WO2022075598A1

WO2022075598A1 - Robot

Info

Publication number: WO2022075598A1
Application number: PCT/KR2021/011668
Authority: WO
Inventors: 김문찬; 김태우; 이원동; 문상훈; 정윤혁
Original assignee: 엘지전자 주식회사
Priority date: 2020-10-08
Filing date: 2021-08-31
Publication date: 2022-04-14
Also published as: KR20220047164A

Abstract

A robot may comprise: a robot frame having a bottom plate; a link base which includes a rear caster installed on the bottom plate and a wheel module, wherein the wheel module is installed on the bottom plate to be spaced apart from the rear caster; a rotating damper which is installed on the link base and has an elastic member accommodated therein; a front link connected to the rotating damper via a connecting shaft; a front caster installed on the front portion of the front link; a driving motor installed on the rear portion of the front link; and a driving wheel rotated by the driving motor.

Description

robot

The present invention relates to a robot, and more particularly, to a robot having a driving wheel and casters.

A robot is a machine that automatically processes or operates a given task according to its own capabilities, and the application fields of the robot can be generally classified into industrial, medical, space, submarine, etc., and can be used in various fields.

An example of the robot may include a driving wheel, a front caster, and a rear caster, and such a robot is disclosed in Korean Patent Publication No. 10-2020-0085661 (published on July 15, 2020). The robot includes a main body provided with a driving unit, and the driving unit includes: a driving wheel rotating about a driving shaft elongated from side to side; and a driving motor for providing rotational power to the driving wheel. a front caster provided in the front part of the bottom surface of the body; It includes a rear caster provided on the rear portion of the bottom surface of the main body.

In the robot, when the front caster meets the obstacle and climbs over the obstacle, the front caster is lifted, so the driving wheel may be separated from the ground, and the driving wheel may not be driven due to loss of traction. In addition, since the impact is transmitted to the upper side of the robot, it is difficult to maintain the deliverables carried by the robot.

An object of the present invention is to provide a robot capable of absorbing an impact generated when passing through an uneven section and maintaining the gripping force of a driving wheel at the same time.

Another object of the present invention is to provide a robot that minimizes shaking that may occur when the robot crosses an obstacle.

Robot frame having a bottom plate according to the present embodiment; It includes a rear caster and wheel module disposed on the bottom plate.

The wheel module may include a link base mounted on a bottom plate to be spaced apart from the rear caster; a rotation damper mounted on the link base and having an elastic member accommodated therein; a front link connected by a connecting shaft to the rotary damper; a front caster installed on the front part of the front link; a driving motor installed in the rear portion of the front link; and a driving wheel rotated by the driving motor.

The front link is a robot that is spaced apart from the bottom plate in the vertical direction.

The rotary damper includes an outer damper body having a space formed therein; It may further include an inner damper body accommodated in the space and connected to the connecting shaft. The elastic member may be disposed between the outer damper body and the inner damper body.

The outer damper body and the inner damper body may be polygonal.

A plurality of elastic members may be provided between the outer damper body and the inner damper body.

The plurality of elastic members may be spaced apart from each other.

The rotation damper may further include an outer damper body, and a damper case in which the elastic member and the inner damper body are accommodated. The damper case may be coupled to the link base.

The front link may include a pair of spaced apart side bodies and a lower body connecting the lower ends of the pair of side bodies.

An accommodation space in which the rotation damper is accommodated may be formed between the pair of side bodies.

An opening through which the driving motor passes may be formed in an inner side body of the pair of side bodies.

The link base includes an upper fastening part fastened to the bottom plate; It may include a lower accommodating portion in which the rotation damper is accommodated.

The lower receiving part may be located between the pair of bodies.

A pair of side bodies may shield between the lower accommodating part and the rotation damper.

A pair of connecting shafts may be provided. A pair of through-holes through which a pair of connecting shafts pass may be formed in each of the pair of side bodies.

According to this embodiment, when passing through an obstacle, it is possible to minimize the vibration transmitted to the robot frame by absorbing the shock.

In addition, even if the front caster is lifted in the upward direction, the front link can press the driving motor in the downward direction, and the traction force of the driving wheel is maintained, so that the robot can run stably.

In addition, a load acting on the front caster by the front link can be minimized, and when the front caster meets an obstacle, an impact load applied to the front caster is minimized, and damage and breakage of the front caster can be minimized.

In addition, the side body of the front link may protect the rotation damper from the side of the rotation damper, and it is possible to minimize penetration of foreign substances such as dust into the rotation damper.

1 shows an AI device including a robot according to the present embodiment.

2 shows an AI server connected to the robot according to the present embodiment.

3 shows an AI system according to the present embodiment.

4 is a side view of the robot according to the present embodiment;

5 is a view showing a rear caster and a wheel module according to the present embodiment

6 is a plan view of a wheel module according to the present embodiment;

7 is a perspective view of a wheel module according to the present embodiment;

8 is an exploded perspective view in which the rotation damper according to the present embodiment is disassembled;

9 is a view before the front caster according to the present embodiment encounters an obstacle;

10 is a view when the front caster according to the present embodiment rides over an obstacle;

11 is a view when the driving wheel rides over the obstacle after the front caster according to the present embodiment crosses the obstacle

12 is a view showing the present embodiment and the comparative example together.

Hereinafter, specific embodiments of the present invention will be described in detail with drawings.

Hereinafter, when an element is described as being "fastened" or "connected" to another element, it means that two elements are directly fastened or connected, or a third element exists between the two elements and two elements are connected by the third element. It may mean that elements are connected or fastened to each other. On the other hand, when it is described that one element is "directly fastened" or "directly connected" to another element, it may be understood that a third element does not exist between the two elements.

<Robot>

A robot can mean a machine that automatically handles or operates a task given by its own capabilities. In particular, a robot having a function of recognizing an environment and performing an operation by self-judgment may be referred to as an intelligent robot.

Robots can be classified into industrial, medical, home, military, etc. depending on the purpose or field of use.

The robot may be provided with a driving unit including an actuator or a motor to perform various physical operations such as moving the robot joints. In addition, the movable robot includes a wheel, a brake, a propeller, and the like in the driving unit, and may travel on the ground or fly in the air through the driving unit.

Artificial intelligence refers to a field that studies artificial intelligence or methodologies that can create it, and machine learning refers to a field that defines various problems dealt with in the field of artificial intelligence and studies methodologies to solve them. do. Machine learning is also defined as an algorithm that improves the performance of a certain task through constant experience.

An artificial neural network (ANN) is a model used in machine learning, and may refer to an overall model having problem-solving ability, which is composed of artificial neurons (nodes) that form a network by combining synapses. An artificial neural network may be defined by a connection pattern between neurons of different layers, a learning process that updates model parameters, and an activation function that generates an output value.

The artificial neural network may include an input layer, an output layer, and optionally one or more hidden layers. Each layer includes one or more neurons, and the artificial neural network may include neurons and synapses connecting neurons. In the artificial neural network, each neuron may output a function value of an activation function for input signals, weights, and biases input through synapses.

Model parameters refer to parameters determined through learning, and include the weight of synaptic connections and the bias of neurons. In addition, the hyperparameter refers to a parameter that must be set before learning in a machine learning algorithm, and includes a learning rate, the number of iterations, a mini-batch size, an initialization function, and the like.

The purpose of learning the artificial neural network can be seen as determining the model parameters that minimize the loss function. The loss function may be used as an index for determining optimal model parameters in the learning process of the artificial neural network.

Machine learning can be classified into supervised learning, unsupervised learning, and reinforcement learning according to a learning method.

Supervised learning refers to a method of training an artificial neural network in a state in which a label for the training data is given, and the label is the correct answer (or result value) that the artificial neural network should infer when the training data is input to the artificial neural network. can mean Unsupervised learning may refer to a method of training an artificial neural network in a state where no labels are given for training data. Reinforcement learning can refer to a learning method in which an agent defined in an environment learns to select an action or sequence of actions that maximizes the cumulative reward in each state.

Among artificial neural networks, machine learning implemented as a deep neural network (DNN) including a plurality of hidden layers is also called deep learning (deep learning), and deep learning is a part of machine learning. Hereinafter, machine learning is used in a sense including deep learning.

<Self-Driving>

Autonomous driving refers to a technology that drives itself, and an autonomous driving vehicle refers to a vehicle that travels without or with minimal manipulation of a user.

For example, autonomous driving includes technology for maintaining a driving lane, technology for automatically adjusting speed such as adaptive cruise control, technology for automatically driving along a predetermined route, technology for automatically setting a route when a destination is set, etc. All of these can be included.

The vehicle includes a vehicle having only an internal combustion engine, a hybrid vehicle having both an internal combustion engine and an electric motor, and an electric vehicle having only an electric motor, and may include not only automobiles, but also trains, motorcycles, and the like.

In this case, the autonomous vehicle can be viewed as a robot having an autonomous driving function.

1 shows an AI device including a robot according to the present embodiment.

The AI device 10 is a TV, a projector, a mobile phone, a smart phone, a desktop computer, a notebook computer, a digital broadcasting terminal, a personal digital assistant (PDA), a portable multimedia player (PMP), a navigation system, a tablet PC, a wearable device, a set-top box (STB). ), a DMB receiver, a radio, a washing machine, a refrigerator, a desktop computer, a digital signage, a robot, a vehicle, etc., may be implemented as a stationary device or a movable device.

Referring to FIG. 1 , the AI device 10 includes a communication interface 11 , an input interface 12 , a learning processor 13 , a sensor 14 , an output interface 15 , a memory 17 and a processor 18 . and the like.

The communication interface 11 may transmit/receive data to and from external devices such as other AI devices 10a to 10e or the AI server 20 using wired/wireless communication technology. For example, the communication interface 11 may transmit and receive sensor information, a user input, a learning model, a control signal, and the like with external devices.

At this time, the communication technology used by the communication interface 11 includes GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), LTE (Long Term Evolution), 5G, WLAN (Wireless LAN), Wi-Fi (Wireless- Fidelity), Bluetooth, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), ZigBee, NFC (Near Field Communication), and the like.

The input interface 12 may acquire various types of data.

In this case, the input interface 12 may include a camera for inputting an image signal, a microphone for receiving an audio signal, a user input interface for receiving information from a user, and the like. Here, by treating the camera or the microphone as a sensor, a signal obtained from the camera or the microphone may be referred to as sensing data or sensor information.

The input interface 12 may acquire training data for model training, input data to be used when acquiring an output using the training model, and the like. The input interface 12 may obtain raw input data, and in this case, the processor 18 or the learning processor 13 may extract an input feature as a preprocessing for the input data.

The learning processor 13 may train a model composed of an artificial neural network by using the training data. Here, the learned artificial neural network may be referred to as a learning model. The learning model may be used to infer a result value with respect to new input data other than the training data, and the inferred value may be used as a basis for a decision to perform a certain operation.

At this time, the learning processor 13 may perform AI processing together with the learning processor 24 of the AI server 20 .

In this case, the learning processor 13 may include a memory integrated or implemented in the AI device 10 . Alternatively, the learning processor 13 may be implemented using the memory 17 , an external memory directly coupled to the AI device 10 , or a memory maintained in an external device.

The sensor 14 may acquire at least one of internal information of the AI device 10 , surrounding environment information of the AI device 10 , and user information by using various sensors.

At this time, sensors included in the sensor 14 include a proximity sensor, an illuminance sensor, an acceleration sensor, a magnetic sensor, a gyro sensor, an inertial sensor, an RGB sensor, an IR sensor, a fingerprint recognition sensor, an ultrasonic sensor, an optical sensor, a microphone, a lidar, radar, etc.

The output interface 15 may generate an output related to visual, auditory or tactile sense.

In this case, the output interface 15 may include a display unit that outputs visual information, a speaker that outputs auditory information, and a haptic module that outputs tactile information.

The memory 17 may store data supporting various functions of the AI device 10 . For example, the memory 17 may store input data obtained from the input interface 12 , learning data, a learning model, a learning history, and the like.

The processor 18 may determine at least one executable operation of the AI device 10 based on information determined or generated using a data analysis algorithm or a machine learning algorithm. In addition, the processor 18 may control the components of the AI device 10 to perform the determined operation.

To this end, the processor 18 may request, retrieve, receive, or utilize data of the learning processor 13 or the memory 17, and may perform a predicted operation or an operation determined to be desirable among the at least one executable operation. It is possible to control the components of the AI device 10 to execute.

In this case, when the connection of the external device is required to perform the determined operation, the processor 18 may generate a control signal for controlling the corresponding external device and transmit the generated control signal to the corresponding external device.

The processor 18 may obtain intention information with respect to a user input, and determine a user's requirement based on the obtained intention information.

At this time, the processor 18 uses at least one of a speech to text (STT) engine for converting a voice input into a character string or a natural language processing (NLP) engine for obtaining intention information of a natural language, the user Intention information corresponding to the input may be obtained.

At this time, at least one of the STT engine and the NLP engine may be configured as an artificial neural network, at least a part of which is learned according to a machine learning algorithm. And, at least one of the STT engine or the NLP engine is learned by the learning processor 13, or learned by the learning processor 24 of the AI server 20, or learned by distributed processing thereof. it could be

The processor 18 collects history information including user feedback on the operation contents or operation of the AI device 10 and stores it in the memory 17 or the learning processor 13, or the AI server 20 It can be transmitted to an external device. The collected historical information may be used to update the learning model.

The processor 18 may control at least some of the components of the AI device 10 in order to drive an application program stored in the memory 17 . Furthermore, the processor 18 may operate by combining two or more of the components included in the AI device 10 to drive the application program.

Referring to FIG. 2 , the AI server 20 may refer to a device that trains an artificial neural network using a machine learning algorithm or uses a learned artificial neural network. Here, the AI server 20 may be configured with a plurality of servers to perform distributed processing, and may be defined as a 5G network. In this case, the AI server 20 may be included as a part of the AI device 10 to perform at least a part of AI processing together.

The AI server 20 may include a communication interface 21 , a memory 23 , a learning processor 24 and a processor 26 , and the like.

The communication interface 21 may transmit/receive data to and from an external device such as the AI device 10 .

The memory 23 may include a model storage 23a. The model storage 23a may store a model (or artificial neural network, 23b) being trained or learned through the learning processor 24 .

The learning processor 24 may train the artificial neural network 23b using the learning data. The learning model may be used while being mounted on the AI server 20 of the artificial neural network, or may be used while being mounted on an external device such as the AI device 10 .

The learning model may be implemented in hardware, software, or a combination of hardware and software. When a part or all of the learning model is implemented in software, one or more instructions constituting the learning model may be stored in the memory 23 .

The processor 26 may infer a result value with respect to new input data using the learning model, and may generate a response or a control command based on the inferred result value.

3 shows an AI system according to the present embodiment.

Referring to FIG. 3 , the AI system 1 includes at least one of an AI server 20 , a robot 10a , an autonomous vehicle 10b , an XR device 10c , a smart phone 10d or a home appliance 10e . It is connected to the cloud network (2). Here, the robot 10a to which the AI technology is applied, the autonomous driving vehicle 10b, the XR device 10c, the smart phone 10d, or the home appliance 10e may be referred to as AI devices 10a to 10e.

The cloud network 10 may constitute a part of the cloud computing infrastructure or may refer to a network existing in the cloud computing infrastructure. Here, the cloud network 10 may be configured using a 3G network, a 4G or Long Term Evolution (LTE) network, or a 5G network.

That is, each of the devices 10a to 10e and 20 constituting the AI system 1 may be connected to each other through the cloud network 10 . In particular, each of the devices 10a to 10e and 20 may communicate with each other through the base station, but may also directly communicate with each other without passing through the base station.

The AI server 20 may include a server performing AI processing and a server performing an operation on big data.

The AI server 20 includes at least one of the AI devices constituting the AI system 1, such as a robot 10a, an autonomous vehicle 10b, an XR device 10c, a smart phone 10d, or a home appliance 10e, and It is connected through the cloud network 10 and may help at least a part of AI processing of the connected AI devices 10a to 10e.

In this case, the AI server 20 may train the artificial neural network according to a machine learning algorithm on behalf of the AI devices 10a to 10e, and directly store the learning model or transmit it to the AI devices 10a to 10e.

At this time, the AI server 20 receives input data from the AI devices 10a to 10e, infers a result value with respect to the received input data using a learning model, and provides a response or control command based on the inferred result value. It can be generated and transmitted to the AI devices 10a to 10e.

Alternatively, the AI devices 10a to 10e may infer a result value with respect to input data using a direct learning model, and generate a response or a control command based on the inferred result value.

Hereinafter, various embodiments of the AI devices 10a to 10e to which the above-described technology is applied will be described. Here, the AI devices 10a to 10e shown in FIG. 3 can be viewed as specific examples of the AI device 10 shown in FIG. 1 .

<AI+Robot>

The robot 10a may be implemented as a guide robot, a transport robot, a cleaning robot, a wearable robot, an entertainment robot, a pet robot, an unmanned flying robot, etc. to which AI technology is applied.

The robot 10a may include a robot control module for controlling an operation, and the robot control module may refer to a software module or a chip implemented as hardware.

The robot 10a obtains state information of the robot 10a by using sensor information obtained from various types of sensors, detects (recognizes) surrounding environments and objects, generates map data, moves path and travels A plan may be determined, a response to a user interaction may be determined, or an action may be determined.

Here, the robot 10a may use sensor information obtained from at least one sensor among LiDAR, radar, and camera in order to determine a movement route and a travel plan.

The robot 10a may perform the above-described operations using a learning model composed of at least one artificial neural network. For example, the robot 10a may recognize a surrounding environment and an object using a learning model, and may determine an operation using the recognized surrounding environment information or object information. Here, the learning model may be directly learned from the robot 10a or learned from an external device such as the AI server 20 .

In this case, the robot 10a may perform an operation by generating a result using the direct learning model, but transmits sensor information to an external device such as the AI server 20 and receives the result generated accordingly to perform the operation You may.

The robot 10a determines a movement path and travel plan by using at least one of map data, object information detected from sensor information, or object information obtained from an external device, and controls the driving unit to apply the determined movement path and travel plan. Accordingly, the robot 10a may be driven.

The map data may include object identification information for various objects disposed in a space in which the robot 10a moves. For example, the map data may include object identification information for fixed objects such as walls and doors and movable objects such as flowerpots and desks. In addition, the object identification information may include a name, a type, a distance, a location, and the like.

In addition, the robot 10a may perform an operation or drive by controlling the driving unit based on the user's control/interaction. In this case, the robot 10a may acquire intention information of an interaction according to a user's motion or voice utterance, determine a response based on the acquired intention information, and perform the operation.

<AI+Robot+Autonomous Driving>

The robot 10a may be implemented as a guide robot, a transport robot, a cleaning robot, a wearable robot, an entertainment robot, a pet robot, an unmanned flying robot, etc. to which AI technology and autonomous driving technology are applied.

The robot 10a to which AI technology and autonomous driving technology are applied may mean a robot having an autonomous driving function or a robot 10a that interacts with the autonomous driving vehicle 10b.

The robot 10a having an autonomous driving function may collectively refer to devices that move by themselves according to a given movement line without user control, or move by determining a movement line by themselves.

The robot 10a with autonomous driving function and the autonomous driving vehicle 10b may use a common sensing method to determine one or more of a moving route or a driving plan. For example, the robot 10a and the autonomous driving vehicle 10b having an autonomous driving function may determine one or more of a movement route or a driving plan by using information sensed through lidar, radar, and camera.

The robot 10a that interacts with the autonomous vehicle 10b exists separately from the autonomous vehicle 10b and is linked to an autonomous driving function inside the autonomous vehicle 10b or is connected to the autonomous vehicle 10b. An operation associated with the user on board may be performed.

At this time, the robot 10a interacting with the autonomous driving vehicle 10b obtains sensor information on behalf of the autonomous driving vehicle 10b and provides it to the autonomous driving vehicle 10b, or obtains sensor information and obtains information about the surrounding environment or By generating object information and providing it to the autonomous driving vehicle 10b, the autonomous driving function of the autonomous driving vehicle 10b may be controlled or supported.

Alternatively, the robot 10a interacting with the autonomous driving vehicle 10b may monitor a user riding in the autonomous driving vehicle 10b or control the functions of the autonomous driving vehicle 10b through interaction with the user. . For example, when it is determined that the driver is in a drowsy state, the robot 10a may activate an autonomous driving function of the autonomous driving vehicle 10b or assist in controlling a driving unit of the autonomous driving vehicle 10b. Here, the function of the autonomous driving vehicle 10b controlled by the robot 10a may include not only an autonomous driving function, but also a function provided by a navigation system or an audio system provided in the autonomous driving vehicle 10b.

Alternatively, the robot 10a interacting with the autonomous vehicle 10b may provide information or assist a function to the autonomous vehicle 10b from the outside of the autonomous vehicle 10b. For example, the robot 10a may provide traffic information including signal information to the autonomous vehicle 10b, such as a smart traffic light, or interact with the autonomous vehicle 10b, such as an automatic electric charger for an electric vehicle. You can also automatically connect an electric charger to the charging port.

Fig. 4 is a side view of the robot according to this embodiment, Fig. 5 is a view showing a rear caster and a wheel module according to this embodiment, Fig. 6 is a plan view of the wheel module according to this embodiment, and Fig. 7 is this view A perspective view of the wheel module according to the embodiment, FIG. 8 is an exploded perspective view of the rotation damper according to the present embodiment.

The robot 10a may include a robot frame 30 and a driving unit 40 mounted on the robot frame 30 .

An example of the robot 10a may be a delivery robot capable of transporting various items such as food and medicines or delivery (hereinafter, referred to as delivery). When the robot 10a is a delivery robot, at least one carrier 31 or a bracket on which a delivery product is placed may be disposed on the robot frame 30 .

The robot frame 30 may be composed of a combination of a plurality of members, and may be a robot body. A plurality of carriers 31 may be provided in the robot frame 30 , and the plurality of carriers 31 may be disposed to be spaced apart from each other in the vertical direction (Z).

At least one interface unit 32 may be disposed on the robot frame 30 . An example of the interface unit 32 may be a display unit.

The robot frame 30 may include a frame body and an outer cover that surrounds the frame body and forms an exterior of the robot 10a.

The robot frame 30 may include a bottom plate 38 that forms the outer appearance of the bottom surface of the robot frame 30 . The bottom plate 38 may be disposed approximately horizontally.

The driving unit 40 may be disposed on the bottom plate 38 to allow the robot 100a to travel in the front-rear direction (X). The front-back direction X may be defined as a direction in which the robot 10a moves forward or backward, and the left-right direction U may be defined as a direction orthogonal to a direction in which the robot 10a moves forward or backward.

A plurality of driving units 40 may be provided in the robot frame 30 . An example of the plurality of driving units may include a left driving unit and a right driving unit. The left driving unit may be disposed on the left side of the robot frame 30 with respect to the center of the robot frame 30 , and the right driving unit may be disposed on the right side of the robot frame 30 with respect to the center of the robot frame 30 . there is.

The left driving unit and the right driving unit may be symmetrically disposed. Hereinafter, a common configuration of the left driving unit and the right driving unit will be described as the driving unit 40 .

The driving unit 40 may include a rear caster 50 and a wheel module 60 .

The rear caster 50 may be disposed on the bottom plate 38 . It may be disposed on a rear portion of the bottom plate 38 .

The rear portion of the bottom plate 38 may be defined as the rear portion of the center of the robot frame 30 based on the center of the front-rear direction (X) of the bottom plate 30 .

As shown in FIG. 5 , the rear caster 50 may include a caster body 52 having a vertical axis and a caster wheel 54 rotatably disposed on the caster body 106 about a horizontal axis.

An example of a vertical axis of the caster body 52 may be directly coupled to the bottom plate 38 .

Another example of the vertical axis of the caster body 56 is possible to be connected to the robot frame 30 , in particular to a separate rear damper 56 arranged on the bottom plate 38 .

The rear damper 56 may have a built-in elastic member such as a spring, and absorb vibration transmitted to the robot frame 30 after being applied to the rear caster 50 .

Hereinafter, in both the rear caster 50, the caster body 52 being directly coupled to the bottom plate 38, and the rear caster 50 being connected to the rear damper 56, the rear caster 50 is the bottom plate ( 38) can be defined as being placed in

The wheel module 60 may be rotated about its central rotational shaft, and a shock absorbing device (or a shock absorbing member) may be disposed on the rotational shaft to absorb a shock when the rotational shaft rotates.

One example of the wheel module 60 is a link base 70; a rotation damper 80 mounted on the link base 70; a front link 90 connected to the rotation damper 80 by connecting shafts P1 and P2; a front caster 100 installed in the front portion of the front link 90; a driving motor 110 installed in the rear portion of the front link 90; and a driving wheel 120 rotated by the driving motor 110 .

The link base 70 may be mounted to the bottom plate 38 to be spaced apart from the rear caster 50 .

The link base 70 may protrude downwardly below the bottom plate 38 . The height of the lower end of the link base 70 may be lower than the height of the bottom plate 38 .

As shown in FIGS. 5 and 8 , the link base 70 may include an upper fastening part 72 and a lower receiving part 74 .

The upper fastening part 72 may be fastened to the bottom plate 38 . As shown in FIG. 5 , the upper fastening part 72 may be located under the bottom plate 38 , and may be fastened to the bottom plate 38 using a fastening member such as a screw.

The upper fastening part 72 may be coupled to the front part of the bottom plate 38 . The front portion of the bottom plate 38 may be defined as a front portion of the center of the robot frame 30 based on the center of the front-rear direction (X) of the bottom plate 30 .

The rotation damper 80 may be accommodated in the lower accommodating part 74 . The lower accommodating part 74 may have a groove part in which a part of the rotation damper 80 is accommodated. The lower accommodating part 74 may be formed in a shape recessed in the lower portion of the link base 70 .

The lower receiving portion 74 may be positioned between a pair of side bodies 91 and 92 (refer to FIGS. 6 to 8 ) of the front link 90 . The lower receiving portion 74 may be protected by a pair of

side bodies

91 and 92 . The pair of

side bodies

91 and 92 can minimize penetration of foreign substances such as dust into the lower accommodating part.

The rotation damper 80 may be mounted to be suspended from the link base 70 .

The rotation damper 80 may be fastened to the lower accommodating part 74 of the link base 70 by a fastening member such as a screw. The rotation damper 80 may be fixed to the link base 70 by being fastened to the lower accommodating part 74 .

The rotation damper 80 may include an elastic member 86 . When the front link 70 is rotated, it is possible to absorb an impact. The elastic member 86 may be accommodated in the rotation damper 80 .

The load of the robot 10a may be applied to the front link 90 through the rotation damper 80, and the vibration applied to the front link 90 will be transmitted to the link base 70 through the rotation damper 80. However, the elastic member 86 may absorb vibration.

The rotation damper 80 may include an outer damper body 82 , an inner damper body 84 , and at least one elastic member 86 .

The outer damper body 82 may be a fixed body among the rotation dampers 80 .

A space S1 may be formed in the outer damper body 82 . The outer damper body 82 may have a polygonal shape.

The outer damper body 82 may be a hollow rectangular parallelepiped in which a space S1 (refer to FIG. 8 ) is formed. The outer body 82 may be opened in the left-right direction (Y).

The inner damper body 84 may be a variable body that is rotated or moved among the rotation dampers 80 .

The size of the inner damper body 84 may be smaller than the size of the outer damper body 82 , and the inner damper body 84 may be accommodated in the space S1 .

The vertical direction (Z) length of the inner damper body 84 may be slightly less than the vertical direction (Z) length of the space (S1).

The inner damper body 84 may have a polygonal shape like the outer damper body 82 . The inner damper body 84 may have a rectangular parallelepiped shape. The inner damper body 84 may be rotated or moved inside the outer damper body 82 . When the disposition angle of the front link 90 is changed, the inner damper body 84 may be changed together with the front link 90 .

The inner damper body 84 may serve as a rotation axis (or tilting axis) of the front link 90, and the front link 90 may be tilted in an upward or downward direction with respect to the inner damper body 84 as a center. .

The inner damper body 84 may be connected to the front link 90 through connection shafts P1 and P2 .

Connection shafts P1 and P2 may be connected to the inner damper body 84 . The inner damper body 84 may have connecting shaft through-holes H1 and H2 through which the connecting shafts P1 and P2 pass.

The connecting shaft through-holes H1 and H2 may be opened in the left-right direction (Y) as shown in FIG. 8 .

The connecting shafts P1 and P2 and the connecting shaft through-holes H1 and H2 may have a 1:1 correspondence. The rotation damper 80 may include a pair of connecting shafts P1 and P2 , and a pair of connecting shaft through-holes H1 and H2 may be formed in the inner damper body 84 .

The inner damper body 84 may be rotated or moved within the outer damper body 82 together with the connecting shafts P1 and P2 .

The elastic member 86 may be disposed between the outer damper body 82 and the inner damper body 84 .

A plurality of elastic members 86 may be provided between the outer damper body 82 and the inner damper body 84 . The plurality of elastic members 86 may be spaced apart from each other.

When the inner damper body 84 is rotated or moved in the space S1 of the outer damper body 82 , at least one of the plurality of elastic members 86 is formed between the outer damper body 82 and the inner damper body 84 . It can absorb the impact while being compressed between them. The elastic member 86 may be elongated in the left-right direction (Y). Each of the plurality of elastic members 86 may be disposed between the outer surface of the inner damper body 84 and the inner surface of the outer damper body 82 .

Each of the outer surface of the inner damper body 84 and the inner surface of the outer damper body 82 may be rectangular, and the inner surface of the elastic member 86 may be in contact with the outer surface of the inner damper body 84, and the elastic member ( The two outer surfaces of the 86 may be in contact with the inner surface of the outer damper body 82 .

The cross-sectional shape of the elastic member 86 may be approximately triangular.

The rotation damper 80 may include a total of four elastic members 86 .

The elastic member 86 preferably has an elastic force such that the damping amount is not too high for a smooth tilting operation of the front link 90 . An example of the elastic member 86 may be a rubber material.

An example of the rotation damper 80 may further include a damper case 88 .

The damper case 88 may be coupled to the link base 70 . The damper case 88 may be coupled to the link base 70 of a fastening member such as a screw. The damper case 88 may be provided with a fastening part fastened to the lower accommodating part 74 of the link base 70 using a screw or the like.

The outer damper body 82 , the inner damper body 84 , and the elastic member 86 may be accommodated in the damper case 88 . The damper case 88 may be coupled to the link base 70 to protect the outer damper body 82 .

As another example of the rotation damper 80 , it is of course possible that the outer damper body 82 is fastened to the link base 70 without a separate damper case 88 .

The front link 90 may be spaced apart from the bottom plate 38 in the vertical direction (Z).

The front link 90 may be elongated in the front-rear direction (X) under the front frame 30 .

The front link 90 may be tilted clockwise or counterclockwise around the rotation center of the rotation damper 80 .

When the front caster 100 is lifted upward by an obstacle, the front link 90 may cause the driving motor 110 and the driving wheel 120 to descend downward.

When the driving motor 110 and the driving wheel 120 are lifted upward by an obstacle, the front link 90 may cause the front caster 100 to descend downward.

The front link 90 may include a pair of

side bodies

91 and 92 and a lower body 93 .

The pair of

side bodies

91 and 92 may be spaced apart from each other and may be spaced apart from each other in the left-right direction (Y).

Among the pair of

side bodies

91 and 92 , the inner side body may be defined as the inner side body 91 , and the outer side body among the pair of

side bodies

91 and 92 is the outer side. It may be defined as a body 92 .

An opening 94 through which the driving motor 110 passes may be formed in the inner side body 91 .

As shown in FIGS. 5 and 6 , an accommodation space S2 in which the rotation damper 80 is accommodated may be formed between the pair of

side bodies

91 and 92 .

The pair of

side bodies

91 and 92 may shield between the lower accommodating part 74 and the rotation damper 80 . The pair of

side bodies

91 and 92 may protect the rotation damper 80 from the side of the rotation damper 80 . The pair of

side bodies

91 and 92 may function as a damper cover that protects the rotation damper 80 .

The pair of

side bodies

91 and 92 can minimize penetration of foreign substances such as dust into the rotation damper 80 .

A pair of through-holes 96 and 97 (refer to FIGS. 6 and 8 ) through which the pair of connecting shafts P1 and P2 pass may be formed in each of the pair of

side bodies

91 and 92 .

The lower body 93 may connect the lower ends of the pair of

side bodies

91 and 92 . The lower body 93 may form a bottom surface of the front link 90 .

The front caster 100 may be installed in the front part of the front link 90 by the caster bracket 102 . In the front link 90 , a portion positioned in front of the rotation damper 90 with respect to the rotation damper 90 may be defined as a front portion of the front link 90 .

The caster bracket 102 may be disposed between the pair of

side bodies

91 and 92 .

The front caster 100 may be connected to the caster bracket 102 and the fastening member 104 .

The front caster 100 may be spaced apart from the bottom plate 38 in the vertical direction (Z).

The front caster 100 may include a caster body 106 having a vertical axis, and a caster wheel 108 disposed on the caster body 106 to rotate about a horizontal axis.

The vertical axis of the caster body 106 may be coupled to the fastening member 104 .

The driving motor 110 may be fastened to the front link 90 using a fastening member such as a screw.

A portion of the driving motor 110 may be accommodated in a rear portion of the front link 90 . In the front link 90 , a portion positioned in front of the rotation damper 90 with respect to the rotation damper 90 may be defined as a rear portion of the front link 90 .

A part of the driving motor 110 may be accommodated in the accommodation space S2 formed between the pair of

side bodies

91 and 92 .

The opening 74 may be formed in the rear portion of the front link 90 , the driving motor 110 may be disposed to pass through the opening 74 , and the remainder of the driving motor 110 may be the front link 90 . It can be located outside of

The driving wheel 120 may be directly connected to the rotation shaft of the driving motor 110 or may be connected through a separate reducer, and may be rotated about a horizontal axis when the driving motor 110 is driven.

The driving wheel 120 may be located next to the rear portion of the front link 90 , and may be rotated next to the front link 90 when the driving motor 110 is driven.

9 is a diagram before the front caster according to the present embodiment encounters an obstacle, 10 is a diagram when the front caster according to this embodiment rides over the obstacle, and FIG. 11 is a front caster according to the present embodiment This is the diagram when the driving wheel rides over an obstacle after riding over it.

When the robot 10a travels forward, the robot 10a can ride over obstacles such as a threshold (B, hereinafter referred to as an obstacle), and when the robot 10a rides over the obstacle B, the rear caster 50 ), the driving wheel 120 and the front caster 100 may meet an obstacle B from the front caster 100 as shown in FIG. 9 .

10 , when the front caster 100 passes over the obstacle B, the lower end of the front caster 100 may be higher than the lower end of the driving wheel 120 .

The front part of the front link 90 may be higher than the rear part with respect to the rotation damper 80, and the front link 90 is inclined upward so that the tip of the front link 90 faces upward and forward of the robot 10a. can

While the front link 90 is inclined toward the front upper side, the rotation damper 80 can rotate the inner damper body 84 by the connecting shafts P1 and P2 inside the outer damper body 82. , the inner damper body 84 may compress the plurality of elastic members 86 , and in this case, the elastic member 86 may absorb the impact caused by the obstacle B.

While the front caster 90 passes over the obstacle B, the vertical displacement h1 of the front caster 100 may be greater than the vertical displacement h2 of the robot frame 30 .

The vertical displacement h2 of the robot frame 30 and the shipment loaded on the robot frame 30 may be reduced by the front link 90 .

For example, when the front caster 100 is on the obstacle B, it may be raised by a first height h1 (eg, 20 mm), and on the front caster 100 of the robot frame 30 . The positioned portion may be raised by a second height (eg, 12 mm) lower than the first height, and the possibility of falling of the shipment may be minimized.

When the front link 90 is inclined toward the front upper side, the rear portion of the front link 90 can press the driving wheel 120 downward, and the traction between the driving wheel 120 and the ground is improved.

While the front caster 100 of the robot 10a crosses the obstacle B, the driving wheel 120 may continuously advance the robot 10a while in contact with the ground.

As the advance of the robot 10a continues, the front caster 100 descends from the obstacle B and can be positioned in front of the obstacle B, and the driving wheel 120 is You can climb over obstacles (B).

When the driving wheel 120 passes over the obstacle B, the lower end of the driving wheel 120 may be higher than the lower end of the front caster 100 as shown in FIG. 11 .

The front link 90 may have a rear portion higher than the front portion with respect to the rotation damper 80, and the front link 90 is inclined downward so that the front end of the front link 90 faces the lower front of the robot 10a. can

While the front link 90 is inclined toward the front downward, the rotation damper 80 can rotate the inner damper body 84 by the connecting shafts P1 and P2 in reverse inside the outer damper body 82. In addition, the inner damper body 84 may compress the plurality of elastic members 86 , and in this case, the elastic member 86 may absorb the impact caused by the obstacle B.

When the front link 90 is inclined toward the lower front, the front portion of the front link 90 may press the front caster 100 in the lower direction, and the traction between the front caster 100 and the ground is improved.

The robot 10a can continue to rotate the driving wheel 120 while the driving wheel 120 crosses the obstacle B, and the robot 10a travels stably with the front caster 100 grounded with the ground. can be

12A is a case in which the rear caster 50 and the driving motor 110 are connected by the rear link 90 ′ of the comparative example, and the impact load received by the front caster 100 may be large. For example, when the weight of the robot is 60 kg, the load applied to each of the rear link 90 ′ and the front caster 100 may be 30 kg, and the load acting on each of the rear caster 50 and the driving wheel 120 is The load can be 15k.

Since the load acting on the front caster 100 is large, the impact load received by the front caster 100 may be large, and the possibility of damage to the front caster 100 may be large.

12 (b) is a case in which the front caster 100 and the driving motor 110 are connected by the front link 90 of the present embodiment, and the impact load received by the front caster 100 may be smaller than that of the comparative example. For example, when the weight of the robot is 60 kg, the load applied to each of the front link 90 and the rear caster 50 may be 30 kg, and the load applied to each of the front caster 100 and the driving wheel 120 . may be 15k.

Since the load acting on the front caster 100 is smaller than that of the comparative example, the impact load received by the front caster 100 may be small, and the possibility of damage to the front caster 100 may be minimized.

The above description is merely illustrative of the technical spirit of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments.

The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

Claims

robot frame with bottom plate; and

It includes a rear caster and a wheel module disposed on the bottom plate,

The wheel module

a link base mounted on the bottom plate to be spaced apart from the rear caster;

a rotation damper mounted on the link base and accommodating an elastic member therein;

a front link connected to the rotation damper by a connecting shaft;

a front caster installed on a front portion of the front link;

a driving motor installed at a rear portion of the front link; and

A robot comprising a driving wheel rotated by the driving motor.
The method of claim 1,

The front link is spaced apart from the bottom plate in the vertical direction.
The method of claim 1,

The rotation damper is

an outer damper body having a space formed therein; and

Further comprising an inner damper body accommodated in the space and connected to the connecting shaft,

The elastic member is disposed between the outer damper body and the inner damper body.
The method of claim 1,

The outer damper body and the inner damper body are polygonal,

A plurality of the elastic members are provided between the outer damper body and the inner damper body,

A plurality of elastic members are spaced apart from each other in the robot.
The method of claim 1,

The rotary damper further includes a damper case coupled to the link base and accommodating the outer damper body, the elastic member, and the inner damper body.
The method of claim 1,

The front link is

A pair of spaced side bodies and

Including a lower body connecting the lower ends of the pair of side bodies,

A robot in which an accommodation space in which the rotation damper is accommodated is formed between the pair of side bodies.
7. The method of claim 6,

The front link is a robot in which an opening through which a motor passes is formed in an inner side body of a pair of side bodies.
7. The method of claim 6,

The link base is

an upper fastening part fastened to the bottom plate; and

A robot including a lower accommodating part in which the rotation damper is accommodated.
9. The method of claim 8,

The lower receiving part is located between the pair of bodies,

The pair of side bodies is a robot that shields between the lower accommodating part and the rotation damper.
7. The method of claim 6,

The connecting shaft is provided as a pair,

A pair of through-holes through which a pair of connecting shafts penetrate are formed in each of the pair of side bodies.