| 摘要 |
PURPOSE: A device and a method for regulating inclination of a caster wheel is provided to prevent damage to a caster unit because a caster wheel of the caster unit is return to an original state through a spring shock absorber of an inclination regulating unit. CONSTITUTION: A device for regulating inclination of a caster wheel comprises a fixing member(130), an inclination regulating unit, a locking unit(150), a caster unit, a distance measuring sensor(170), and a controlling unit. The inclination regulating unit is arranged in the fixing member. The caster unit is supported by the inclination regulating unit and comprises a caster wheel(141). The locking unit maintains the inclination regulating unit in a locking state or an unlock state. The distance measuring sensor is arranged in an lower frame(110) and measures a distance from the ground or an obstacle. When a slop way or the obstacle is existed, the controlling unit changes the locking unit from the locking state to the unlock state after reducing a moving speed of a service robot with a driving unit(180) below a pre-set speed. When the locking unit is in the locking state, the caster unit passes through the obstacle or the slope way according to the movement of the robot and maintains a folded state at a predetermined vertical angle.
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