US-20260125861-A1 - IRREGULARITY FORMING ROBOT

US20260125861A1US 20260125861 A1US20260125861 A1US 20260125861A1US-20260125861-A1

Abstract

Provided is an irregularity forming robot including: a first wheel assembly configured to drive a first wheel in the form of a roller to form a rough surface with protrusion patterns on the ground; a body rotatably coupled with the first wheel assembly through a first rotation axis perpendicular to the first wheel assembly; and a second wheel assembly coupled with the body and including a second wheel in the form of a roller, wherein the body includes a first steering unit configured to control a rotation angle between the first wheel assembly and the body. According to the present invention, protrusion patterns may be automatically formed on the surface of a concrete slab poured in divided layers by an autonomous driving robot.

Inventors

Young Pyoung KIM
Baek Goo KANG
Byung Jo IM
Dong Min Kang
Yong Hui HAN

Assignees

ITONE CO., LTD.

Dates

Publication Date: 20260507
Application Date: 20251023
Priority Date: 20241105

Claims (10)

1 . An irregularity forming robot comprising: a first wheel assembly configured to drive a first wheel in a form of a roller to form a rough surface with protrusion patterns on a ground; a body rotatably coupled with the first wheel assembly through a first rotation axis perpendicular to the first wheel assembly; and a second wheel assembly coupled to the body and comprising a second wheel in a form of a roller, wherein the body comprises a first steering unit configured to a rotation angle between the first wheel assembly and the body.
2 . The irregularity forming robot of claim 1 , wherein the body is rotatably coupled with the second wheel assembly through a second rotation axis perpendicular to the second wheel assembly, and the second wheel assembly is configured to drive the second wheel to form a rough surface with protrusion patterns on the ground.
3 . The irregularity forming robot of claim 1 , wherein the first wheel assembly comprises: the first wheel having protrusions formed on a curved surface of a roller; a first wheel frame coupled to the body through the first rotation axis and configured to support an axle of the first wheel; and a first driving unit configured to transmit power to the first wheel.
4 . The irregularity forming robot of claim 2 , wherein the second wheel assembly comprises: the second wheel having protrusions formed on a curved surface of a roller; a second wheel frame coupled to the body through the second rotation axis and configured to support an axle of the second wheel; and a second driving unit configured to transmit power to the second wheel.
5 . The irregularity forming robot of claim 3 , wherein the first wheel comprises: the roller having a curved surface provided with protrusion blades and configured to be replaceable; and the axle extending from both ends of the roller.
6 . The irregularity forming robot of claim 3 , wherein the first wheel comprises: the roller having a curved surface; and a protrusion cover coupled to the curved surface of the roller, and the protrusion cover is formed in a bellows shape and configured to adjust width and depth of protrusion patterns by adjusting fold spacing.
7 . The irregularity forming robot of claim 5 , wherein the roller is configured by assembling a plurality of roller modules, each formed in a disc shape and including the protrusion blades, and is configured such that width and depth of protrusion patterns are adjustable through replacement of roller modules having different shapes of the protruding blades.
8 . The irregularity forming robot of claim 5 , wherein at least one of the first wheel assembly or the second wheel assembly further comprises a brush configured to remove sludge lodged on the roller.
9 . The irregularity forming robot of claim 1 , wherein the first steering unit comprises: a rotary power unit configured to generate rotational force; a rotary bar configured to pull and rotate the first wheel assembly about the first rotation axis using the rotational force; and traction lines configured to connect both ends of the rotary bar with poles formed on left and right sides of the first wheel assembly.
10 . The irregularity forming robot of claim 3 , further comprising: a sensing unit configured to observe an obstacle in a traveling direction; and a control unit configured to control the first driving unit and the first steering unit, wherein the control unit is configured to perform autonomous driving by controlling the first driving unit and the first steering unit based on data collected by the sensing unit.

Description

CROSS-REFERENCE TO RELATED APPLICATION This application claims priority from Korean Patent Application No. 10-2024-0155360 filed on Nov. 5, 2024 in the Korean Intellectual Property Office, the contents of which in its entirety are herein incorporated by reference. FIELD The present invention relates to an irregularity forming robot, and more particularly, to a robot for forming irregularities (protrusion patterns) on a concrete surface during curing through autonomous driving. BACKGROUND The information presented in this section merely provides background information for the present invention and does not constitute prior art. Prior to pouring concrete, it is necessary to confirm by referring to construction details and reinforcing bar preparation and assembly drawings that reinforcing bars, pipes, etc. Are properly placed. Concrete should, in principle, be continuously poured within a compartment. It is preferable that the thickness of the poured concrete be 40 to 50 cm or less. If the thickness of the poured concrete exceeds 50 cm, curing requires a significant amount of time and the quality of curing deteriorates. When concrete is poured at a thickness exceeding 50 cm, the concrete thickness may be divided into layers and concrete may be placed in the divided layers. In this process, cracks should not occur between the divided layers of poured concrete, and in order to prevent such cracks between the divided concrete pours, it is necessary to intentionally form irregularities (e.g., protrusion patterns) on the contact surface of the concrete. Conventional techniques typically involve scratching the poured concrete with a tool to form irregularities. As a related art of the present invention, Korean Patent No. 10-0621171 (published on Sep. 8, 2006) discloses a ruggedness apparatus of concrete slab for bridge, which includes a vibration motor, a horizontal adjusting plate, a rotary motor, a driving wheel, a protrusion wheel, and a weight. This related art is similar in purpose to the present invention, but differs from the present invention in its driving method, and shows differences in configuration and effects due to the disadvantage that autonomous driving is not possible. SUMMARY Technical Problem An object of the present invention is to provide a robot for forming irregularities (protrusion patterns) on the surface of a concrete slab poured in divided layers, so as to enhance bonding strength. An object of the present invention is to provide an autonomous driving robot for forming irregularities on the surface of a concrete slab. An object of the present invention is to provide a robot capable of autonomous driving using one driving motor and one steering motor. An object of the present invention is to provide an autonomous driving robot capable of independent steering of the front and rear wheels. Objects of the present invention are not limited to those mentioned above, and other objects not mentioned will be clearly understood by those skilled in the art from the following description. Technical Solution In order to achieve the above object, according to an embodiment of the present invention, there is provided an irregularity forming robot including: a first wheel assembly configured to drive a first wheel in the form of a roller to form a rough surface with protrusion patterns on the ground; a body rotatably coupled with the first wheel assembly through a first rotation axis perpendicular to the first wheel assembly; and a second wheel assembly coupled with the body and including a second wheel in the form of a roller, wherein the body includes a first steering unit configured to control a rotation angle between the first wheel assembly and the body. In addition, the body may be rotatably coupled with the second wheel assembly through a second rotation axis perpendicular to the second wheel assembly, and the second wheel assembly may be configured to drive the second wheel to form a rough surface with protrusion patterns on the ground. In addition, the first wheel assembly may include: the first wheel having protrusions formed on a curved surface of a roller; a first wheel frame coupled to the body through the first rotation axis and configured to support an axle of the first wheel; and a first driving unit configured to transmit power to the first wheel. In addition, the second wheel assembly may include: the second wheel having protrusions formed on a curved surface of a roller; a second wheel frame coupled to the body through the second rotation axis and configured to support an axle of the second wheel; and a second driving unit configured to transmit power to the second wheel. Additionally, the first wheel may include: a roller having a curved surface provided with protrusion blades and configured to be replaceable; and the axle extending from both ends of the roller. In addition, the first wheel may include a roller having a curved surface; and a protrusion cover coupled to the curved surf