KR-20260066084-A - Mobile robots and means of transportation

KR20260066084AKR 20260066084 AKR20260066084 AKR 20260066084AKR-20260066084-A

Abstract

Embodiments of the present invention provide a mobile robot and a means of movement that include a brake unit connected to a fixed bracket located on the upper surface of the body of the mobile robot, and connect the connector of the cart to the brake unit so that the movement of the cart can be stopped together with the stopping of the moving mobile robot.

Inventors

이학림

Assignees

주식회사 베어로보틱스코리아

Dates

Publication Date: 20260512
Application Date: 20230918

Claims (19)

A body including a driving part; A fixed bracket located on the upper surface of the above body; and It includes a brake unit connected to the fixed bracket and connected to the connector of the cart, which stops the movement of the cart when the driving part stops driving, and The above brake unit is, A traction bar that is connected to the above-mentioned fixed bracket; A guide groove formed extending in a first direction, which is the driving direction of the driving part, at the other end of the above-mentioned towing bar, and in which a first elastic member is located; A fastening shaft having a guide block formed therein, which is positioned in a second direction perpendicular to the first direction and is inserted into the guide groove to come into contact with the first elastic member; A brake frame coupled to the above-mentioned fastening shaft; and A mobile robot comprising a connector holder coupled to one end of the brake frame and through which the connector of the cart passes to be fastened.
In paragraph 1, The guide block of the above-mentioned fastening shaft is, A mobile robot characterized by moving along the guide groove in the first direction and applying elastic force to the first elastic member when the driving part stops moving.
In paragraph 2, The guide block of the above-mentioned fastening shaft is, A mobile robot characterized by being formed in a square shape so that the fastening shaft does not rotate when moving along the guide groove.
In paragraph 1, The above brake unit is, A wheel frame that is connected to the other end of the above-mentioned towing bar; A rotating shaft disposed in the second direction and rotatably coupled to the other end of the wheel frame; and A mobile robot characterized by including a traction wheel coupled to the rotating shaft and rotating together with the rotating shaft.
In paragraph 4, The above brake frame is, It is rotatably coupled around the above-mentioned connecting shaft, When the driving unit stops, the cart rotates by moving in the first direction, and The above brake unit is, A mobile robot characterized by including a braking unit that stops the rotation of the traction wheel by the rotation of the brake frame.
In paragraph 5, The above braking unit is, A brake drum connected to the above-mentioned rotating shaft and rotating together with the above-mentioned traction wheel; A brake wheel positioned adjacent to the brake drum and coupled to the other end of the brake frame; and A mobile robot characterized by including a brake pad that is coupled to the brake wheel and causes friction with the brake drum.
In paragraph 6, The above brake wheel is, It includes a brake bar formed by extending from the outer surface and hinge-connected to the other end of the brake frame, A mobile robot characterized by rotating together with the brake frame when the brake frame rotates and pressing the brake pad against the brake drum.
In paragraph 1, The above connector holder is, A fastening groove formed in a third direction perpendicular to the first direction and the second direction, in which a second elastic member is located; and A mobile robot characterized by including a stopper pin that is coupled to the second elastic member, moves along the fastening groove in the third direction when the connector of the cart is fastened, and applies elastic force to the second elastic member to fix the connector of the cart.
In paragraph 1, The above connector holder is, A mobile robot characterized by being rotatable about a third direction perpendicular to the first direction and the second direction.
In Paragraph 9, The above towing bar is, A mobile robot characterized by being rotatable around the third direction above.
A mobile robot comprising a body including a driving unit, a fixed bracket located on the upper surface of the body, and a brake unit connected to the fixed bracket; and It includes a cart comprising a connector connected to the brake unit of the above-mentioned mobile robot, and The above brake unit is, A traction bar that is connected to the above-mentioned fixed bracket; A guide groove formed extending in a first direction, which is the driving direction of the driving part, at the other end of the above-mentioned towing bar, and in which a first elastic member is located; A fastening shaft having a guide block formed therein, which is positioned in a second direction perpendicular to the first direction and is inserted into the guide groove to come into contact with the first elastic member; A brake frame coupled to the above-mentioned fastening shaft; and It includes a connector holder coupled to one end of the brake frame and through which the connector of the cart passes to be fastened, The above brake unit is, A means of movement that stops the movement of the cart when the driving part stops moving.
In Paragraph 11, The connector of the above cart is, A side projection protruding from the side and inclined in the opposite direction to the first direction; and A moving means characterized by including a stopper projection protruding spaced apart from the above-mentioned side projection.
In Paragraph 12, The above connector holder is, A fastening groove formed in a third direction perpendicular to the first direction and the second direction, in which a second elastic member is located; and A moving means characterized by including a stopper pin that is coupled to the second elastic member, moves along the fastening groove in the third direction when the connector is fastened, and applies elastic force to the second elastic member to fix the connector.
In Paragraph 13, The above stopper pin is, A moving means characterized by contacting the side projection when the connector is connected and moving in the third direction, and being positioned between the side projection and the stopper projection by the second elastic member.
In Paragraph 11, The guide block of the above-mentioned fastening shaft is, When the above driving part stops driving, it moves along the guide groove in the first direction and applies elastic force to the first elastic member, The above cart is, A means of movement characterized by stopping movement in the first direction by an elastic force applied to the first elastic member.
In Paragraph 11, The above brake unit is, A wheel frame that is connected to the other end of the above-mentioned towing bar; A rotating shaft disposed in the second direction and rotatably coupled to the other end of the wheel frame; and A means of transportation characterized by including a traction wheel coupled to the rotating shaft and rotating together with the rotating shaft.
In Paragraph 16, The above brake frame is, It is rotatably coupled around the above-mentioned connecting shaft, When the driving unit stops, the cart rotates by moving in the first direction, and The above brake unit is, It includes a braking unit that stops the rotation of the traction wheel by the rotation of the brake frame, and The above cart is, A means of movement characterized by stopping movement in the first direction by driving the braking unit.
In Paragraph 17, The above braking unit is, A brake drum connected to the above-mentioned rotating shaft and rotating together with the above-mentioned traction wheel; A brake wheel positioned adjacent to the brake drum and coupled to the other end of the brake frame; and A means of transportation characterized by including a brake pad coupled to the brake wheel and causing friction with the brake drum.
In Paragraph 18, The above brake wheel is, It includes a brake bar formed by extending from the outer surface and hinge-connected to the other end of the brake frame, A means of transport characterized by rotating together with the brake frame when the brake frame rotates and pressing the brake pad against the brake drum.

Description

Mobile Robots and Vehicles of Transportation Mobile Robots and Vehicles of Transportation The present invention relates to a mobile robot and a means of movement capable of stopping the movement of a cart together with the mobile robot when the mobile robot, which moves in combination with a cart, stops. Robots have been developed for industrial use to play a part in factory automation. Recently, however, the fields of robot application have been expanding further, with the development of not only medical and aerospace robots but also robots for use in daily life. Among industrial robots, automation using robots was prioritized because robots performing precision assembly tasks repeatedly execute the same movements at fixed locations without unexpected situations. However, the transportation sector, which includes driving—an area capable of making judgments regarding unexpected situations—has not yet seen active commercialization of robots. Nevertheless, the number of driving robots is increasing recently as the performance of surrounding perception sensors improves and computing power capable of rapidly processing recognized information to respond is enhancing. Industrially, robots responsible for transportation functions are attracting attention, and competition is intensifying day by day. In addition to robots that transport large quantities or large items, there is a need for robots that perform services to transport small items to their destinations. For the automation and efficiency of logistics transfer, it is required that a robot move toward a cart loaded with goods, combines with the cart, and moves together with it. However, in order for the robot to move the cart to its destination while combined with the cart, it is necessary to prevent the cart's center of gravity from shifting to prevent the cart from tilting and falling over or applying an uneven load to the robot during movement. In particular, since the cart transporting the goods is heavier than the robot and has a greater momentum, a problem occurs where the cart cannot stop immediately even if the robot stops and continues to push the robot forward. Conventionally, due to the aforementioned problems, the movement speed of robots was inevitably slow, which consequently led to a decrease in the efficiency of logistics transfer operations. Furthermore, to solve the aforementioned problems, it is difficult to apply a braking device directly to the wheels mounted on the cart due to limitations in wheel size and space. Therefore, a means is needed to improve the operational efficiency of logistics transfer by reducing constraints on robot movement, such as by ensuring that the cart moving in conjunction with the robot stops when the robot stops moving. FIG. 1 is a drawing showing a 5G network-based cloud system according to one embodiment of the present invention. FIG. 2 is a drawing for explaining the configuration of a mobile robot according to one embodiment of the present invention. FIG. 3 is a drawing illustrating a robot control system according to one embodiment of the present invention. FIG. 4 is a perspective view of a mobile robot according to one embodiment of the present invention. FIG. 5 is a drawing illustrating the shape in which a connector of a cart is connected to a brake unit of a mobile robot in a moving means according to one embodiment of the present invention. FIG. 6 is a drawing illustrating a brake unit of a mobile robot according to one embodiment of the present invention. FIG. 7 is a drawing showing a fastening shaft in a brake unit of a mobile robot according to one embodiment of the present invention. Figure 8 is a drawing showing the AA cross-section of Figure 6. FIG. 9 is a drawing for explaining a guide block of a fastening shaft that moves along a guide groove in a mobile robot according to one embodiment of the present invention. FIG. 10 is a rear view of a brake unit of a mobile robot according to one embodiment of the present invention. FIG. 11 is a side view of a brake unit of a mobile robot according to one embodiment of the present invention. FIG. 12 is a drawing for explaining how to stop the rotation of a traction wheel through a brake unit of a mobile robot according to one embodiment of the present invention. FIG. 13 is a side view of the braking part of a brake unit in a mobile robot according to one embodiment of the present invention. FIG. 14 is a diagram illustrating the driving of the braking part of a brake unit in a mobile robot according to one embodiment of the present invention. FIG. 15 is a drawing for explaining the connection between a mobile robot and a cart according to one embodiment of the present invention. FIG. 16 is a cross-sectional view of the BB of FIG. 5, which is a cross-sectional view of a connector holder with a connector attached, cut along the xz plane. FIG. 17 is a drawing for explaining the rotation of the connector holder of the brake unit and the traction bar in a mo