim 1,
Sweeping mechanism characterized in that the fourth link is parallel to the second link, and the fifth link is parallel to the sixth link. According to claim 1,
Sweeping mechanism, characterized in that the rotating shaft connecting the fourth link and the fifth link is coaxial with the rotating shaft connecting the third link and the fourth link According to claim 1, The rotary exercise mechanism,
A guide groove formed along the longitudinal direction on the second link;
A rotation unit coupled to the first link and having a rotation axis in the same direction as the rotation axis of the second link;
A cam protrudingly formed on one surface of the rotating part and inserted into the guide groove;
Rotation driving unit for rotating the rotating unit
Sweeping mechanism comprising a First link;
A second link having one end rotatably coupled to the top of the first link;
One end is a third link rotatably coupled to the bottom of the first link;
A fourth link having one end rotatably coupled to the other end of the third link;
A fifth link having one end rotatably connected to the second link and the other end rotatably connected to the fourth link;
A sixth link installed at the lower portion of the fifth link, one end rotatably connected to the second link and the other end rotatably connected to the fourth link;
A seventh link having one end fixed to the fourth link and flexible;
A brush coupled to the bottom of the seventh link;
Rotating mechanism for reciprocating rotation of the second link within a certain angular range around an axis connected to the first link
Sweeping mechanism containing First link;
A second link having one end rotatably coupled to the top of the first link;
One end is a third link rotatably coupled to the bottom of the first link;
A fourth link having one end rotatably coupled to the other end of the third link;
A fifth link having one end rotatably connected to the second link and the other end rotatably connected to the fourth link;
A sixth link installed at the lower portion of the fifth link, one end rotatably connected to the second link and the other end rotatably connected to the fourth link;
A seventh link having one end rotatably coupled to the fourth link;
An elastic member installed between the fourth link and the seventh link;
A brush coupled to the bottom of the seventh link;
Rotating mechanism for reciprocating rotation of the second link within a certain angular range around an axis connected to the first link
Sweeping mechanism containing In the sweeper robot including a frame equipped with a driving means and a sweeping mechanism mounted on the frame to perform a sweeping operation on the floor,
The sweeping mechanism,
First link;
A second link having one end rotatably coupled to the top of the first link;
A third link having one end rotatably coupled to the bottom of the first link;
A fourth link having one end rotatably coupled to the other end of the third link;
A fifth link having one end rotatably connected to the second link and the other end rotatably connected to the fourth link;
A sixth link installed at the lower portion of the fifth link, one end rotatably connected to the second link and the other end rotatably connected to the fourth link;
A brush coupled to the fourth link to perform a sweeping operation on the floor;
Rotating mechanism for reciprocating rotation of the second link within a certain angular range around an axis connected to the first link
Sweeper robot comprising a The method of claim 8,
Sweeper robot comprising a lifting mechanism for elevating the sweeping mechanism 10. The method of claim 9, The lifting mechanism,
A fixing part coupled to the frame;
A mounting portion to which the first link of the sweeping mechanism is coupled;
A parallel link installed between the fixing part and the mounting part;
Rotation driving unit for rotating the parallel link
Sweeper robot comprising a The method of claim 8,
Sweeper robot for changing the sweeping direction of the brush, characterized in that it comprises a rotation driving means for rotating the sweeping mechanism around a vertical axis installed on the frame The method of claim 8,
Sweeper robot characterized by changing the posture of the frame with respect to the driving direction to change the sweeping direction of the brush The method of claim 8,
Sweeper robot comprising a first sensing unit for sensing the position of the stone, and a second sensing unit for sensing an obstacle in the driving direction ahead

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