KR-20260064988-A - Line tracer with a haunting grab

Abstract

The present invention relates to a line tracer equipped with a retractable grab that is driven in such a way that a pair of grabs stored in a robot body are withdrawn to the outside. A line tracer equipped with a retractable grab according to the present invention moves or performs the action of picking up an object according to a command of a pre-entered operation code, and is characterized by comprising: a robot body equipped with a moving means; and a pair of left and right first retractable grabs and second retractable grabs mounted inside the robot body, which are pulled out to the front of the robot body when picking up an object according to a command of the operation code and retracted into the robot body when releasing an object.

Inventors

• 최병진
• 임수현
• 김철진
• 정연학

Assignees

• (주)엑스로보

Dates

Publication Date

20260508

Application Date

20241030

Claims (4)

1. In a line tracer that moves or performs an action of picking up an object according to a command of a pre-entered motion code, A robot body equipped with a means of movement; A pair of left and right first and second emerging grabs, mounted inside the robot body, which are withdrawn forward of the robot body when picking up an object according to a command of an operation code, and retracted into the robot body when releasing an object; A line tracer equipped with an appearance grab characterized by including
2. In paragraph 1, Each appearing grab is, A coupling part rotatably installed within the robot body; A connecting part extending from the above-mentioned joint and rotating inside the robot body; It includes an arc-shaped grab portion that is bent at the above-mentioned connection portion and is inserted into the robot body or withdrawn to the outside; A first tooth is formed on the outer surface of the coupling portion of the first protruding grab, and a second tooth that meshes with the first tooth is formed on the outer surface of the coupling portion of the second protruding grab. A line tracer equipped with a retractable grab, characterized in that when a grab driving motor installed only at the coupling part of the first retractable grab is driven, the first retractable grab and the second retractable grab rotate together by means of the first gear and the second gear.
3. In paragraph 1, A first lower coupling hole and an axle fitting hole are formed respectively at the lower and upper portions of the coupling part of the first protruding grab, and A second lower coupling hole and an upper coupling hole are formed respectively at the lower and upper portions of the coupling part of the second protruding grab. A pair of support protrusions are formed on the bottom of the robot body to be coupled to the first lower coupling hole and the second lower coupling hole, and A line tracer equipped with an incoming/outgoing grab, characterized in that the upper part of the robot body has a motor receiving portion for accommodating the grab driving motor and a support bar having a coupling projection for coupling to the upper coupling hole.
4. In paragraph 1, A guide member is installed in the robot body to partition the internal space of the robot body in the front and back directions to secure a space for the first and second emerging grabs to rotate in the front of the robot body. A line tracer equipped with a retractable grab, characterized in that the guide member comprises a central partition wall positioned between the connecting portions of the first retractable grab and the second retractable grab, which face each other when the first retractable grab and the second retractable grab are inserted into the robot body, and a pair of front and rear partition walls extending to the left and right of the central partition wall.

Description

Line tracer with a haunting grab The present invention relates to a line tracer equipped with a retractable grab that is driven in such a way that a pair of grabs stored in a robot body are withdrawn to the outside. As a means of controlling educational or toy robots, coding refers to computer programming—that is, inputting given commands into a language that a computer can understand—and involves creating programs using computer languages such as C, Java, and Python. Coding education has become increasingly important in recent years as it can foster logical thinking, creativity, and problem-solving skills. Furthermore, the importance of coding is increasing because the things that represent the era of the Fourth Industrial Revolution, such as artificial intelligence, the Internet of Things, intelligent robots, and big data analysis and utilization, are implemented through software based on ICT (Information and Communication Technology). Coding education is being approached in a game-like manner, such as puzzles or block matching, to help kindergarten or elementary school students understand the basic principles of programming. However, game-based methods such as puzzles or block matching had limitations in teaching the principles of coding because they could not accurately represent inputs and the changes in the program resulting from those inputs. In addition, game methods such as puzzles or block matching were difficult for lower-grade kindergarten or elementary school children to access easily and conveniently, making it difficult to help them easily understand the basics of coding. Recently, Korean Public Patent No. 10-2005-0023968 and Korean Registered Patent No. 10-2083866 have proposed a control device for an educational robot kit that enables experiential learning in which teachers or students in the initial introductory stage of encountering educational or toy robots for the first time can freely control and operate the robot kit's movements without any technical knowledge related to robot control, including computer programming languages such as C or BASIC, thereby allowing them to naturally experience the principles of robots and control. Meanwhile, line-follower robots are a type of educational or toy robot that follows a line by emitting light (infrared) onto the floor and determining its presence based on the amount of reflected light; recently, line-follower competitions are also being actively held. Conventional line tracer robots have a structure in which the grab is fixed at the front as shown in FIG. 12. Because the grab increases the overall length and turning radius of the robot body, the probability of colliding with obstacles increases when turning in an area where there are obstacles nearby. In addition, since the motor and joint parts driving the grab are always exposed to the outside, there is a disadvantage that malfunction may occur due to dust or moisture. FIG. 1 is a perspective view showing a line tracer according to the present invention. FIG. 2 is a plan view showing the appearance of the pull-out and pull-out grab of the present invention being withdrawn from and pulled in from the lower case. FIGS. 3A and FIGS. 3B are a top view and a bottom view, respectively, of the protruding grab of the present invention. FIG. 4 is a perspective view showing the appearance of the protruding grab of the present invention being drawn into the robot body. Fig. 5 is a bottom perspective view of Fig. 4. FIG. 6 is a perspective view with the upper case separated from FIG. 1. Fig. 7 is an exploded perspective view of Fig. 1. Figure 8 is a photograph of a conventional line tracer. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the embodiments described below are merely intended to provide a detailed description sufficient for a person skilled in the art to easily practice the invention, and do not imply that the scope of protection of the present invention is limited thereby. The appearance and disappearance grab of the present invention will be described in more detail below. Referring together to FIGS. 1, FIGS. 10 and FIGS. 11, a line tracer (100) equipped with a retractable grab according to the present invention moves or performs the action of picking up an object according to a command of a pre-entered operation code, and includes a robot body (110) equipped with a moving means, and a pair of left and right first retractable grabs (170a) and second retractable grabs (170b) mounted inside the robot body, which are pulled out to the front of the robot body when picking up an object according to a command of an operation code and retracted into the robot body when putting down an object. The first and second emerging grabs (170a) and second emerging grabs (170b) of the present invention are formed as a left and right pair and are configured such that when picking up an object according to a comman