TRAVELING ROBOT
A traveling robot comprises: a lower housing; a frame assembly positioned inside the lower housing; a traveling unit position at the lower part of the frame assembly; a tray frame coupled to the upper part of the lower housing so as to extend upwardly; a load cell coupled to the tray frame; a moving bracket coupled to the upper part of the load cell; a tray holder coupled to the moving bracket and protruding through a fastening hole of the tray frame; and a tray module seated on the tray holder. By having the load cell, the traveling robot is capable of detecting whether an object placed on a tray is present or falling, toppling over, etc. and thus is capable of traveling in a stable manner.
1 . A driving robot comprising:
a lower housing;
a frame assembly positioned inside the lower housing;
a driving structure positioned under the frame assembly;
a tray frame coupled to an upper portion of the lower housing and extending upward;
a load cell coupled to the tray frame;
a moving bracket coupled to an upper portion of the load cell;
a tray holder coupled to the moving bracket and protruding via a fastening hole of the tray frame; and
a tray module seated on the tray holder.
2 . The driving robot of claim 1 , wherein the fastening hole of the tray frame includes a plurality of fastening holes,
wherein the moving bracket is formed at a location corresponding to each pair of fastening holes and includes a plurality of tray holder fastening portions.
3 . The driving robot of claim 2 , further comprising a hole cover covering a fastening hole not coupled with the tray holder among the plurality of fastening holes.
4 . The driving robot of claim 1 , wherein the load cell includes:
an elastic body whose shape changes when pressurized; and
a strain gauge configured to generate an electric signal based on the deformation of the elastic body.
5 . The driving robot of claim 4 , wherein the elastic body has a Z-shape including a first slot extending rearward from a front side and a second slot extending forward from a rear side.
6 . The driving robot of claim 4 , wherein the tray frame includes a stopper groove defined in a surface facing the moving bracket and extending in a vertical direction,
wherein the moving bracket includes a stopper bump protruding in a direction of the stopper groove of the tray frame,
wherein a width of the stopper groove is greater than a width of the stopper bump.
7 . The driving robot of claim 1 , further comprising a fixed bracket fixed to the tray frame,
wherein the load cell is fastened to an upper portion of the fixed bracket and coupled to the tray frame.
8 . The driving robot of claim 1 , wherein the tray frame is inclined such that an upper end is positioned rearward of a lower end,
wherein the fastening hole is defined in a direction perpendicular to the extension direction of the tray frame,
wherein the tray holder includes a support flat in a direction perpendicular to a direction of gravity.
9 . The driving robot of claim 1 , further comprising a tray bar located at a lower portion of the tray module, extending in a front and rear direction, and including a tray fastening portion fastened to the tray holder,
wherein the tray fastening portion includes a plurality of tray fastening portions formed in the front and rear direction.
10 . The driving robot of claim 1 , further comprising:
a battery coupled to the frame assembly;
a substrate module coupled to the frame assembly and positioned above the battery; and
a cable connecting the load cell to the substrate module via the tray frame.
11 . The driving robot of claim 1 , wherein the tray frame includes a pair of tray frames on left and right sides,
wherein the driving robot includes:
a head frame connecting upper ends of the pair of tray frames to each other; and
an upper basket formed on the head frame.
12 . The driving robot of claim 11 , further comprising a display located on a front surface of the upper basket.
13 . The driving robot of claim 1 , wherein the tray frame includes a pair of tray frames on left and right sides,
wherein the driving robot further includes a slide basket inserted into a space between the tray module, the lower housing, and the pair of tray frames.