KR20160004603A - Household for robots drive system - Google Patents

Household for robots drive system Download PDF

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Publication number
KR20160004603A
KR20160004603A KR1020140083123A KR20140083123A KR20160004603A KR 20160004603 A KR20160004603 A KR 20160004603A KR 1020140083123 A KR1020140083123 A KR 1020140083123A KR 20140083123 A KR20140083123 A KR 20140083123A KR 20160004603 A KR20160004603 A KR 20160004603A
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KR
South Korea
Prior art keywords
wheel
driving
driven wheel
rotated
driven
Prior art date
Application number
KR1020140083123A
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Korean (ko)
Inventor
최훈
오상진
김미로
Original Assignee
주식회사코어벨
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사코어벨 filed Critical 주식회사코어벨
Priority to KR1020140083123A priority Critical patent/KR20160004603A/en
Priority to PCT/KR2015/006881 priority patent/WO2016003238A1/en
Publication of KR20160004603A publication Critical patent/KR20160004603A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a robot driving system for a domestic robot, which can be rotated with a driving wheel rotated by a motor so that the driven wheel can be rotated, and is capable of four-wheel drive and can be easily moved on a protruding portion of a floor. A driving wheel 200 that rotates by driving the motor 110 in front of and behind both sides of the robot body 100 and a driven wheel 210 that rotates in accordance with rotation of the driving wheel 200 are installed in a robot driving system A plurality of inner driving wheels 200a and outer driving wheels 200b are disposed inside and outside the driving wheels 200 rotated by the driving of the motor 110, A plurality of inner driven wheels 210a and outer driven wheels 210b are connected to the inner and outer drive wheels 200a and 200b and inner and outer driven wheels 210a and 210b, When the driving wheel 200 and the driven wheel 210 are rotated The interlocking belt 300 is connected so that the driven wheel 210 can be rotated together with the driving wheel 210 by the rotation of the driving wheel 200 in association with the call.

Description

[0001] HOUSEHOLD FOR ROBOTS DRIVE SYSTEM [0002]

[0001] The present invention relates to a home robot driving system, and more particularly, to a home robot driving system, which can rotate a driven wheel together with a driving wheel rotated by a motor, thereby enabling four-wheel driving, To a home robot driving system.

In general, mobile robots used for research, medical, security and home use should be able to move in all directions (all directions) according to the surrounding environment and need.

Conventionally, the all-directional wheels of the mobile robot are moved in all directions due to point contact between the wheels and the ground, so that they can not be used in an uneven outdoor space. However, There is a problem in that a slipping phenomenon of a wheel occurs during traveling.

In addition, US Patent 4,657,104 filed for the purpose of solving the above-mentioned problems has provided a general roller to prevent slipping of wheels during driving, but only one wheel is installed in the wheel device of the mobile robot, , There was a problem in the balance of the mobile robot.

U.S. Patent No. 5,609,216 supplements the disadvantages of U.S. Patent No. 4,657,104. Two wheels are driven by two rotating shafts installed in the wheel device.

That is, the rotary shaft is constituted by a double shaft, the two wheels are connected to the respective rotary shafts by respective bevel gears, and the rotary shafts constituted by double shafts are rotated in opposite directions by one wheel drive shaft.

One wheel is driven by a first rotary shaft located at the center of the rotary shafts rotating in opposite directions to each other, and another wheel is driven by a second rotary shaft located outside the first rotary shaft, so that the two wheels rotate in the same direction Respectively.

However, in the above-mentioned U.S. Patent No. 5,609,216, since the inside of the wheel assembly is provided with a double-shaft structure so that power is transmitted to the different wheels by using one power shaft and two bevel gears, the structure is very complicated, , The weight of the robot is greatly increased and the battery consumption is increased.

In addition, since the structure of the wheel assembly is not modularized, it is not easy to assemble because it is integrally formed, and the possibility of failure after assembly is high.

Since the two bevel gears connected to the power transmission shaft are engaged with the upper and lower portions of the power transmission shaft so that the rotation directions of the wheels are opposite to each other, .

That is, at the time of rotating (turning) the mobile robot, there is a problem that the mobile robot smoothly rotates only if the steering motor and the drive motor are simultaneously driven.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above problems, and it is an object of the present invention to provide a four-wheel drive system in which, when a drive wheel is rotated by coupling a rotating drive wheel and a driven wheel with a driven belt, So that the driving efficiency of the robot can be maximized.

Further, since the plurality of rollers are engaged with the interlocking belt connecting the driving wheel and the driven wheel, even if the driving wheel or the driven wheel is lifted due to the projection of the floor, the interlocking belt is smoothly rotated by the roller, And the driven wheels can be rotated together with the driving wheels, thereby maximizing the performance of the product.

According to an aspect of the present invention, there is provided a robot including a driving wheel that is driven by a motor installed on each of left and right sides of a robot body of a robot and a driven wheel that rotates by rotation of the driving wheel on both sides of the other side of the robot body A driving system for a robot to be installed, the driving system comprising a driving wheel rotated by driving the motor, a plurality of inner driving wheels and outer driving wheels coupled to each other, and a plurality of inner driving wheels and outer driving wheels, And the outer driven wheels are coupled to each other, and the driving wheels and the driven wheels are interlocked between the inner and outer driving wheels and the inner and outer driven wheels so that the driven wheels are rotated together with the driving wheels by the rotation of the driving wheels And an interlocking belt is connected thereto.

The driving wheel is coupled with an inner driving wheel and an outer driving wheel on the inside and the outside of the driving wheel. The inner driving wheel has a fitting groove formed between the inner driving wheels at the center thereof and connected to the wheel driving shaft. And a coupling groove in which the coupling member is coupled to the inner driving wheel and the outer driving wheel is formed in the outer side.

In addition, the outer driving wheels are installed in the side surfaces of the outer driving wheels so that the outer driving wheels are coupled with the inner driving wheels. In addition, the connecting shaft is coupled to the inner surface of the connecting shaft with the connecting shafts, And the peripheries of the connecting shafts are engaged with the peripheries so that the peripheries of the peripheries can be rotated by the rotation of the driving wheels.

The passive wheel is coupled to an inner driven wheel and an outer driven wheel on the inside and outside of the driven wheel. The inner driven wheel has a fitting groove formed between the inner driven wheels at a center thereof and a mounting bar connected to the wheel driving shaft. And a coupling groove in which the coupling member is coupled to the outer driven wheel so as to connect the inner driven wheel and the outer driven wheel is formed in the outer side.

In addition, the outer driven wheel is mounted on the side surface of the outer driven wheel so that the outer driven wheel is engaged with the inner driven wheel. In addition, the connection shaft is coupled to the inner surface of the connection shaft with the connection shaft, And the interlocking belt is engaged with the outer periphery of the connection shaft, so that the interlocking belt is rotated by the rotation of the driving wheel to form the unevenness so as to rotate the driven wheel.

The interlocking belt is interposed between the inner and outer drive wheels and between the inner and outer driven wheels. The interlocking belt is engaged with the protrusions and recesses formed on the connection axes of the outer drive wheels and the outer drive wheels, So that irregularities are formed.

The protruding portion of the bottom surface is caught between the driving wheel and the driven wheel when the robot moves, and the driven wheel is smoothly rotated so that the driving wheel and the driven wheel can be moved without being caught by the protruding portion. And a roller.

Effects of the home robot driving system according to the present invention are as follows.

First, a plurality of driving wheels and driven wheels of a robot are coupled to each other by connecting shafts, and an interlocking belt is connected to a connecting shaft of the driving wheels and the driven wheels so that the driving wheels and the driven wheels are interlocked with each other. It is possible to rotate the driven wheel together with the rotation so that the robot can be driven with four wheels by a simple structure, thereby making it possible to maximize the work efficiency and the operation efficiency of the robot.

Secondly, since the plurality of rollers are engaged with the interlocking belt for interlocking the driving wheel and the driven wheel, the robot is moved so that the robot is smoothly moved while the wheel is over the protrusion without being caught by the protrusion of the floor, Thereby maximizing the satisfaction of the user.

1 is a perspective view of a household robot according to the present invention.
2 is an exploded perspective view showing a household robot according to the present invention.
FIG. 3 is an exemplary view showing the internal structure of a driving unit of a domestic robot according to the present invention; FIG.
Fig. 4 is a side view of a household robot according to the present invention; Fig.
5 is a cross-sectional view taken along the line "AA" in Fig.
6 is a cross-sectional front view showing the internal structure of a driving wheel of a domestic robot according to the present invention.
7 is a cross-sectional front view showing an internal structure of a driven wheel of a domestic robot according to the present invention.
Fig. 8 is an operational example of the home robot according to the present invention; Fig.
FIG. 9 is a schematic plan view illustrating an example in which an interlocking belt is connected to a wheel of a domestic robot according to the present invention. FIG.
FIG. 10 is a mounting state diagram of a spring for maintaining the tension of the interlocking belt connected to the wheels of the household robot according to the present invention. FIG.
11 is a state in which a spring is mounted on a roller for maintaining the tension of the interlocking belt of the domestic robot according to the present invention.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a perspective view showing a household robot according to the present invention, FIG. 2 is an exploded perspective view showing a domestic robot according to the present invention, FIG. 3 is an exemplary view showing the internal structure of a driving unit of a domestic robot according to the present invention, FIG. 4 is a side view of a household robot according to the present invention, FIG. 5 is a cross-sectional view taken along line AA of FIG. 4, and FIG. 6 is a perspective view showing the internal structure of a driving wheel of a domestic robot according to the present invention. FIG. 7 is a cross-sectional front view showing an internal structure of a driven wheel of a domestic robot according to the present invention, FIG. 8 is a view illustrating an operation example of a domestic robot according to the present invention, 1 is a schematic plan view illustrating an example in which an interlocking belt is connected to a wheel of a home robot,

FIG. 10 is a mounting state diagram of a spring for maintaining the tension of the interlocking belt connected to the wheels of the household robot according to the present invention. FIG.

11 is a state in which a spring is mounted on a roller for maintaining the tension of the interlocking belt of the domestic robot according to the present invention.

1 to 8, the present invention is a home robot driving system, wherein the robot driving system includes a driving wheel 200 connected to the robot body 100, a driven wheel 210, an interlocking belt 300 And a roller (400).

The driving wheels 200 are installed on both sides of the robot body 100 while the driving wheels 200 are driven by the motors 110 mounted on the left and right sides of the robot body, And is connected to the wheel drive shaft 130 so as to be rotated.

The driving wheel 200 is coupled to the inner driving wheel 200a and the outer driving wheel 200b on the inside and the outside.

At this time, the inner driving wheel 200a and the outer driving wheel 200b are connected to each other at intervals to which the interlocking belt 300 can be connected.

2 and 6, a mounting bracket 201 to which a wheel driving shaft 130 is connected is mounted at the center of the inner driving wheel 200a, and the mounting bracket 201 is connected to the inner driving wheels 200a So that the fitting groove 202 is formed.

A coupling groove 201a is formed in the outer side of the mount 201 to fasten the coupling member 220 so that the inner driving wheel 200a and the outer driving wheel 200b can be engaged with each other.

The outer driving wheel 200b is connected to the inner driving wheel 200a while being inserted into the fitting groove 202 on the side surface of the outer driving wheel 200b.

At this time, an engaging portion 203b is formed on the inner surface of the connecting shaft 203 so that the connecting shaft 203 is coupled to the fitting groove 202 and the mounting bracket 201 can be loaded.

An unevenness 203a is formed around the outer circumference of the connecting shaft 203 so that the interlocking belt 300 can be rotated by the rotation of the driving wheel 200 as the interlocking belt 300 is engaged.

Although the inner driving wheel 200a and the outer driving wheel 200b are not shown in the drawings, components of the inner driving wheel and the outer driving wheel can be exchanged with each other. At this time, The coupling of the driving wheels is not affected at all.

The driven wheels 210 are installed on both sides of the robot body 100, that is, opposite to the driving wheels 200, and the driven wheels 210 are connected to the wheel driving shaft 130.

Also, the driven wheel 210 is coupled to the inner driven wheel 201a and the outer driven wheel 210b on the inside and the outside.

At this time, the inner driven wheel 210a and the outer driven wheel 210b are connected to each other with an interval at which the interlocking belt 300 can be connected.

2 and 7, a mounting bracket 211 to which a wheel driving shaft 130 is connected is mounted at the center of the inner driven wheel 210a, and the mounting bracket 211 is fixed to the inner driven wheel 210a So that a fitting groove 212 is formed.

A coupling groove 211a is formed on the outer side of the mounting table 211 to fasten the coupling member 220 so that the inner driven wheel 210a and the outer driven wheel 210b can be coupled with each other.

The outer driven wheel 210b is connected to the inner driven wheel 210a while the outer driven wheel 210b is loaded into the fitting groove 212 at the side.

At this time, a coupling portion 213b is formed on the inner surface of the connection shaft 213 so that the connection shaft 213 is coupled to the insertion groove 212, and the mounting table 211 is loaded.

A concave and a convex portion 213a is formed around the outer circumference of the connecting shaft 213 so that the driven wheel 210 is rotated by the rotation of the interlocking belt 300 as the interlocking belt 300 is engaged.

Although the inner driven wheel 210a and the outer driven wheel 210b are not shown in the figure, the components of the inner driven wheel and the outer driven wheel may be exchanged with each other. At this time, The coupling of the driven wheels is not affected at all.

The driving wheel 200 and the driven wheel 210, which are one embodiment of the present invention, are formed in a concave-convex shape so that the robot can easily move without slipping.

The interlocking belt 300 is disposed between the inner and outer drive wheels 200a and 200b and between the inner and outer driven wheels 210a and 210b so that the connection shaft 203 of the outer drive wheels 200b and the outer driven wheels 210b The protrusions 300a are connected to the connection shaft 213 of the connection shafts 203 and 213 so as to be engaged with the protrusions 203a and 213a of the connection shafts 203 and 213 and rotated along with the rotation of the driving wheel 200, .

It is preferable that the concave and convex portions 300a formed on the interlocking belt 300 are formed inside and outside the drive wheel 200 and the driven wheel 210 so that they can be connected without any distinction.

Meanwhile, the interlocking belt 300 is made of high elasticity synthetic resin so as to smoothly rotate the driven wheel 210 when the driving wheel 200 is rotated.

Further, the interlocking belt 300 is formed of any one of a flat belt, a timing belt, a V-belt, and an O-ring type belt.

9 (a), the interlocking belt 300 may be connected to the outside of the driving wheel 200 and the driven wheel 210, and may be driven as shown in FIG. 9 (b) And may be connected to the inside of the wheel 200 and the driven wheel 210.

The roller 400 is installed on the side surface of the robot body 100 and is engaged with the interlocking belt 300.

6, when the robot moves, the protrusion 500 of the bottom surface is positioned between the driving wheel 200 and the driven wheel 210 so that the robot can be caught by the protrusion 500, So that the driving wheel 200 and the driven wheel 210 can be rotated without being caught by the protrusions 500 to move the robot.

A concavity and convexity 400a is formed around the outer periphery of the roller 400 so as to be engaged with the concavities and convexities 300a of the interlocking belt 300 so that the roller 400 can be rotated by the rotation of the interlocking belt 300. [

The roller 400 is installed on the side surface of the robot main body 100 in a plurality of engagement with the interlocking belt 300.

10, the spring S is mounted to maintain the tension of the interlocking belt 300 connected to the driving wheel 200 and the driven wheel 210. In this case,

11, the spring S is mounted on the roller 400 so as to maintain the tension of the interlocking belt 300. As shown in FIG.

The operation state according to the present invention having the above-described configuration will be described below.

When the motor 110 is driven, the wheel driving shaft 130 is rotated and the driving wheel 200 is rotated according to the rotation of the wheel driving shaft 130.

When the driving wheel 200 is rotated, the driven wheel 200 is rotated by the interlocking belt 300 connected to the driving wheel 200 and the driven wheel 210, .

The connecting shaft 203 of the outer driving wheel 200b and the connecting shaft 210b of the outer driven wheel 210b across the inner and outer driving wheels 200a and 200b and the inner and outer driven wheels 210a and 210b, The interlocking belt 300 is connected to the driving wheel 213 and the concave and convexes 300a formed on the interlocking belt 300 and the concave and convexes 203a and 213a formed on the connecting shafts 203 and 213 are engaged with each other, The driven belt 300 is rotated and the driven wheel 210 is rotated by the rotation of the driven belt 300.

The driving wheel 200 is rotated by the driving of the motor 110 but the driven wheel 210 is connected to the driving wheel 200 by the interlocking belt 300 so that the driven wheel 200 is driven by the driving wheel 200, The driving wheel 200 can be rotated by the interlocking belt 300 only when the driving wheel 200 is rotated.

The robot according to the present invention can be driven by four wheels that can be rotated together with the driving wheel 200 as well as the driven wheel 210 by using the motor 110 installed in the driving wheel 200, It is possible to increase the operational efficiency.

The interlocking belt 300 for interlocking the driving wheel 200 and the driven wheel 210 is positioned between the inner and outer driving wheels 200a and 200b and the inner and outer driven wheels 210a and 210b, When the interlocking belt 300 is rotated by the rotation of the driving wheel 200 by being connected to the shafts 203 and 213, the driving wheel 200 and the driven wheel 210 are smoothly rotated without being separated from the driving wheel 200 and the driven wheel 210.

When the interlocking belt 300 is connected to the driving wheel 200 and the driven wheel 210, the irregularities 300a formed on the interlocking belt 300 and the irregularities 203a and 203b formed on the connecting shafts 203 and 213, 213a are interlocked with each other so that the driven belt 300 can stably rotate the driven wheel 210 without malfunction.

The driving wheel 200 is rotated and the driven belt 200 is rotated to rotate the driven wheel 210 so that the driven wheel 200 is rotated between the driving wheel 200 and the driven wheel 210 Even if the protrusion 500 of the bottom surface is positioned, the roller 400 is engaged with the interlocking belt 300 while being closely attached to the interlocking belt 300 so that the interlocking belt 300 is not stopped by the roller 400, So that the robot can easily move beyond the protrusion 500 of the bottom surface.

The concavo-convex 300a is formed on the inner side of the interlocking belt 300 so that the concave and convex 300a inside the interlocking belt 300 is in contact with the inner side of the outer side driving wheel 200b and the inner side driven wheel 210b, It is possible to rotate the interlocking belt 300 by engaging with the irregularities 203a and 213a of the connection shafts 203 and 213. The irregularities 300a on the outer side of the interlocking belt 300 can prevent the interlocking belt 300 The interlocking belt 300 can be smoothly rotated by preventing the interlocking belt 300 from slipping at the protrusion 500 when the interlocking belt 300 is touched.

The driving wheel 200 and the driven wheel 210 are connected to the driven wheel 200 and the driven wheel 210 so that the driven wheel 200 and the driven wheel 210 are coupled to each other, When the wheel 200 is rotated, the driven belt 300 is rotated and the driven wheel 210 is rotated by the rotation of the interlocking belt 300 to rotate the driven wheel 200 using the motor 110 installed on the driven wheel 200, It is possible to simultaneously rotate the driven wheel 200 and the driven wheel 210 so that the four wheels of the robot can be driven by the interlocking belt 300 that interlocks the driven wheel 200 and the driven wheel 210.

A plurality of rollers 400 are interlocked with the interlocking belt 300 inside the interlocking belt 300 interlocking the driving wheel 200 and the driven wheel 210 so that the driving wheel 200 and the driven wheel 210 The roller 400 can smoothly rotate the interlocking belt 300 even though the protrusion 500 of the bottom surface is positioned between the driving wheel 200 and the driven wheel 210. Thus, The robot 210 can easily move over the protrusion 500, so that the robot can continue to operate without stopping, thereby preventing the motor 110 from being overloaded.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined in the appended claims and their equivalents. Of course, such modifications are within the scope of the claims.

100: robot main body 110: motor
130: wheel drive shaft 200: drive wheel
200a: inner driving wheel 200b: outer driving wheel
201, 211: mounting base 201a, 211a: fastening groove
202, 212: fitting grooves 203, 213:
203a, 213a, 300a, 400a: concavo-convex 203b, 213b:
210: driven wheel 210a: inner driven wheel
210b: outer driven wheel 220: fastening member
300: interlocking belt 400: roller
500: protrusion S: spring

Claims (9)

A driving system for a robot in which a driving wheel rotated by driving of a motor provided on each of right and left sides of a robot body of a robot and a driven wheel rotated by rotation of a driving wheel are provided on both sides of the other side of the robot body,
A driving wheel formed on both sides of either the front or rear side of the robot body, the driving wheel being rotated by driving of the motor and having a space formed therein;
A driven wheel formed on both sides of the other side of the robot body and having a space formed therein;
And an interlocking belt connected to the space between the driving wheel and the driven wheel to interlock the driving wheel and the driven wheel so that the driven wheel can be rotated together with the driving wheel by the rotation of the driving wheel. The method according to claim 1,
The drive wheel,
An inner drive wheel and an outer drive wheel are connected to the inner and outer sides,
The inner driving wheel is equipped with a mounting base connected to the wheel driving shaft while a fitting groove is formed between the inner driving wheels at the center, and a coupling groove is formed in the outer side of the mounting base to connect the inner driving wheel and the outer driving wheel. Is formed,
The outer drive wheels are installed in the side surfaces of the outer drive wheels so that the outer drive wheels are connected to the inner drive wheels. The connection shaft is coupled to the inner surface of the connection shaft with the connection shaft, And the concave and convex portions are formed on the outer periphery of the connection shaft so that the interlocking belt is engaged and the interlocking belt is rotated by the rotation of the driving wheel. The method according to claim 1,
The driven wheel,
An inner driven wheel and an outer driven wheel are connected to the inner and outer sides,
The inner driven wheel is equipped with a mounting base connected to the wheel drive shaft while a fitting groove is formed between the inner driven wheels at the center, and a fastening member is fastened to the inside of the mounting base so that the inner driven wheel and the outer driven wheel are connected. Is formed,
The outer driven wheel is loaded on the side surface of the outer driven wheel so that the outer driven wheel is connected to the inner driven wheel. The coupling shaft is coupled to the inner surface of the connecting shaft by a coupling shaft, And the concave and convex portions are formed on the outer periphery of the connection shaft so that the interlocking belt is engaged and the interlocking belt is rotated by the rotation of the driving wheel to rotate the driven wheel. The method according to claim 1,
The interlocking belt is connected across the driving wheel and the driven wheel. The interlocking belt is engaged with the unevenness formed on the connecting shaft of the driving wheel and the driven wheel, and is rotated along with the rotation of the driving wheel so that the driven wheel can be rotated. A robot driving system for home use. 5. The method of claim 4,
Wherein the interlocking belt is formed of any one of a flat belt, a timing belt, a V-belt, and an O-ring type belt. The method according to claim 1,
Wherein the interlocking belt is a synthetic resin material with high elasticity so that the driven wheel can be smoothly rotated when the driving wheel is rotated. The method according to claim 1,
Wherein a roller is provided on a side surface of the robot body to rotate with rotation of the interlocking belt in engagement with the interlocking belt, and a spring is mounted on the roller to maintain the tension of the interlocking belt. 8. The method of claim 7,
Wherein the outer periphery of the roller is provided with concavities and convexities which are engaged with the concavities and convexities of the interlocking belt so that the roller can be rotated by the rotation of the interlocking belt. 8. The method of claim 7,
Wherein the plurality of rollers are installed on the side surface of the robot body so as to engage with the interlocking belt.
KR1020140083123A 2014-07-03 2014-07-03 Household for robots drive system KR20160004603A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR1020140083123A KR20160004603A (en) 2014-07-03 2014-07-03 Household for robots drive system
PCT/KR2015/006881 WO2016003238A1 (en) 2014-07-03 2015-07-03 Robot operating system having connecting belt playing role of caterpillar upon contact with obstacle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020140083123A KR20160004603A (en) 2014-07-03 2014-07-03 Household for robots drive system

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KR1020160078221A Division KR101712473B1 (en) 2016-06-22 2016-06-22 Household for robots drive system

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WO (1) WO2016003238A1 (en)

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WO2021007496A1 (en) * 2019-07-10 2021-01-14 Ev Safe Charge Inc. Robotic charging system and method
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CN109291031B (en) * 2018-08-15 2021-03-09 北京思迈特科技有限公司 Cable trench inspection robot walking mechanism and control system thereof
CN110329382A (en) * 2019-08-08 2019-10-15 北京思迈特科技有限公司 A kind of improved cable ditch crusing robot walking mechanism
CN113116235A (en) * 2021-04-20 2021-07-16 广州科语机器人有限公司 Driving wheel set and self-moving robot
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KR200239853Y1 (en) * 2001-02-19 2001-09-25 김영일 Changing structure one wheel to two wheel
KR20030090014A (en) * 2002-05-20 2003-11-28 심석주 Wheel with caterpillar tread
KR100671023B1 (en) * 2005-09-15 2007-01-19 삼성중공업 주식회사 Robot for finding and cleaning dust in pipe
KR20100010663U (en) * 2009-04-21 2010-10-29 신대균 Belt for preventing of stone or mud from being caught in belt for dual tires

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Publication number Priority date Publication date Assignee Title
CN109774735A (en) * 2019-03-25 2019-05-21 珠海平川智达科技有限公司 Track detection device
WO2021007496A1 (en) * 2019-07-10 2021-01-14 Ev Safe Charge Inc. Robotic charging system and method
CN114599547A (en) * 2019-07-10 2022-06-07 伊芙安全充电公司 Robot charging system and method
CN112606897A (en) * 2020-11-12 2021-04-06 王友猛 Omnidirectional movement automatic guide AGV dolly

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