WO2021107554A3 - 자율 주행 로봇의 주행 모듈 - Google Patents

자율 주행 로봇의 주행 모듈 Download PDF

Info

Publication number
WO2021107554A3
WO2021107554A3 PCT/KR2020/016670 KR2020016670W WO2021107554A3 WO 2021107554 A3 WO2021107554 A3 WO 2021107554A3 KR 2020016670 W KR2020016670 W KR 2020016670W WO 2021107554 A3 WO2021107554 A3 WO 2021107554A3
Authority
WO
WIPO (PCT)
Prior art keywords
driving module
wheel
mobile robot
autonomous mobile
rotary shaft
Prior art date
Application number
PCT/KR2020/016670
Other languages
English (en)
French (fr)
Other versions
WO2021107554A2 (ko
Inventor
김병수
하인용
양우식
조한철
박영래
Original Assignee
(주)로보티즈
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
Priority claimed from KR1020200033131A external-priority patent/KR102341219B1/ko
Application filed by (주)로보티즈 filed Critical (주)로보티즈
Publication of WO2021107554A2 publication Critical patent/WO2021107554A2/ko
Publication of WO2021107554A3 publication Critical patent/WO2021107554A3/ko
Priority to US17/741,815 priority Critical patent/US20220266649A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/06—Characteristics of dampers, e.g. mechanical dampers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G5/00—Resilient suspensions for a set of tandem wheels or axles having interrelated movements
    • B60G5/04—Resilient suspensions for a set of tandem wheels or axles having interrelated movements with two or more pivoted arms, the movements of which are resiliently interrelated, e.g. the arms being rigid
    • 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
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G5/00—Resilient suspensions for a set of tandem wheels or axles having interrelated movements
    • B60G5/04—Resilient suspensions for a set of tandem wheels or axles having interrelated movements with two or more pivoted arms, the movements of which are resiliently interrelated, e.g. the arms being rigid
    • B60G5/06—Resilient suspensions for a set of tandem wheels or axles having interrelated movements with two or more pivoted arms, the movements of which are resiliently interrelated, e.g. the arms being rigid the arms turning on a common pivot, e.g. being rigid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/30—Spring/Damper and/or actuator Units
    • B60G2202/31—Spring/Damper and/or actuator Units with the spring arranged around the damper, e.g. MacPherson strut
    • B60G2202/312—The spring being a wound spring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/25—Stroke; Height; Displacement
    • B60G2400/252—Stroke; Height; Displacement vertical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/60—Load
    • B60G2400/64—Wheel forces, e.g. on hub, spindle or bearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/10—Damping action or damper

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

본 발명의 일실시예는 자율 주행 로봇의 주행 모듈로서, 지면 또는 노면에 상시 접촉하며 제1 회전축을 가진 제1 바퀴와, 상호 간의 위치가 구속되는 제2 바퀴 및 제3 바퀴와, 일단에 상기 제2 바퀴의 제2 회전축이 위치하고, 타단에 상단축부가 마련되며, 중간에 중간축부가 마련되는 후방 바와, 일단에 상기 제3 바퀴의 제3 회전축이 위치하고, 타단이 상기 중간축부에 회동가능하게 결합되는 전방 바와, 일단이 상기 상단축부에 회동가능하게 결합되며, 타단이 상기 제3 회전축 또는 상기 전방 바에 회동가능하게 결합되는 서스펜션부를 포함하는 것을 특징으로 하는, 주행 모듈을 제공한다.
PCT/KR2020/016670 2019-11-25 2020-11-24 자율 주행 로봇의 주행 모듈 WO2021107554A2 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US17/741,815 US20220266649A1 (en) 2019-11-25 2022-05-11 Driving module of autonomous mobile robot

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR20190152539 2019-11-25
KR10-2019-0152539 2019-11-25
KR1020200033131A KR102341219B1 (ko) 2019-11-25 2020-03-18 자율 주행 로봇의 주행 모듈
KR10-2020-0033131 2020-03-18

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US17/741,815 Continuation US20220266649A1 (en) 2019-11-25 2022-05-11 Driving module of autonomous mobile robot

Publications (2)

Publication Number Publication Date
WO2021107554A2 WO2021107554A2 (ko) 2021-06-03
WO2021107554A3 true WO2021107554A3 (ko) 2021-07-15

Family

ID=76130691

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2020/016670 WO2021107554A2 (ko) 2019-11-25 2020-11-24 자율 주행 로봇의 주행 모듈

Country Status (2)

Country Link
US (1) US20220266649A1 (ko)
WO (1) WO2021107554A2 (ko)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP1665176S (ko) * 2019-11-21 2020-08-03
JP1665104S (ko) * 2019-11-21 2020-08-03
JP1665103S (ko) * 2019-11-21 2020-08-03
KR102341218B1 (ko) * 2019-11-25 2021-12-20 (주)로보티즈 자율 주행 로봇
CN113320347B (zh) * 2021-06-16 2023-03-14 深圳市海柔创新科技有限公司 机器人及机器人悬挂系统的调节方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20090089713A (ko) * 2008-02-19 2009-08-24 연세대학교 산학협력단 부정형 지형 주행을 위한 지형적응 메커니즘을 이용한이동로봇
JP2011235692A (ja) * 2010-05-07 2011-11-24 Ihi Aerospace Co Ltd 走行ロボット
KR20120127956A (ko) * 2011-05-16 2012-11-26 한국항공우주연구원 로버의 주행 장치
JP2014019209A (ja) * 2012-07-13 2014-02-03 National Institute Of Advanced Industrial & Technology クローラ走行装置
KR20150064578A (ko) * 2013-12-03 2015-06-11 한국기술교육대학교 산학협력단 험지 탐사용 서스펜션 및 이를 포함하는 험지 탐사 차량

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4993912A (en) * 1989-12-22 1991-02-19 Chamberlain Mrc, Division Of Duchossois Industries, Inc. Stair climbing robot
US7735385B2 (en) * 2007-08-09 2010-06-15 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Joint assembly
WO2014124482A1 (en) * 2013-02-15 2014-08-21 Robert Sutton A wheeled vehicle and a method of operation thereof
EP3370978B1 (en) * 2015-11-02 2020-06-03 Starship Technologies OÜ Obstacle traversing mobile robot
WO2017076813A1 (en) * 2015-11-02 2017-05-11 Starship Technologies Oü System and method for traversing vertical obstacles
EP3773401A4 (en) * 2018-04-10 2021-11-24 Velox Manufacturing Inc. WHEELCHAIR SUSPENSION
US11124233B1 (en) * 2018-12-10 2021-09-21 Amazon Technologies, Inc. Drive train and suspension for an autonomous ground vehicle
WO2021107545A2 (ko) * 2019-11-25 2021-06-03 (주)로보티즈 자율 주행 로봇
KR102341218B1 (ko) * 2019-11-25 2021-12-20 (주)로보티즈 자율 주행 로봇
KR102429696B1 (ko) * 2021-03-24 2022-08-05 호서대학교 산학협력단 험지 주행 및 장애물 극복이 가능한 모바일 로봇의 바퀴 장치 및 이를 포함하는 모바일 로봇

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20090089713A (ko) * 2008-02-19 2009-08-24 연세대학교 산학협력단 부정형 지형 주행을 위한 지형적응 메커니즘을 이용한이동로봇
JP2011235692A (ja) * 2010-05-07 2011-11-24 Ihi Aerospace Co Ltd 走行ロボット
KR20120127956A (ko) * 2011-05-16 2012-11-26 한국항공우주연구원 로버의 주행 장치
JP2014019209A (ja) * 2012-07-13 2014-02-03 National Institute Of Advanced Industrial & Technology クローラ走行装置
KR20150064578A (ko) * 2013-12-03 2015-06-11 한국기술교육대학교 산학협력단 험지 탐사용 서스펜션 및 이를 포함하는 험지 탐사 차량

Also Published As

Publication number Publication date
US20220266649A1 (en) 2022-08-25
WO2021107554A2 (ko) 2021-06-03

Similar Documents

Publication Publication Date Title
WO2021107554A3 (ko) 자율 주행 로봇의 주행 모듈
WO2016207627A3 (en) Robotic vehicle
USD853911S1 (en) Steering wheel for motor vehicle
TW200724426A (en) Wheel arrangement for four-wheeled vehicles
ATE472467T1 (de) Fahrzeug mit rädern
EP3536466A8 (en) Flexible base and self-driven robot
US20180022390A1 (en) Child drift car
EP1798139A3 (en) Crawler moving system having variable configuration
GB0312343D0 (en) Fork lift truck
ATE423054T1 (de) Lenkachsenwinkelmontierter sensor
WO2019012045A3 (de) Achsbaugruppe für ein schwerlastfahrzeug, schwerlastfahrzeug mit wenigstens einer derartigen achsbaugruppe und hydraulikanordnung, insbesondere zum verstellen einer als zylinder-kolben-anordnung ausgebildeten verstellbaren einheit
FR2964638B1 (fr) Train arriere de vehicule automobile a roues directrices
WO2013150099A3 (de) Schwerlastanhänger mit macpherson-einzelradaufhängung
ITPD20050032A1 (it) Assale sterzante per veicoli
MXPA01010858A (es) Montacargas.
DE602004016606D1 (de) Teilweise verformbare Hinterachse mit Flexibilität in Längsrichtung
DE602008002960D1 (de) Spielauto
CA2676937A1 (en) Amphibious all terrain vehicle with track assemblies
ATE461103T1 (de) Roller mit mindestens einer seitlich ausklappbaren trittflächeneinheit
CN207345380U (zh) 一种小型双排全向轮
CN108068539A (zh) 一种小型双排全向轮
CN104002902B (zh) 三轮电动扫地车三轮联动转向机构
USD891998S1 (en) Universal wheel knuckle for vehicle
ATE361225T1 (de) Kleinfahrzeug mit schwingachse
EP1608546B8 (fr) Vehicule terrestre du type trottinette, patinette ou analogue

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20893109

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20893109

Country of ref document: EP

Kind code of ref document: A2