Robot
AssigneeBear Robotics Korea, Inc.
InventorHaklim Lee
Life of this patent
Estimating the term…
Abstract
A robot includes a robot frame having a bottom plate; and at least one wheel module mounted to the bottom plate. The wheel module includes a front hinge mounted to the bottom plate; a rear hinge mounted to the bottom plate and having a pin guide formed therein; a link motor arm rotatably connected to the front hinge by a first hinge shaft; a front caster provided in the link motor arm; an in-wheel motor including a motor connected to the link motor arm and a driving wheel rotated by the motor; a link back arm rotatably connected to the link motor arm by a second hinge shaft; a guide pin provided in the link back arm and slidingly guided along the pin guide; and a rear caster provided in the link back arm.
Claims20
A wheel module comprising:
- a first hinge and a second hinge mounted to a bottom of a robot;
- an in-wheel motor including:
- a drive wheel;
- and
- a motor configured to rotate the drive wheel;
- a first link arm connected to the motor and rotatably coupled to the first hinge by a first hinge shaft;
- a first caster connected to the first link arm;
- a second link arm rotatably connected to the first link arm by a second hinge shaft, and coupled to the second hinge by a guide pin;
- and
- a second caster connected to the second link arm,
- wherein the second hinge includes a pin guide configured to guide displacement of the guide pin.
A robot comprising:
- a robot frame including a bottom plate;
- and
- at least one wheel module mounted to the bottom plate,
- wherein the at least one wheel module includes:
- a first hinge and a second hinge mounted to the bottom plate;
- an in-wheel motor including:
- a drive wheel;
- and
- a motor configured to rotate the drive wheel;
- a first link arm extending from the motor and rotatably connect to the first hinge by a first hinge shaft;
- a first caster connected to the first link arm;
- a second link arm rotatably connected to the first link arm by a second hinge shaft, and coupled to the second hinge by a guide pin;
- and
- a second caster connected to the second link arm,
- wherein the second hinge includes a pin guide configured to guide displacement of the guide pin.
A wheel module comprising:
- an in-wheel motor including:
- a drive wheel;
- and
- a motor configured to rotate the drive wheel;
- a first link arm connected to the motor;
- a first hinge rotatably connected to the first link arm by a first hinge shaft;
- a first caster connected to the first link arm;
- a second link arm connected to the first link arm by a second hinge shaft, the second link arm including a guide pin;
- a second hinge connected to the second link arm, the second hinge including a pin guide configured to guide displacement of the guide pin;
- and
- a second caster connected to the second link arm,
- wherein the second link arm includes:
- a second hinge shaft penetrating portion located at a front portion of the second link arm;
- a guide pin mount located at a central portion of the second link arm;
- and
- a second caster mount located at a rear portion of the second link arm.
Dependencies are inferred from the claim text.