KR102501535B1 - Modular variable robot with adjustable wheel spacing - Google Patents

Abstract

A modular variable robot capable of adjusting wheel spacing according to the technical idea of the present invention is a robot whose wheel spacing is adjusted to avoid obstacles during driving, and is arranged parallel to the floor and extends in length in the forward direction and in the lateral direction perpendicular to the forward direction. A frame module provided to be possible, a moving module including a plurality of wheels that are formed to be mountable to the frame module and rotated by a driving motor, and are formed to be mountable to the frame module and provided to provide power, wherein the It includes an energy module electrically connected to the movement module, and the movement module may be mounted on both sides of the movement module along the forward direction.

Description

Modular variable robot with adjustable wheel spacing {MODULAR VARIABLE ROBOT WITH ADJUSTABLE WHEEL SPACING}

The present invention relates to a robot capable of adjusting the distance between wheels to avoid an obstacle, and more particularly, to a modular variable robot capable of adjusting the distance between wheels that can overcome an obstacle on a driving path by adjusting the width thereof.

In recent years, robots or machines have been replacing human work in various fields. Typically, rather than receiving an order from a store, a robot orders according to the convenience of the user and processes the requested order when the order is received, or a robot that checks the health status of a person and works repetitively along the process in process work, etc. Robots and the like are being introduced.

In order for these robots to smoothly perform various tasks in the space where humans live, they must be able to overcome various obstacles that exist in the human living environment. For example, in the case of a mobile robot capable of positional movement, it is necessary to overcome obstacles such as stairs as well as flat terrain. Research on a driving robot capable of overcoming these obstacles has been conducted in various ways. For example, conventional driving robots have deformable wheels and overcome obstacles by changing the shape of the wheels.

However, in conventional driving robots, the driving to transform the wheel and the driving to rotate the wheel are configured to be dependent on each other, so there is a limitation in that the transforming operation of the wheel is limited according to the rotation direction of the wheel. That is, when the driving robot moves forward, it can only transform in a specific direction, and in order to transform in another direction, there is a limitation in that the driving direction must be changed. In addition, the deformation motor for transforming the shape of the wheel is directly installed on the wheel, which increases the volume of the wheel or increases the rotational inertia of the wheel, and when the deformation motor is installed on the body of the driving robot (drive device), the wheel For the transformation of the transformation motor also has to be rotated around the axis of rotation of the wheel has been a problem that the configuration is complicated and inefficiency is increased.

In addition, these driving robots may encounter obstacles while driving, resulting in failure or damage, and in order to repair them, they cannot be used, resulting in time and cost losses.

The technical problem to be achieved by the technical idea of the present invention is to provide a modular variable robot capable of adjusting wheel spacing, which can overcome obstacles quickly and stably, and is provided in a modular structure and can be easily replaced in case of partial damage. .

In order to solve the above problems, the technical idea of the present invention is a robot whose wheel spacing is adjusted to avoid obstacles during driving, which is disposed parallel to the floor and is provided with a length that is flexible in the forward direction and in the lateral direction perpendicular to the forward direction. A frame module, a moving module including a wheel that is formed to be mounted on the frame module and rotated by a driving motor, and is formed to be mounted on the frame module and provided to provide power, and electrically connected to the moving module It includes an energy module connected to the moving module, and the moving module may be mounted on both sides along the forward direction.

The modular variable robot with adjustable wheel spacing of the present invention is provided with skeletal modules to adjust the spacing to overcome obstacles, and is provided in the form of detachable modules with skeletal modules, movement modules, and energy modules, so that some modules can be easily damaged. It has the advantage of being replaceable.

1 is a perspective view of a modular variable robot capable of adjusting wheel spacing according to an embodiment according to the technical idea of the present invention.
2 and 3 are bottom views for explaining how a distance is adjusted in a modular variable robot capable of adjusting a wheel distance according to an embodiment according to the technical concept of the present invention.
4 is a combined perspective view for showing a detailed structural appearance of a modular variable robot capable of adjusting wheel spacing according to an embodiment according to the technical idea of the present invention.
5 is a bottom view showing a state in which a moving module is coupled to a frame module in a modular variable robot capable of adjusting wheel spacing according to an embodiment according to the technical concept of the present invention from a bottom surface.
6 is a bottom view showing a state in which a frame module is extended in length in a state in which a moving module is coupled to a frame module in a modular variable robot capable of adjusting wheel spacing according to an embodiment according to the technical idea of the present invention from a bottom surface.
7 is a perspective view showing a frame module in a modular variable robot capable of adjusting wheel spacing according to an embodiment according to the technical concept of the present invention.
8 is a perspective view illustrating a shock absorber module in a modular variable robot capable of adjusting wheel spacing according to an embodiment according to the technical concept of the present invention.

In order to fully understand the configuration and effects of the present invention, preferred embodiments of the present invention will be described with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, and may be implemented in various forms and various changes may be applied. However, the description of the present embodiments is provided to complete the disclosure of the present invention, and to completely inform those skilled in the art of the scope of the invention to which the present invention belongs. Components in the accompanying drawings may be exaggerated or reduced for convenience of description.

It should be understood that when an element is described as being “on” or “adjacent to” another element, it may be in direct contact with or connected to the other element, but another element may exist in the middle. something to do. On the other hand, when a component is described as being “directly on” or “directly in contact with” another component, it may be understood that another component does not exist in the middle. Other expressions describing the relationship between components, such as “between” and “directly between” may be interpreted similarly.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms may only be used for the purpose of distinguishing one component from another. For example, a first element may be termed a second element, and similarly, a second element may be termed a first element, without departing from the scope of the present invention.

Singular expressions include plural expressions unless the context clearly dictates otherwise. The terms "include" or "has" are used to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, and includes one or more other features or numbers, It can be interpreted that steps, actions, components, parts, or combinations thereof may be added.

Terms used in the embodiments of the present invention may be interpreted as meanings commonly known to those skilled in the art unless otherwise defined.

Hereinafter, the present invention will be described in detail by describing preferred embodiments of the present invention with reference to the accompanying drawings.

1 to 3 are drawings of a modular variable robot capable of adjusting wheel spacing according to an embodiment according to the technical concept of the present invention, and to describe the drawings in more detail, FIG. A perspective view of a modular variable robot capable of adjusting wheel spacing according to an embodiment, and FIGS. 2 and 3 are perspective views of a modular variable robot capable of adjusting wheel spacing according to an embodiment according to the technical concept of the present invention. It is a bottom view to explain the appearance. In FIG. 1, components of the robot 10 are schematically illustrated for convenience of explanation, and some components may be omitted or exaggerated, unlike actual shapes.

Referring to FIG. 1 , the robot 10 may include a skeleton module 100, a movement module 200, and an energy module 300. In one embodiment of the present invention, the robot 10 may be formed with a seating panel 30 so that an object (not shown) can be seated thereon, and while the object is moved in a seated state, the surroundings are sensed. and may include a control module (not shown) capable of controlling the robot 10 through an ambient sensor such as a camera or lidar or laser so as to be recognized. The control module will be described later after all structural features of the present invention have been described.

Subsequently, the modular variable robot capable of adjusting wheel spacing according to an embodiment according to the technical concept of the present invention is a robot whose wheel spacing is adjusted to avoid obstacles during driving, and the frame module 100 is disposed parallel to the floor and moves forward. A length may be provided to be flexible in a direction and a lateral direction perpendicular to the forward direction.

In addition, the mobile module 200 may include a wheel that is formed to be mounted in plurality on the frame module 100 and is rotated by a driving motor, and the energy module 300 is formed to be mounted on the frame module 100 and power It is provided to provide, and can be electrically connected to the movement module 200.

Specifically, the moving module 200 may be formed such that a drive motor is provided inside the box 240 and is connected to the wheels 220 by penetrating the housing 340 from the side.

Here, the moving module 200 may be mounted on both sides of the frame module 100 along the forward direction in which the robot 10 moves.

In this way, as the frame module 100 is provided to be stretchable in length in the forward and lateral directions, as shown in FIGS. 2 and 3, the length of the frame module 100 is extended and the position of the movement module 200 is changed to the robot It can be seen that the length is moved from the center to the outside of (10), that is, the wheels 220 are deformed so that the distance between them is farther apart.

The above structural features are shown in detail from FIG. 4 .

4 is a combined perspective view for showing a detailed structural appearance of a modular variable robot capable of adjusting wheel spacing according to an embodiment according to the technical idea of the present invention.

5 is a bottom view showing a state in which a moving module is coupled to a frame module in a modular variable robot capable of adjusting wheel spacing according to an embodiment according to the technical idea of the present invention, from the bottom, and FIG. 6 is a technical idea of the present invention. This is a bottom view showing a state in which the frame module is extended in length in a state in which the moving module is coupled to the frame module in the modular variable robot capable of adjusting wheel spacing according to the embodiment by.

7 is a perspective view showing a frame module in a modular variable robot capable of adjusting wheel spacing according to an embodiment according to the technical idea of the present invention.

According to an embodiment according to the technical idea of the present invention, the frame module 100 is coupled with the side path part 120 and the movement module 200 formed long along the side direction in the direction in which the robot 10 moves forward or backward. The detachable part 140, which is provided and the position is moved on the side path part 120, and the side path part 120 is firmly supported at the center of the side path part 120, and the forward direction in which the robot 10 moves forward. It may include a central support portion 160 provided with at least two or more along.

First, the side path part 120 includes a first drive shaft 122 having both ends fixed to the detachable part 140 and having a motor to extend and contract in length, and both ends fixed to the detachable part 140 and a first drive shaft ( 122) and may include a first auxiliary shaft 124 that is stretched together in parallel with the length of the first drive shaft 122 to be stretched.

As shown in FIG. 4, the first drive shaft 122 is formed long and penetrates the center support 160, and the first auxiliary shaft 124 may be formed to have the same length as the first drive shaft 122. In addition, the first drive shaft 122 is formed at an upper part and an upper part, respectively, to support the first drive shaft 122 in response to external pressure from the upper part to the lower part.

A detachable part 140 provided to be moved by the first drive shaft 122 is formed on the first drive shaft 122 and the first auxiliary shaft 124, and the detachable part 140 is the moving module 200. A binding device may be provided so as to be coupled.

Here, the binding device may be provided in an interference fit method, a method in which protrusions are inserted, or a method in which a bolt and a nut are bound. It can be provided as, of course, the scope of rights is not limited due to this.

In addition, in the modular variable robot capable of adjusting wheel spacing according to an embodiment of the present invention, a limiter (not shown) for limiting the movement of the detachable part 140 may be formed at the end of the side path part 120. In addition, the limiter may be formed long in the vertical direction so as to be connected to both ends of the first drive shaft 122 and the first auxiliary shaft 124.

In the modular variable robot capable of adjusting wheel spacing according to an embodiment of the present invention, the first drive shaft 122 moves the detachable part 140 by using the first drive shaft 122 as an electric cylinder actuator ( LINEAR ACTUATOR) or a cylinder-type actuator such as a manual cylinder actuator, and the length can be adjusted.

And the first auxiliary shaft 124 may be provided with a linear oilless bushing or ball bushing having a straight seat along the lateral direction.

The first drive shaft 122 and the first auxiliary shaft 124 as described above are only one embodiment, and are not limited to the electric cylinder actuator or the linear oilless bushing as described above, and the length is adjusted by the technical idea of the present invention If the shaft shape can be implemented, it can be transformed into various shapes, and the scope of rights is not limited due to this.

Meanwhile, the frame module 100 may further include a central deformable part 180 having a length extending along the forward direction and having central support parts 160 connected to both ends thereof. As shown in FIG. 4 , the deformable center portion 180 is formed long along the forward direction, and can enable the robot 10 to expand and contract along the forward direction while being stretched.

As shown, a pair of center variable parts 180 may be provided so as to be symmetrical to each other around a partition wall 360 formed at the center of the energy module 300 to be described later. Therefore, since both ends of the central deformable portion 180 are coupled to the central support portion 160, the side path portion 120, the detachable portion 140, and the central support portion 160 are also attached to the central deformable portion 180 in the front and rear, respectively. It may have a combined form.

As shown, the frame module 100 has a front and rear symmetrical shape around the partition wall 360, and the moving module 200 is coupled to both sides of the front side, and two moving modules 200 are coupled to both sides of the rear side. ) may be provided to be coupled to each other.

In a modular variable robot capable of adjusting wheel spacing according to a modified embodiment according to the technical idea of the present invention, the deformable center portion 180 may be formed long and provided such that the length is adjusted to both sides.

The central variable portion 180 as described above has a second drive shaft 182 at both ends of which the center support portion 160 is fixed and the length of which is elastic, and the center support portion 160 is fixed at both ends of the second drive shaft 182 and It may include a second auxiliary shaft 184 extending and contracting together in parallel with the second drive shaft 182 corresponding to the length of the expansion and contraction.

In the modular variable robot capable of adjusting wheel spacing according to the first embodiment according to the technical idea of the present invention, in the center variable unit 180, the second drive shaft 182 expands and contracts around the partition wall 360, and at one end The bulkhead 360 may be coupled and the other end may have a form in which the center support 160 is coupled, and in a modified example, the second drive shaft 182 is provided to be flexible on both sides so that the center support 160 is provided at both ends, respectively. can be combined

The second auxiliary shaft 184 is parallel to the second drive shaft 182. It is a shape disposed radially around the second drive shaft 182 , and specifically, may have a shape disposed at the upper left corner, upper right corner, lower left corner, and lower right corner of the second drive shaft 182 .

In this way, the second auxiliary shaft 184 is to support the second driving shaft 182 in response to the pressure applied from the top while the length is expanded and contracted.

Meanwhile, the energy module 300 may include a housing 340 and a battery 320 accommodated in the housing 340 .

The energy module 300 is coupled to the top of the framework module 100 and can supply power to the movement module 200 and the framework module 100 .

In the modular variable robot capable of adjusting wheel spacing according to the first embodiment according to the technical idea of the present invention, a bulkhead 360 is formed at the center of the energy module 300, and both sides along the lateral direction centered on the partition wall 360 The battery 320 is accommodated in, and the center variable portion 180 may be provided on both sides in opposite directions along the forward direction, and in a modified example, a through hole (not shown) passed through the center along the forward direction It is formed and the center variable portion 180 according to the modified example can be penetrated.

On the other hand, the moving module 200 may be formed with a buffer module 400 capable of buffering an impact up and down corresponding to a terrain where the surrounding terrain is uneven or a pot-hole is formed.

8 is a perspective view illustrating a shock absorber module in a modular variable robot capable of adjusting wheel spacing according to an embodiment according to the technical concept of the present invention.

The shock absorber module 400 is provided between the moving modules 200 to prevent impact generated according to the terrain from being transmitted to the frame module 100.

Specifically, one side of the buffer module 400 may be detachably coupled to the detachable part 140 and the other side may be fixed to the moving module 200 . The buffer module 400 may include a tilting frame 420 and an elastic frame 440 coupled to the tilting frame 420 by a hinge and having an end fixed to an upper portion of the moving module 200 .

The tilting frame 420 has a "b" shape, and the upper part may be hingedly coupled to the elastic frame 440, and the lower part may be bent and coupled to the moving module 200 by a hinge. The elastic frame 440 coupled to the top of the tilting frame 420 by a hinge may have a shape in which at least one spring is formed in the forward direction, and whenever the moving module 200 moves up and down, through the tilting frame 420 The moving module 200 rotates, and the tilting frame 420 cushions it to prevent impact from being transmitted to the frame module 100.

Meanwhile, the control module (not shown) may be further included in the modular variable robot capable of adjusting wheel spacing according to an embodiment according to the technical concept of the present invention.

The control module may be mounted on top of the movement module 200, or may be mounted on each movement module 200.

As described above, the control module may include a sensor such as a LIDAR sensor, a LASER sensor, an OPTICAL sensor, or a VISION sensor, and recognizes the surrounding terrain to make the robot 10 ) can generate a control signal so that the frame module 100 is extended to avoid the obstacle.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art can implement the present invention in other specific forms without changing its technical spirit or essential features. You will understand that there is Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

10: Robot
30: seating panel
100: framework module
120: side path part
122: first drive shaft
124: first auxiliary shaft
140: detachable part
160: central branch
180: central variable part
182: second drive shaft
184: second auxiliary shaft
200: movement module
220: wheel
240: box
300: energy module
320: battery
340: housing
360: bulkhead
400: buffer module
420: tilting frame
440: elastic frame

Claims (10)

As a robot whose wheel spacing is adjusted to avoid obstacles while driving,
A frame module disposed parallel to the floor and having a length capable of contraction in a forward direction and a lateral direction perpendicular to the forward direction;
A moving module including a plurality of wheels that are formed to be mountable to the frame module and rotated by a driving motor;
An energy module formed to be mountable to the frame module, provided to provide power, and electrically connected to the mobile module;
The moving module is characterized in that the moving module is mounted on both sides along the forward direction,
The frame module,
a lateral path portion formed long along the lateral direction;
a detachable unit provided to be coupled to the moving module and moved in position on the side path unit; and
A center support portion firmly supporting the side path portion at the center of the side path portion and provided with at least two or more along the forward direction,
The side path part,
a first drive shaft having both ends fixed to the attachable and detachable part and having an expandable length;
Characterized in that it comprises a first auxiliary shaft, both ends of which are fixed to the detachable part, are parallel to the first drive shaft, and extend and contract together in correspondence with the length to which the first drive shaft is stretched.
Modular variable robot with adjustable wheel spacing. delete delete According to claim 1,
The first auxiliary shaft,
Characterized in that each is formed on the upper and lower parts around the first drive shaft,
Modular variable robot with adjustable wheel spacing. According to claim 1,
The frame module,
It is formed long and the length is stretched along the forward direction, characterized in that it further comprises a center variable portion to which the central support portion is connected to both ends.
Modular variable robot with adjustable wheel spacing. According to claim 5,
The central variable part,
Characterized in that it is provided so as to extend in directions opposite to each other around the energy module in a form connected to the central support at one end.
Modular variable robot with adjustable wheel spacing. According to claim 6,
The central variable part,
a second drive shaft having the central support fixed at both ends and having an expandable length;
Characterized in that the center support is fixed to both ends and includes a second auxiliary shaft that is parallel to the second drive shaft and extends together in correspondence with the length to which the second drive shaft is stretched.
Modular variable robot with adjustable wheel spacing. According to claim 7,
The second auxiliary shaft,
Characterized in that it is disposed radially around the second drive shaft,
Modular variable robot with adjustable wheel spacing. delete delete

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