KR-20260066359-A - 4-WHEEL IRREGULARITY FORMING ROBOT

KR20260066359AKR 20260066359 AKR20260066359 AKR 20260066359AKR-20260066359-A

Abstract

The present invention discloses an uneven surface forming robot comprising: a first wheel assembly that forms an uneven surface on a floor by driving a first wheel in the form of a roller; a body that is rotatably coupled to the first wheel assembly through a first rotation axis perpendicular to it; a second wheel assembly that is coupled to the body and includes a second wheel in the form of a roller; and an auxiliary wheel assembly that forms an uneven surface on a floor using a third wheel that is selectively driven with the first wheel among a third wheel and a fourth wheel in the form of a roller arranged on the left and right sides of the body and forming a 90-degree angle with the rotation axis of the first wheel and the second wheel, wherein the body includes a first steering unit that controls the rotation angle between the first wheel assembly and the body. According to the present invention, uneven surfaces can be automatically formed on the surface of a segmented concrete slab by an autonomous robot.

Inventors

김영평
강백구
임병조
강동민
한용희
정영도
윤민호
이태민

Assignees

주식회사 아이티원
(주)포스코이앤씨

Dates

Publication Date: 20260512
Application Date: 20241104

Claims (11)

A first wheel assembly that drives a first wheel in the form of a roller to form an uneven surface on the floor; A body rotatably coupled to the above-mentioned first wheel assembly through a first rotation axis perpendicular to it; A second wheel assembly coupled to the above body and including a second wheel in the form of a roller; and It includes an auxiliary wheel assembly that forms an uneven surface on the floor using a third wheel that is selectively driven with the first wheel, among a roller-shaped third wheel and a fourth wheel positioned on the left and right sides of the body, which form a 90-degree angle with the rotation axis of the first wheel and the second wheel, and The above body is configured to include a first steering unit that controls the rotation angle between the first wheel assembly and the body. 4-wheel uneven surface forming robot.
In claim 1, When the first wheel is driven, the third wheel and the fourth wheel are lifted off the floor, and when the third wheel is driven, the first wheel and the second wheel are lifted off the floor. 4-wheel uneven surface forming robot.
In claim 1, The above body and the above second wheel assembly are rotatably coupled through a vertical second rotation axis, and The second wheel assembly is configured to drive the second wheel to form an uneven surface on the floor. 4-wheel uneven surface forming robot.
In claim 1, the first wheel assembly is, A first wheel having irregularities formed on the curved surface of the roller; A first wheel frame that is coupled to the body through the first rotation axis and supports the rotation axis of the first wheel; and A first drive unit configured to transmit power to the first wheel, 4-wheel uneven surface forming robot.
In claim 3, the second wheel assembly is, A second wheel having irregularities formed on the curved surface of the above roller; A second wheel frame that is coupled to the body through the second rotation axis and supports the rotation axis of the second wheel; and A configuration comprising a second drive unit that transmits power to the second wheel, 4-wheel uneven surface forming robot.
In claim 4, the first wheel is, A replaceable roller having an uneven blade formed on a curved surface; and Configured to include rotation axes formed at both ends of the above roller, 4-wheel uneven surface forming robot.
In claim 4, the first wheel is, A roller having a curved surface; and It includes an uneven cover coupled to the curved surface of the above roller, and The above-mentioned uneven cover is configured to adjust the width and depth of the unevenness by adjusting the folding spacing in a bellows-like form. 4-wheel uneven surface forming robot.
In claim 6, the roller is, A plurality of roller modules formed in a disc shape, including the aforementioned uneven blades, are assembled to form the same. Configured so that the width and depth of the unevenness are adjusted by replacing roller modules having the aforementioned uneven blades of different shapes, 4-wheel uneven surface forming robot.
In claim 6, At least one of the first wheel assembly, the second wheel assembly, and the auxiliary wheel assembly is Configured to further include a brush for removing concrete sludge stuck in the above roller, 4-wheel uneven surface forming robot.
In claim 1, the first steering part is, A rotary power unit that generates rotational force; A rotating bar that tractions and rotates the first wheel assembly around the first rotation axis using the above rotational force; and A configuration comprising a tow rope connecting both ends of the aforementioned rotating bar and poles formed on the left and right sides of the aforementioned first wheel assembly. 4-wheel uneven surface forming robot.
In claim 4, A sensing unit for observing obstacles in the direction of travel; and It further includes a control unit that controls the first driving unit and the first steering unit, and The above control unit is, Configured to drive autonomously by controlling the first driving unit and the first steering unit based on data collected by the sensing unit, 4-wheel uneven surface forming robot.

Description

4-Wheel Irregulity Forming Robot The present invention relates to a 4-wheel irregularity forming robot, and more specifically, to a robot that forms irregularities on a concrete surface being cured through 4-directional autonomous driving using 4 wheels. The contents presented in this section are intended merely to provide background information for the present invention and do not constitute prior art. Before pouring concrete, it must be verified that reinforcing bars, piping, etc. are properly placed by referring to the construction detail drawings and concrete fabrication assembly drawings. In principle, concrete must be poured continuously within the section. However, it is desirable to limit the concrete pouring thickness to 40 to 50 cm or less. This is because if the concrete pouring thickness exceeds 50 cm, a long time is required for curing, and the quality of curing deteriorates. When pouring concrete with a thickness exceeding 50 cm, the concrete may be poured in divided sections. In this case, cracks must not occur between the divided poured concrete sections; to prevent cracking between the divided concrete sections, it is necessary to intentionally form irregularities on the contact surface of the concrete. According to conventional technology, it was common practice to form irregularities by a person using a tool to scratch the poured concrete. As a technology related to the present invention, the equipment for creating an uneven surface on a bridge concrete slab, disclosed in the Korean Registered Patent Publication, comprises a vibration motor, a horizontal adjustment plate, a rotary motor, a driving wheel, an uneven wheel, and a gravity weight. Although this related technology has a similar purpose to the present invention, it is distinguished from the present invention in its driving method and differs from the configuration and effects of the present invention due to the disadvantage that autonomous driving is impossible. FIG. 1 is a block diagram of an uneven surface forming robot according to one embodiment of the present invention. Figure 2 is an example diagram depicting the exterior of the uneven surface forming robot described in Figure 1. Figure 3 is an example diagram depicting the interior of the uneven surface forming robot described in Figure 2. Figure 4 is a front view of the uneven surface forming robot depicted in Figure 2. Fig. 5 is a side view of the uneven surface forming robot depicted in Fig. 2. Fig. 6 is a bottom view of the uneven surface forming robot depicted in Fig. 2. Figure 7 is an enlarged view of the wheel of the uneven surface forming robot depicted in Figure 2. FIG. 8 is an illustrative diagram according to another embodiment of the wheel depicted in FIG. 7. Before describing the present invention in detail, it should be understood that the terms and words used in this specification should not be interpreted as being limited to their ordinary or dictionary meanings, and that the inventor of the present invention may appropriately define and use the concepts of various terms to best describe their invention, and furthermore, that these terms and words should be interpreted in a meaning and concept consistent with the technical spirit of the present invention. In other words, it should be understood that the terms used in this specification are used merely to describe preferred embodiments of the present invention and are not intended to specifically limit the content of the present invention, and that these terms are defined in consideration of various possibilities of the present invention. In addition, it should be noted that in this specification, singular expressions may include plural expressions unless the context clearly indicates a different meaning, and that even if they are expressed in a similarly plural form, they may include the meaning of the singular. Throughout this specification, where it is stated that a component "includes" another component, unless specifically stated otherwise, this may mean that it does not exclude any other component but may include any other component. Furthermore, it should be noted that in cases where it is stated that a component "exists inside or is installed in connection with" another component, this component may be installed in direct connection or contact with the other component, or it may be installed at a certain distance apart, and in the case where it is installed at a certain distance apart, there may be a third component or means for fixing or connecting the component to the other component, and a description of this third component or means may be omitted. On the other hand, if it is stated that one component is "directly connected" or "directly connected" to another component, it should be understood that there is no third component or means. Likewise, other expressions describing the relationship between each component, such as “between” and “right between”, or “adjacent to” and “directly adjacent to”