KR-20260062485-A - Autonomous mobile robot based on a high-speed integrated mechanism suitable for various outdoor driving environments, special terrains, and overcoming obstacles

KR20260062485AKR 20260062485 AKR20260062485 AKR 20260062485AKR-20260062485-A

Abstract

A mobile robot is provided. The mobile robot comprises: a first connecting unit connected to a body unit that requires movement; and a second connecting unit connected to a moving part that moves along the ground while physically contacting the ground, wherein the second connecting unit may be movably connected to the first connecting unit. The first connecting unit may be rotatably connected to the body unit with a reference axis as the center of rotation, and the second connecting unit may be connected to the first connecting unit so as to be linearly movable along the reference axis.

Inventors

김대영
김민수
권자연

Assignees

(주)로보아이

Dates

Publication Date: 20260507
Application Date: 20241029

Claims (10)

A first connecting unit connected to a body unit requiring movement; Includes a second connecting unit connected to a moving part that moves along the ground while physically contacting the ground; The above second connecting unit is a mobile robot movably connected to the first connecting unit.
In paragraph 1, The first connecting unit is connected to the body unit so as to be rotatable with the reference axis as the center of rotation, and The second connecting unit is a mobile robot connected to the first connecting unit so as to be able to move linearly along the reference axis.
In paragraph 1, The first connecting unit is connected to the body unit so as to be rotatable with the reference axis as the center of rotation, and When the part of the above-mentioned moving part that comes into contact with the ground is defined as the contact part, A mobile robot connected to the first connecting unit such that the contact portion is always located on the reference axis, regardless of the movement of the second connecting unit relative to the first connecting unit.
In paragraph 1, A fixing part is provided that is fastened to the above body unit, and A rotating part connected to the fixed part so as to be rotatable around a reference axis is provided, and A first extension part is provided that is connected to the rotating part and extends along the reference axis, and The second connecting unit is a mobile robot installed in the first extension so as to be movable along the reference axis.
In paragraph 4, The first extension part is provided with a rail extending along the reference axis, and The second connecting unit above is a mobile robot formed to move along the rail.
In paragraph 4, The first extension part extends from the rotating part along a first direction inclined toward the reference axis, and The first extension part is extended by a set length along the first direction, then changes direction and extends along a direction parallel to the reference axis, and When one end of the first extension portion extended parallel to the reference axis is defined as a matching portion, The second connecting unit above is a mobile robot movably connected to the matching part.
In paragraph 6, The above-mentioned moving part includes wheels that make rolling contact with the ground, and An axle connected to the rotation center of the above wheel is provided, A second extension portion is provided that extends from the shaft portion perpendicularly to the ground, and A rail extending perpendicularly to the ground is formed at the matching portion, and the second extension is formed to be movable along the rail, or A mobile robot having a rail extending vertically to the ground formed in the second extension part and a matching part formed to be movable along the rail.
In paragraph 1, A fixing part is provided that is fastened to the above body unit, and A rotating part connected to the fixed part so as to be rotatable around a reference axis is provided, and A first motor is provided that is connected to the fixed part and rotates the rotating part around the reference axis, and A first extension part is provided extending from the rotating part along a first direction inclined to the reference axis, and The first extension part is extended by a set length along the first direction, then changes direction and extends along a direction parallel to the reference axis, and The above-mentioned moving part includes wheels that make rolling contact with the ground, and An axle connected to the rotation center of the above wheel is provided, The above shaft includes a second motor that rotates the wheel, and A second extension portion is provided that extends from the shaft portion perpendicularly to the ground, and When one end of the first extension part extending parallel to the reference axis is defined as a matching part, one side of the matching part facing the reference axis is defined as a first surface, and the opposite side of one side of the second extension part facing the wheel is defined as a second surface, A rail extending perpendicularly to the ground is formed on either the first surface or the second surface, and the other of the first surface and the second surface is formed to be movable along the rail, An intermediate member is provided that is located between the wheel and the second extension and is connected to the second extension. When the portion extending along the first direction from the first extension portion is defined as the escape portion, A mobile robot equipped with an elastic shock-absorbing member connecting the above-mentioned escape part and the above-mentioned intermediate member.
In paragraph 8, A first axis perpendicular to the first direction and perpendicular to the reference axis is formed in the escape portion, and A second axis perpendicular to the first direction and perpendicular to the reference axis is formed in the intermediate member, and The above elastic member includes a pneumatic elastic means equipped with a cylinder and a piston, and The end of the cylinder is connected to the first axis so as to be rotatable about the first axis, and A mobile robot in which the end of the piston is connected to the second axis so as to be rotatable about the second axis.
In paragraph 1, Including the above body unit, The upper surface of the above body unit is formed in the shape of a flat plate, and A hooking means for attaching a rope capable of tying a transported object is formed on the upper edge of the above body unit, and Two wheels connected to the body unit by the first connecting unit and the second connecting unit are provided on the left and right sides in front of the body unit and two wheels on the left and right sides behind the body unit. A power box for housing a battery is formed on the lower surface of the above body unit, and The above power box is positioned between the front and rear wheels when viewed from the side, and A control panel is formed on the side of the above power box, and The above control panel is provided with a control button for the battery or a control button for the mobile robot, and A mobile robot having a charging connector for the battery formed in the control panel above.

Description

Autonomous mobile robot based on a high-speed integrated mechanism suitable for various outdoor driving environments, special terrains, and overcoming obstacles The present invention relates to a mobile robot formed to be movable along the ground. An autonomous robot is a robot that independently surveys its surroundings, detects obstacles, and uses wheels or legs to select the optimal path to reach its destination. Recently, the demand for autonomous robots is gradually increasing due to labor supply shortages and the trend toward non-face-to-face interactions. According to conventional technology, autonomous robots are currently used to the extent of automatically delivering food in places such as restaurants or delivering packages unmanned in apartment complexes. In particular, autonomous robots based on conventional technology implement a method in which the robot travels autonomously to a destination, after which the user (consumer) retrieves the delivered items. In the case of existing autonomous robots, sufficient suspension is not provided to improve driving stability. This is because the configuration of the suspension is severely limited in order to keep the height relative to the ground as low as possible. As a result, autonomous robots have a structure that is difficult to absorb shock and vibration, which can lead to liquid spills during delivery. Therefore, the transport targets of existing autonomous robots are limited to items where there is no need to worry about liquid spills. For example, the objects transported by autonomous robots are often light-weight items or food in packaging containers. Korean Patent Publication No. 2024-0153844 discloses an autonomous mobile robot that, in conjunction with a smart elevator system, smoothly provides movement and service to customers at any location (floor), such as general restaurants, food courts, restaurants, and hotels in multi-story buildings. FIG. 1 is a perspective view showing a mobile robot according to one embodiment of the present invention. FIG. 2 is a perspective view of a mobile robot according to one embodiment of the present invention, viewed from slightly below. FIG. 3 is a side view showing a mobile robot according to one embodiment of the present invention. FIG. 4 is a perspective view taken from slightly below of a moving member provided in a mobile robot according to one embodiment of the present invention. FIG. 5 is a perspective view of a moving member provided in a mobile robot according to one embodiment of the present invention. FIG. 6 is a front view of a moving member provided in a mobile robot according to one embodiment of the present invention. Embodiments of the present invention are described below with reference to the attached drawings so that those skilled in the art can easily implement them. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein. Furthermore, in order to clearly explain the present invention in the drawings, parts unrelated to the explanation have been omitted, and similar parts throughout the specification are denoted by similar reference numerals. In this specification, redundant descriptions of identical components are omitted. Furthermore, when a component is described in this specification as being 'connected' or 'connected' to another component, it should be understood that it may be directly connected to or connected to the other component, or that there may be other components in between. On the other hand, when a component is described in this specification as being 'directly connected' or 'directly connected' to another component, it should be understood that there are no other components in between. Furthermore, the terms used in this specification are used merely to describe specific embodiments and are not intended to limit the invention. Additionally, in this specification, singular expressions may include plural expressions unless the context clearly indicates otherwise. Furthermore, in this specification, terms such as 'comprising' or 'having' are intended merely to indicate the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not excluding in advance the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof. Additionally, in this specification, the term "and/or" includes a combination of the plurality of described items or any of the plurality of described items. In this specification, "A or B" may include "A," "B," or "both A and B." In addition, detailed descriptions of known functions and configurations that may obscure the essence of the invention will be omitted in this specification. FIG. 1 is a perspective view showing a mobile robot (100) according to an embodiment of the present invention. FIG. 2 is a perspective view of a mobi