Search

KR-20260062611-A - ROBOT APPARATUS

KR20260062611AKR 20260062611 AKR20260062611 AKR 20260062611AKR-20260062611-A

Abstract

The present disclosure relates to a robot device. The robot device may include a main body and a protective device coupled to an outer side of the main body, which absorbs impact on the main body using at least one link device. The at least one link device includes a plurality of link structures, each comprising a plurality of links connected in a zigzag direction through a fixed frame, and the connection angle between the links included in the at least one link structure positioned in the area impacting an external object among the plurality of link structures can absorb impact by changing according to the impact intensity of the external object on the protective device.

Inventors

  • 박정훈
  • 구동한
  • 김재홍
  • 김동현
  • 김진웅
  • 신교욱

Assignees

  • 삼성전자주식회사

Dates

Publication Date
20260507
Application Date
20241029

Claims (15)

  1. In a robotic device, Main body; and A protective device that is coupled to the outer side of the main body and absorbs impact on the main body using at least one link device; The above-mentioned at least one link device is, A robot device comprising a plurality of link structures each including a plurality of links connected in a zigzag direction through a fixed frame, wherein the connection angle between links included in at least one link structure disposed in an area impacting an external object among the plurality of link structures changes according to the impact intensity of the external object on the protective device and absorbs the impact.
  2. In paragraph 1, The above plurality of link structures form a windlass structure that deforms according to the impact location, impact area, and impact degree of the external object, and The above-mentioned at least one link device is, A robot device further comprising a shock-absorbing member formed in a direction opposite to the direction in contact with the outer surface of the main body based on the above windless structure.
  3. In paragraph 2, A robot device further comprising: an elastic body that is connected to at least some of the plurality of links within the windless structure and is capable of deforming into an arch shape upon impact with an external object.
  4. In paragraph 3, The above protection device is, It further includes an inner frame in contact with the outer surface of the main body, and The above-mentioned at least one link device is, A plurality of first links fixed to the inner frame above; A plurality of second links each coupled to the plurality of first links through a single first fixed frame; and It includes a plurality of third links each coupled to the plurality of second links through a single second fixed frame, A robot device comprising, wherein the elastic body included in each of the plurality of link structures comprises one end of each of the plurality of first links that contacts the inner frame and a plurality of elastic bodies that each connect the plurality of third links.
  5. In paragraph 1, The above main body is It is divided into multiple parts, The above protection device A robot device comprising a plurality of link devices arranged in parallel to surround the outer surface of the part, wherein the protective device is coupled in a detachable manner to at least one of the plurality of parts.
  6. In paragraph 2, The above shock-absorbing member is, A first elastic member coupled to one side of the above windless structure; A robot device comprising: a second elastic member formed of a material different from the first elastic member and coupled to the other side of the first elastic member.
  7. In paragraph 6, A robot device in which the first elastic member is made of EPP (Expanded Polypropylene).
  8. In paragraph 6, A robot device in which the thickness of the first elastic member is thicker than the thickness of the second elastic member.
  9. In the protection device, A coupling frame capable of being coupled to the outer surface of the protected object; It includes a plurality of link devices connected to the above-mentioned coupling frame; and Each of the above plurality of link devices is, It includes a plurality of link structures, each comprising a plurality of links connected in a zigzag direction through a fixed frame, and A protective device that absorbs impact by changing the connection angle between links included in at least one link structure positioned in the area impacting an external object among the plurality of link structures according to the impact intensity of the external object.
  10. In Paragraph 9, The above-mentioned coupling frame is a cylinder shape having a hole formed therein for receiving the outer surface of the object to be protected, and The cross-section of the above hole has a shape corresponding to the outer shape of the above-mentioned protected object, and A protection device comprising a plurality of link devices arranged in parallel along the outer surface of the coupling frame.
  11. In Paragraph 9, The plurality of link structures and the at least one fixed frame form a windlass structure that deforms according to the impact location, impact area, and degree of impact of the external object. A protective device further comprising a shock-absorbing member formed on one side of the above-mentioned windless structure.
  12. In Paragraph 11, A protective device further comprising: an elastic body connected to at least some of the plurality of link structures within the above windless structure, capable of deforming into an arch shape upon impact with the external object.
  13. In Paragraph 12, The above elastic body is, A first link among the plurality of link structures that contacts the outer side of the main body; One end of a second link coupled to the first link among the plurality of link structures above; and A protective device connected to a third link among the plurality of link structures that contacts the shock-absorbing member.
  14. In Paragraph 11, The above shock-absorbing member is, A first elastic member coupled to one side of the above windless structure; A protective device comprising: a second elastic member formed of a material different from the first elastic member and coupled to the other side of the first elastic member.
  15. In Paragraph 14, The above first elastic member is a protective device made of EPP (Expanded Polypropylene).

Description

Robot Apparatus The present disclosure relates to a robot device comprising a protective device for reducing external shock. With the advancement of robotic technology, research and development of various robotic devices designed to replace humans in diverse settings such as stores, cafes, and restaurants are actively underway. These devices include humanoid robots that drive and operate autonomously without separate user intervention, and technology is evolving toward increased autonomy. However, problems have arisen where robotic devices are damaged by impacts from external objects or the environment during operation. Consequently, there is a need to develop structures that enable robotic devices to withstand interactions with various obstacles and operate stably. FIG. 1 is a perspective view showing a robot device according to at least one embodiment of the present disclosure. FIGS. 2a and 2b are drawings for explaining the structure of a protective device according to at least one embodiment of the present disclosure. FIG. 3 is a drawing for illustrating at least one link device according to at least one embodiment of the present disclosure. FIGS. 4a, FIGS. 4b and FIGS. 4c are drawings for explaining the operation of at least one link device according to at least one embodiment of the present disclosure. FIG. 5 is a drawing for explaining at least one link device according to at least one embodiment of the present disclosure. FIGS. 6a and FIGS. 6b are drawings for illustrating at least one link device according to at least one embodiment of the present disclosure. FIG. 7 is a drawing for explaining a shock-absorbing member according to at least one embodiment of the present disclosure. The various embodiments of this document and the terms used therein are not intended to limit the technical features described in this document to specific embodiments, and should be understood to include various modifications, equivalents, or substitutions of said embodiments. In relation to the description of the drawings, similar reference numerals may be used for similar or related components. The singular form of the noun corresponding to the item may include one or multiple items, unless the relevant context clearly indicates otherwise. In this document, each of the phrases such as "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C", and "at least one of A, B, or C" may include any one of the items listed together in the corresponding phrase, or all possible combinations thereof. The term "and/or" includes a combination of multiple related described components or any of the multiple related described components. Terms such as "first," "second," or "first" or "second" may be used simply to distinguish a component from another component and do not limit the components in other aspects (e.g., importance or order). Where any (e.g., 1st) component is referred to as "coupled" or "connected" to another (e.g., 2nd) component, with or without the terms "functionally" or "communicationly," it means that said any component may be connected to said other component directly (e.g., via a wire), wirelessly, or through a third component. Terms such as "include" or "have" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in this document, and do not preclude the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof. When it is said that a component is "connected," "combined," "supported," or "in contact" with another component, this includes not only cases where the components are directly connected, combined, supported, or in contact, but also cases where they are indirectly connected, combined, supported, or in contact through a third component. When it is said that a component is located "on" another component, this includes not only cases where one component is in contact with the other, but also cases where another component exists between the two components. Hereinafter, an electronic device (1) according to various embodiments will be described in detail with reference to the drawings. FIG. 1 is a perspective view showing a robot device (1) according to one embodiment of the present invention. In FIG. 1, the robot device (1) may include a main body (10) and a protective device (100). While the robot device (1) is performing a mission or operation, external forces or shocks may be applied to the robot device (1) depending on the external environment. The protective device (100) is a device for preventing damage to the robot device (1) by including a structure capable of absorbing such external forces or shocks. The protective device (100) can perform various roles, such as absorbing shocks acting on the robot device (100), as well as preventing wear, electrical protection, structural support, and thermal protection. For example