Robot
A robot includes a base, a driving wheel protruding downward from the base, a plurality of lower pillars extending upward from the base, an upper module supported by the plurality of lower pillars, and a suspension coupled to at least one lower pillar of the plurality of lower pillars and being coupled to the driving wheel. The suspension may include a slider configured to move upward and downward while sliding along the at least one lower pillar, a spring disposed relative to an outer circumference of the lower pillar and being positioned to provide a force that causes the slider to move downward, a suspension arm coupled to the slider and a rotational shaft of the driving wheel, a connector coupled to the base, and a rotational shaft of the suspension arm being coupled to the connector.
1 . A robot comprising:
a base;
a driving wheel protruding downward from the base;
a plurality of lower pillars extending upward from the base;
an upper module supported by the plurality of lower pillars; and
a suspension coupled to at least one lower pillar of the plurality of lower pillars and further coupled to the driving wheel,
wherein the suspension comprises:
a slider configured to move upward and downward while sliding along the at least one lower pillar;
a spring disposed relative to an outer circumference of the at least one lower pillar and being positioned to provide a force that causes the slider to move downward;
a suspension arm coupled to the slider and a rotational shaft of the driving wheel;
a connector coupled to the base; and
a rotational shaft of the suspension arm being coupled to the connector.
2 . The robot of claim 1 , wherein the driving wheel moves upward and downward between a first position at which the rotational shaft of the driving wheel is located below the base and a second position at which the rotational shaft of the driving wheel is located above the base.
3 . The robot of claim 2 , wherein a vertical length of the spring is greater than half of a vertical length of the at least one lower pillar when the driving wheel is in the first position, and
wherein the vertical length of the spring is less than half of the vertical length of the at least one lower pillar when the driving wheel is in the second position.
4 . The robot of claim 1 , wherein the base is shaped to define a cutout to prevent interference between the suspension and the base when the driving wheel moves upward and downward.
5 . The robot of claim 1 , wherein the slider is located on one side of the suspension arm, and the driving wheel is located on another side of the suspension arm.
6 . The robot of claim 1 , wherein the suspension arm comprises:
a body portion to which the slider and the driving wheel are coupled; and
an arm portion extending from the body portion and being coupled to the connector.
7 . The robot of claim 6 , wherein the arm portion extends in an oblique direction relative to the body portion such that a height of the arm portion decreases as a distance from the body portion increases.
8 . The robot of claim 1 , wherein the suspension arm is shaped to define an elongated hole that is formed in one direction in the suspension arm, and
wherein the slider includes a protruding pin inserted into the elongated hole and moving between both ends of the elongated hole when the slider moves upward and downward.
9 . The robot of claim 1 , wherein the suspension arm is shaped to include:
a first recessed portion facing the driving wheel;
a second recessed portion located on an opposite side of the first recessed portion; and
a through-hole penetrating from the first recessed portion to the second recessed portion and through which the rotational shaft of the driving wheel passes, and
wherein the rotational shaft of the driving wheel comprises:
a flange, at least a portion of which is located within the first recessed portion; and
a fastening member, at least a portion of which is located within the second recessed portion.
10 . The robot of claim 9 , wherein the suspension arm comprises a pair of parts fastened to each other,
wherein a portion of each of the first recessed portion, the second recessed portion, and the through-hole is formed in one of the pair of parts, and
wherein another portion of each of the first recessed portion, the second recessed portion, and the through-hole is formed in another of the pair of parts.
11 . The robot of claim 9 , wherein a stepped portion is formed on an inner circumference of the second recessed portion in a radially inward direction, and
wherein the fastening member includes an expansion portion constrained to the stepped portion with respect to a direction of the rotational shaft of the driving wheel.
12 . The robot of claim 1 , further comprising a battery disposed between the base and the upper module.
13 . The robot of claim 1 , wherein the plurality of lower pillars comprise at least one pair of pillars disposed symmetrically with each other with respect to a vertical axis passing through a center of gravity of the robot or a point adjacent to the center of gravity of the robot.
14 . The robot of claim 1 , wherein the plurality of lower pillars are disposed closer to an edge of the base than a center of the base.
15 . The robot of claim 1 , wherein the upper module comprises:
a plurality of plates spaced in parallel to each other in a vertical direction; and
a plurality of upper pillars disposed between the plurality of plates.
16 . The robot of claim 15 , wherein the plurality of lower pillars and the plurality of upper pillars comprise at least one pair of pillars disposed symmetrically with each other with respect to a vertical axis passing through a center of gravity of the robot or a point adjacent to the center of gravity of the robot.
17 . The robot of claim 15 , wherein the plurality of lower pillars are disposed closer to an edge of the base than a center of the base, and
wherein the plurality of upper pillars are disposed closer to an edge of the plurality of plates than to a center of each of the plurality of plates.
18 . The robot of claim 15 , wherein upper ends of the plurality of lower pillars are adjacent to lower ends of the plurality of upper pillars.
19 . The robot of claim 15 , further comprising:
a battery disposed between the base and the upper module; and
at least one substrate disposed inside the upper module.