KR20230143301A - Bogie apparatus and driving robot comprising the same - Google Patents

Abstract

The present invention relates to a viewing device and a traveling robot including the same. A driving robot according to an embodiment of the present invention includes a frame; Viewing devices connected to both left and right sides of the front area of the frame, respectively; and a rear wheel connected to both left and right sides of the rear area of the frame, wherein the bogie device includes: a rocker connection member coupled to the frame and positioned so that both sides in the left and right directions are spaced apart from each other at a preset distance; a bogie connecting member located between both left and right sides of the rocker connecting member and rotatably connected to the bogie member through a swing side whose longitudinal direction is provided in the left and right directions; a module support frame connected to the bogie connection member; a front wheel module connected to the front end of the module support frame; and a rear wheel module connected to the rear end of the module support frame.

Description

{Bogie apparatus and driving robot comprising the same}

The present invention relates to a viewing device and a traveling robot including the same, and more specifically, to a viewing device that can effectively overcome and proceed when an obstacle is encountered while driving, and to a traveling robot including the same.

A robot is typically configured to include a body and wheels or wheel-like structures rotatably positioned on the left and right sides of the body. Accordingly, the robot moves with respect to the ground according to the rotation of the wheels. Obstacles that protrude from the plane may appear on the ground where the robot moves. In order to overcome such an obstacle with a wheel, the rotation axis of the wheel is required to be sufficiently high compared to the top of the obstacle.

To improve this problem, a rocker bogie mechanism was proposed. The rocker bogie mechanism has two wheels, front and back, and the frame part connecting the front and rear wheels is capable of seesawing in the forward and backward directions. Accordingly, when the front wheel encounters an obstacle, it can be moved while being lifted upward. However, even in this structure, the forward momentum depends on the friction between the wheels and the ground, and accordingly, the force that lifts the front wheels upward also has a limit as it depends on friction with the ground.

The present invention is intended to provide a viewing device that can effectively overcome and proceed when an obstacle is encountered while driving, and a traveling robot including the same.

In addition, the present invention is intended to provide a viewing device that uses power from a driving member that provides driving power to directly lift the front wheel module upward, and a traveling robot including the same.

In addition, the present invention is to provide a viewing device capable of transmitting the power of the driving member to both the front wheels and rear wheels of the bogie, and a traveling robot including the same.

According to one aspect of the present invention, a frame; Viewing devices connected to both left and right sides of the front area of the frame, respectively; and a rear wheel connected to both left and right sides of the rear area of the frame, wherein the bogie device includes: a rocker connection member coupled to the frame and positioned so that both sides in the left and right directions are spaced apart from each other at a preset distance; a bogie connecting member located between both left and right sides of the rocker connecting member and rotatably connected to the bogie member through a swing side whose longitudinal direction is provided in the left and right directions; a module support frame connected to the bogie connection member; a front wheel module connected to the front end of the module support frame; and a rear wheel module connected to the rear end of the module support frame.

In addition, the front wheel module includes a front wheel support member connected to the module support frame and provided on both sides in the left and right directions to be spaced apart at a preset distance; a front wheel of the bogie located between both left and right sides of the front wheel support member and rotatably connected to the front wheel support member through a front wheel rotation axis; And it may include a front wheel power transmission member coupled to the outer circumference of the front wheel rotation shaft.

Additionally, a front power transmission member may be provided around the outer circumference of the swing shaft, and the front power transmission member may be provided to rotate together with the front wheel power transmission member by a front connection member.

In addition, the viewing device may further include a driving member fixedly coupled to the front wheel support member, connected to the front wheel rotation shaft, and provided to rotate the front wheel rotation shaft.

Additionally, the viewing device includes a front roller support member connected to the module support frame to be positioned toward the front connection member; And it may further include a front tension roller rotatably connected to the front roller support member.

In addition, the rear wheel module includes a rear wheel support member connected to the module support frame and provided on both sides in the left and right directions to be spaced apart at a preset distance; a rear wheel of the bogie located between both left and right sides of the rear wheel support member and rotatably connected to the rear wheel support member through a rear wheel rotation axis; And it may include a rear wheel power transmission member coupled to the outer circumference of the rear wheel rotation shaft.

In addition, a rear power transmission member is provided around the outer circumference of the swing axis,

The rear power transmission member may be provided to rotate together with the rear wheel power transmission member by a rear connection member.

In addition, the viewing device may further include a driving member fixedly coupled to the front wheel support member, connected to the front wheel rotation shaft, and provided to rotate the front wheel rotation shaft.

Additionally, the viewing device includes a rear roller support member connected to the module support frame to be positioned toward the rear connecting member; And it may further include a rear tension roller rotatably connected to the rear roller support member.

In addition, it is provided to be coupled to the rocker connection member and may further include a damper provided to be connected to one end of the swing shaft.

According to another aspect of the present invention, a rocker connection member coupled to the frame and positioned on both sides in the left and right directions to be spaced apart at a preset distance; a bogie connecting member located between both left and right sides of the rocker connecting member and rotatably connected to the bogie member through a swing side whose longitudinal direction is provided in the left and right directions; a module support frame connected to the bogie connection member; a front wheel module connected to the front end of the module support frame; and a rear wheel module connected to the rear end of the module support frame.

According to an embodiment of the present invention, when an obstacle is encountered while driving, a viewing device that can effectively overcome the obstacle and proceed, and a traveling robot including the same, can be provided.

In addition, according to an embodiment of the present invention, a viewing device that directly lifts the front wheel module upward using power from a driving member that provides power for driving and a traveling robot including the same may be provided.

In addition, according to an embodiment of the present invention, a viewing device capable of transmitting the power of the driving member to both the front wheels and rear wheels of the bogie and a traveling robot including the same can be provided.

1 is a diagram showing a traveling robot according to an embodiment of the present invention.
Figure 2 is a view of the right area of the traveling robot viewed from the outer side.
Figure 3 is a view of the right area of the traveling robot viewed from the front and outside.
Figure 4 is a view of the right area of the traveling robot viewed from the inner side.
Figure 5 is a view of the viewing device located on the right side of the traveling robot as seen from the inner rear.
Figures 6 and 7 are diagrams illustrating the operating state of a viewing device and a traveling robot including the viewing device when an obstacle is located in front.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. However, the technical idea of the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed content will be thorough and complete and so that the spirit of the invention can be sufficiently conveyed to those skilled in the art.

In this specification, when an element is referred to as being on another element, it means that it may be formed directly on the other element or that a third element may be interposed between them. Additionally, in the drawings, the thicknesses of films and regions are exaggerated for effective explanation of technical content.

Additionally, in various embodiments of the present specification, terms such as first, second, and third are used to describe various components, but these components should not be limited by these terms. These terms are merely used to distinguish one component from another. Accordingly, what is referred to as a first component in one embodiment may be referred to as a second component in another embodiment. Each embodiment described and illustrated herein also includes its complementary embodiment. Additionally, in this specification, 'and/or' is used to mean including at least one of the components listed before and after.

In the specification, singular expressions include plural expressions unless the context clearly dictates otherwise. In addition, terms such as "include" or "have" are intended to designate the presence of features, numbers, steps, components, or a combination thereof described in the specification, but are not intended to indicate the presence of one or more other features, numbers, steps, or components. It should not be understood as excluding the possibility of the presence or addition of elements or combinations thereof. Additionally, in this specification, “connection” is used to mean both indirectly connecting and directly connecting a plurality of components.

Additionally, in the following description of the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description will be omitted.

1 is a diagram showing a traveling robot according to an embodiment of the present invention.

Referring to FIG. 1, the driving robot 1 according to an embodiment of the present invention includes a frame 10, a bogie device 30, and a rear wheel 40.

The frame 10 provides the skeleton of the traveling robot 1. The frame 10 includes a connecting frame portion 11 and a rocker frame portion 12.

The connecting frame portion 11 is located in the central area of the frame 10. The connection frame portion 11 is provided to have a preset width in the left and right directions. The body 20 may be connected to the connection frame portion 11.

The rocker frame portion 12 is connected to the connecting frame portion 11 and is located on both sides of the frame 10 in the left and right directions. The rocker frame portion 12 is provided to have a preset length in the front-back direction.

The viewing device 30 is connected to both left and right sides of the front area of the frame 10, respectively. The viewing device 30 is provided so that the front and rear areas can see-saw around the left and right directions, so that the upper and lower heights of the front and rear ends can be adjusted while driving.

The rear wheel 40 is connected to both left and right sides of the rear area of the frame 10, respectively. As an example, rear wheel frame parts 13 extending downward are formed on both left and right sides of the rear area of the frame 10, and the rear wheel 40 may be connected to the lower end of the rear wheel frame part 13.

FIG. 2 is a view of the right area of the driving robot viewed from the outer side, FIG. 3 is a view of the right area of the traveling robot viewed from the front and outside, and FIG. 4 is a view of the right area of the traveling robot viewed from the inner side. Figure 5 is a view of the viewing device located on the right side of the traveling robot as seen from the inner rear.

2 to 5, the bogie device 30 includes a rocker connection member 300, a bogie connection member 301, a module support frame 311, 312, a front wheel module 320, a rear wheel module 330, It includes a driving member 340 and a damper 350.

The rocker connection member 300 is coupled to the front area of the frame 10. The rocker connection member 300 is provided so that both sides in the left and right directions are spaced apart at a preset distance and have a preset length in the up and down directions.

The bogie connection member 301 is located between both sides of the rocker connection member 300 in the left and right directions. The bogie connection member 301 is rotatably connected to the rocker connection member 300 through a swing axis 305 whose longitudinal direction is provided in the left and right directions. That is, the swing axis 305 is provided to be rotatable with respect to each of the rocker connection member 300 and the bogie connection member 301. Both left and right sides of the bogie connecting member 301 are spaced apart from each other by a preset distance and are provided to have a preset length in the vertical direction.

The module support frames 311 and 312 are connected to the bogie connection member 301 . The module support frames 311 and 312 include a front module support frame 311 and a rear module support frame 312. The front module support frame 311 is provided to extend forward with respect to the bogie connection member 301. The rear end of the front module support frame 311 is connected to the bogie connection member 301. The front module support frame 311 may be inclined downward toward the front.

A rear module support frame 312 is provided extending rearwardly with respect to the bogie connection member 301. The front end of the rear module support frame 312 is connected to the bogie connection member 301. The rear module support frame 312 may be inclined downward toward the rear.

The front wheel module 320 is connected to the front end of the module support frames 311 and 312, that is, the front end of the front module support frame 311. The front wheel module 320 includes a front wheel support member 321, a front wheel bogie 323, and a front wheel power transmission member 324.

The front wheel support member 321 is connected to the front end of the front module support frame 311. The front wheel support member 321 is provided to have a preset length up and down with both sides in the left and right directions spaced apart by a preset distance.

The front wheel 323 of the bogie is located between both sides of the front wheel support member 321 in the left and right directions. The front wheel 323 of the bogie is rotatably connected to the lower end of the front wheel support member 321 through the front wheel rotation shaft 322 provided in the left and right longitudinal directions.

The front wheel power transmission member 324 is coupled to the outer circumference of the front wheel rotation shaft 322 and is provided to rotate together with the front wheel rotation shaft 322. As an example, the front wheel power transmission member 324 may be a pulley, sprocket, etc.

The rear wheel module 330 is connected to the rear ends of the module support frames 311 and 312, that is, to the rear ends of the rear module support frame 312. The rear wheel module 330 includes a rear wheel support member 331, a bogie rear wheel 333, and a rear wheel power transmission member 334.

The rear wheel support member 331 is connected to the rear end of the rear module support frame 312. The rear wheel support member 331 is provided to have a preset length up and down with both sides in the left and right directions spaced apart by a preset distance. The rear wheel support member 331 and the rocker connection member 300 may be connected by an elastic member 337. The elastic member 337 may be a coil spring.

The bogie rear wheel 333 is located between both sides of the rear wheel support member 331 in the left and right directions. The rear wheel of the bogie 333 is rotatably connected to the lower end of the rear wheel support member 331 through the rear wheel rotation shaft 332 provided in the left and right longitudinal directions.

The rear wheel power transmission member 334 is coupled to the outer circumference of the rear wheel rotation shaft 332 and is provided to rotate together with the rear wheel rotation shaft 332. As an example, the rear wheel power transmission member 334 may be a pulley, sprocket, etc.

The driving member 340 provides power for the viewing device 30 to travel. In one embodiment, the driving member 340 may be fixedly coupled to the front wheel support member 321 and connected to the front wheel rotation shaft 322 to rotate the front wheel rotation shaft 322. In another embodiment, the driving member 340 may be fixedly coupled to the rear wheel support member 331 and connected to the rear wheel rotation shaft 332 to rotate the rear wheel rotation shaft 332. 1 to 5 illustrate a case where the driving member 340 is located on the front wheel support member 321.

A front power transmission member 342 may be coupled to the outer circumference of the swing axis 305. For example, the front power transmission member 342 may be a pulley, sprocket, etc. The front power transmission member 342 is connected to rotate with the front wheel power transmission member 324 by the front connection member 342a. The front connecting member 342a may be a belt, chain, etc.

A rear power transmission member 343 may be coupled to the outer circumference of the swing axis 305. For example, the rear power transmission member 343 may be a pulley, sprocket, etc. The rear power transmission member 343 is connected to rotate with the rear wheel power transmission member 334 by the rear connection member 343a. The rear connecting member 343a may be a belt, chain, etc.

The damper 350 is provided to be coupled to the rocker connection member 300. The damper 350 is provided to be connected to one end of the swing shaft 305. The damper 350 allows damping torque to be applied to the swing axis 305.

A front roller support member 371 may be connected to the front module support frame 311 so as to be positioned toward the front connection member 342a. A front tension roller 371a is rotatably connected to the front roller support member 371. The front tension roller 371a is provided to adjust the tension of the front connection member 342a by applying pressure to the outer circumference of the front connection member 342a in an inward direction. Two front tension rollers 371a may be provided to face each other with the front connecting member 342a in between. The front tension rollers 371a may be provided with an adjustable distance from each other.

A rear roller support member 372 may be connected to the rear module support frame 312 to be positioned toward the rear connection member 343a. A rear tension roller 372a is rotatably connected to the rear roller support member 372. The rear tension roller 372a is provided to adjust the tension of the rear connecting member 343a by applying pressure inward to the outer circumference of the rear connecting member 343a. Two rear tension rollers 372a may be provided to face each other with the rear connecting member 343a in between. The rear tension rollers 372a may be provided with an adjustable distance from each other.

Hereinafter, the operating method of the viewing device 30 will be described.

The bogie front wheel 323 or the bogie rear wheel 333, which is directly connected to the axis of the drive member 340, rotates by the power provided by the drive member 340, thereby forming the viewing device 30 and the traveling robot 1 including the same. is driven. In addition, the front wheel rotation shaft 322 or the rear wheel rotation shaft 332 connected to the drive member 340 is connected to the rear wheel rotation shaft 332 or the front wheel rotation shaft 322 through the swing shaft 305 and is provided to rotate together. Accordingly, the rear wheel 333 or the front wheel 323 of the bogie, which is not directly connected to the axis of the drive member 340, is also rotated by the power provided by the drive member 340. In addition, the viewing device 30 is provided so that the front wheel module 320 and the rear wheel module 330 can swing around the swing axis 305, so that even when the ground is uneven or when climbing a structure such as stairs, The front wheel 323 and the rear wheel 333 of the bogie rotate in contact with the ground to generate driving force for movement.

FIGS. 6 and 7 are diagrams illustrating the operating state of a viewing device and a traveling robot including the viewing device when an obstacle is located in front.

Referring to FIGS. 6 and 7 , the moment the viewing device 30 and the traveling robot 1 including it encounter an obstacle such as a vertical surface of a staircase while traveling, the front wheel 323 of the bogie is horizontally moved by the obstacle. It becomes blocked. In this case, the rotational speed of the bogie's front wheel 323 and the front wheel rotation shaft 322 increases. This increase in rotation speed is directly transmitted to the swing axis 305, and the rotation speed increases clockwise on the swing axis 305 based on the right area of the traveling robot 1 viewed from the outer side. It rotates to (w). In response to the rotational speed of the swing axis 305, a damping torque (C*w) by the damper 350 with a damper constant C is generated counterclockwise. Accordingly, in order to maintain the increased rotational speed w, tension increases in the connecting member 342a, and correspondingly, torque directed clockwise by the driving member 340 increases. The increase in torque by the driving member 340 generates a counterclockwise reaction force, and this reaction force causes the bogie connection member 301 connected through the front wheel module 320 and the module support frames 311 and 312 to It rotates counterclockwise about the swing axis 305. Because of this, the front wheel module 320 is lifted upward, enabling it to overcome obstacles more effectively. Afterwards, when there is no obstacle in front of the front wheel module 320, the rotational speed of the swing axis 305 decreases and the damping torque decreases accordingly, and the bogie is connected due to the force F by the elastic member 337. The member 301 and the front wheel module 320 connected thereto rotate clockwise to restore the posture.

In addition, in the case of the embodiment in which the driving member 340 is located on the rear wheel module 330, similarly to the above, in a state where the swing axis 305 is not rotated with respect to the rocker connection member 300 due to damping torque, the rear wheel of the bogie When 333 and the rear wheel rotation axis 332 rotate clockwise, the rear wheel module 330 rotates counterclockwise about the swing axis 305. Because of this, the front wheel module 320 is lifted upward, enabling it to overcome obstacles more effectively.

When the viewing device 30 and the traveling robot 1 including the same according to an embodiment of the present invention encounter an obstacle during the driving process, the power generated by the driving member 340 is generated due to the damping torque provided by the damper 350. This directly acts to lift the front wheel module 320 upward. Accordingly, the viewing device 30 and the traveling robot 1 including it can move over obstacles more effectively.

Above, the present invention has been described in detail using preferred embodiments, but the scope of the present invention is not limited to the specific embodiments and should be interpreted in accordance with the appended claims. Additionally, those skilled in the art should understand that many modifications and variations are possible without departing from the scope of the present invention.

10: frame 30: viewing device
40: Rear wheel 300: Rocker connection member
301: bogie connection member 305: swing axis
311: Front module support frame 312: Rear module support frame
320: Front wheel module 321: Front wheel support member
323: Front wheel of bogie 330: Rear wheel module
331: Rear wheel support member 333: Bogie rear wheel
340: driving member 350: damper

Claims (11)

frame;
Viewing devices connected to both left and right sides of the front area of the frame, respectively; and
Includes a rear wheel connected to both left and right sides of the rear area of the frame,
The viewing device is,
A rocker connection member coupled to the frame and positioned on both sides in the left and right directions to be spaced apart from each other at a preset distance;
a bogie connecting member located between both left and right sides of the rocker connecting member and rotatably connected to the bogie member through a swing side whose longitudinal direction is provided in the left and right directions;
a module support frame connected to the bogie connection member;
a front wheel module connected to the front end of the module support frame; and
A driving robot including a rear wheel module connected to the rear end of the module support frame. According to paragraph 1,
The front wheel module is,
a front wheel support member connected to the module support frame and provided on both sides in the left and right directions to be spaced apart at a preset distance;
a front wheel of the bogie located between both left and right sides of the front wheel support member and rotatably connected to the front wheel support member through a front wheel rotation axis; and
A driving robot including a front wheel power transmission member coupled to an outer circumference of the front wheel rotation shaft. According to paragraph 2,
A front power transmission member is provided around the outer circumference of the swing axis,
The driving robot is provided so that the front power transmission member rotates together with the front wheel power transmission member by a front connection member. According to paragraph 3,
The viewing device is,
The traveling robot further includes a driving member fixedly coupled to the front wheel support member, connected to the front wheel rotation shaft, and provided to rotate the front wheel rotation shaft. According to paragraph 3,
The viewing device is,
a front roller support member connected to the module support frame to be positioned toward the front connecting member; and
A traveling robot further comprising a front tension roller rotatably connected to the front roller support member. According to paragraph 1,
The rear wheel module is,
a rear wheel support member connected to the module support frame and provided on both sides in the left and right directions to be spaced apart at a preset distance;
a rear wheel of the bogie located between both left and right sides of the rear wheel support member and rotatably connected to the rear wheel support member through a rear wheel rotation axis; and
A driving robot including a rear wheel power transmission member coupled to an outer circumference of the rear wheel rotation axis. According to clause 6,
A rear power transmission member is provided around the outer circumference of the swing axis,
The driving robot is provided so that the rear power transmission member rotates together with the rear wheel power transmission member by a rear connection member. In clause 7,
The viewing device is,
The traveling robot further includes a driving member fixedly coupled to the front wheel support member, connected to the front wheel rotation shaft, and provided to rotate the front wheel rotation shaft. In clause 7,
The viewing device is,
a rear roller support member connected to the module support frame to be positioned toward the rear connecting member; and
A traveling robot further comprising a rear tension roller rotatably connected to the rear roller support member. According to paragraph 4 or 8,
The traveling robot is provided to be coupled to the rocker connection member and further includes a damper provided to be connected to one end of the swing axis. A rocker connection member coupled to the frame and positioned on both sides in the left and right directions to be spaced apart from each other at a preset distance;
a bogie connecting member located between both left and right sides of the rocker connecting member and rotatably connected to the bogie member through a swing side whose longitudinal direction is provided in the left and right directions;
a module support frame connected to the bogie connection member;
a front wheel module connected to the front end of the module support frame; and
A viewing device comprising a rear wheel module connected to the rear end of the module support frame.