Unmanned delivery robots

Abstract

When transporting an item, by positioning the wheel drive unit inside the delivery robot, the width of the delivery robot can be reduced. When unloading the item, after moving the drive units to both sides of the delivery robot body, the item can be unloaded after moving it closer to the ground, reducing the impact of the item falling to the ground during unloading. The provision of a new type of unmanned delivery robot that achieves this is the provision of its micro device. 【Solution means】 After loading an item, the drive unit is located within the support frame during transfer. By moving and traveling, the width of the delivery robot is reduced, achieving the effect of being able to easily move even in a narrow space.

Description

Technical Field

[0001] The present invention relates to a delivery robot for delivering articles unmanned, and more particularly to an unmanned robot for delivering a large number of home delivery boxes delivered to a building to each floor.

Background Art

[0002] Recently, the volume of online product sales such as e-commerce transactions through the Internet, TV home shopping, and mail-order sales has been increasing rapidly.

[0003] Conventionally, especially when delivering within an apartment complex, it is delivered by a delivery person. However, in the case of a complex that restricts the ground movement of the delivery vehicle, the delivery person places the home delivery box on a carrier cart and delivers the home delivery box to each unit. Therefore, when there are many home delivery boxes that must be delivered by one delivery person, problems such as delays in delivery occur.

[0004] To solve such problems, a technology has been developed in which a station for collecting home delivery boxes to be delivered to each unit is separately provided, and the home delivery boxes carried out from the station are delivered to each unit via a delivery robot, and it is being tested in an apartment complex.

[0005] However, when forming a wide loading space inside the delivery robot to accommodate articles of various sizes, the width of the delivery robot increases. In this case, if the delivery robot is for an elevator with a narrow width of the elevator door of the building, it cannot ride together, or when riding together with the residents, it occupies a large space inside the elevator and gives discomfort to the residents. Therefore, there is a need for a solution to solve this problem.

[0006] The description as the above background art is for enhancing the understanding of the background of the present invention, and it is not admitted that it corresponds to the prior art known to those having ordinary knowledge in this technical field.

Summary of the Invention

Problems to be Solved by the Invention

[0007] The present invention was proposed to solve the aforementioned problems, and its purpose is to provide a new type of unmanned delivery robot that reduces the width of the delivery robot by positioning the wheel drive unit inside the delivery robot when transporting goods, and reduces the impact of goods falling to the ground when unloading goods by moving the drive units to both sides of the delivery robot body and unloading the goods after moving them close to the ground. [Means for solving the problem]

[0008] An unmanned delivery robot according to at least one embodiment of the present invention includes a support frame, a loading section supported by the support frame and connected so as to be movable vertically, first and second moving frames connected to the support frame so as to be slidable in a first direction at a position below the loading section to secure space for the loading section to move downward, at least one first electric wheel attached to the first moving frame, at least one second electric wheel attached to the second moving frame, a first steering unit for steering the first electric wheel, and a second steering unit for steering the second electric wheel independently of the first steering unit.

[0009] In at least one embodiment of the present invention, the first and second movable frames protrude in the first direction inside the support frame by the first electric wheel and the second electric wheel, and when the first and second movable frames protrude, the steering directions of the first steering unit and the second steering unit are opposite to each other.

[0010] In at least one embodiment of the present invention, the first and second moving frames are moved in the first direction by the first electric wheel, with the driving of the second electric wheel restricted, so that the first moving frame first protrudes from inside the support frame in the first direction, and then, with the first moving frame protruding, is further moved by the first electric wheel, thereby moving the support frame in the first direction and causing the second moving frame to protrude from inside the support frame.

[0011] In at least one embodiment of the present invention, when either the first moving frame or the second moving frame protrudes from the support frame, the electric wheel installed on the protruding moving frame is steered in the first direction, and the electric wheel installed on the other moving frame is steered in the first direction and the angular direction set to the first direction.

[0012] In at least one embodiment of the present invention, when the first movable frame is extended and the second movable frame is extended, the first steering unit is steered in the first direction and the second steering unit is steered in a second direction perpendicular to the first direction.

[0013] In at least one embodiment of the present invention, the first and second steering units each include a steering motor, an outer ring portion installed on the first or second moving frame, a motor support portion formed on the outer ring portion and supporting the steering motor, a first pulley installed on the steering motor, a steering shaft connected to the electric wheel, a second pulley installed on one side of the steering shaft, an inner ring portion installed on the steering shaft and rotatably supported on the outer ring portion by a plurality of balls, a timing belt connecting the first pulley and the second pulley, and an adjustment unit that separates the outer ring portion and the motor support portion to adjust the tension of the fan belt.

[0014] In at least one embodiment of the present invention, the steering motor is located below the motor support portion.

[0015] In at least one embodiment of the present invention, the electric wheel includes an in-wheel motor, a wheel bracket installed on the inner ring portion, and a wheel support portion installed on the wheel bracket and supporting the in-wheel motor.

[0016] In at least one embodiment of the present invention, cable holes are formed in the inner ring portion and the wheel bracket.

[0017] The cable hole is formed over more than half of the circumference of the inner ring.

[0018] In at least one embodiment of the present invention, the electric wheel further includes a suspension that is installed on one side of the wheel bracket and on the other side of the wheel support to mitigate shocks transmitted from the ground.

[0019] In at least one embodiment of the present invention, the first and second moving frames are each provided with first and second power supply units for supplying power to the first and second electric wheels, respectively.

[0020] In at least one embodiment of the present invention, the power supply unit includes at least one of a battery, a steering module control unit, and a driving module control unit.

[0021] In at least one embodiment of the present invention, the first power supply unit is located at the bottom of the first movable frame, and the second power supply unit is located at the bottom of the second movable frame.

[0022] In at least one embodiment of the present invention, the support frame further includes a motor frame, the motor frame includes a drive motor that provides a driving force to move the loading section vertically, the drive motor includes a third pulley having a first V groove and a second V groove formed thereon, and a wire fixing portion formed between the first V groove and the second V groove.

[0023] In at least one embodiment of the present invention, the third pulley includes a wire, the loading part includes a pair of fourth pulleys and fifth pulleys symmetrically installed rotatably on one side, the middle point of the wire is fixed to the wire fixing part, and both ends are connected to the motor frame through the pair of fourth pulleys and the pair of fifth pulleys. The wire is wound around the first V-groove and the second V-groove as the third pulley rotates, and the length decreases while the loading part is moved upward.

[0024] In at least one embodiment of the present invention, the first and second moving frames include first magnetic force fixing parts on both sides, and the first magnetic force fixing parts are attached to the support frame so that the first and second moving frames do not protrude during running.

[0025] In at least one embodiment of the present invention, the support frame includes a second magnetic force fixing part, and the second magnetic force fixing part magnetically fixes the loading part so that downward movement is restricted when the loading part moves upward.

[0026] In at least one embodiment of the present invention, the first and second magnetic force fixing parts include at least one of an electromagnet and an EPM (Electro Permanent Magnetic) holder.

[0027] In at least one embodiment of the present invention, the loading part includes at least one conveyor and a weight sensor for measuring the weight of the articles loaded on the upper part of the conveyor.

[0028] In at least one embodiment of the present invention, a plurality of the conveyors are provided, the plurality of conveyors are independently driven, and are driven in the same direction or in opposite directions so as to adjust the interval between articles.

[0029] In at least one embodiment of the present invention, the support frame includes a rider frame, a rider is attached to the rider frame, and the rider is an omnidirectional rider.

[0030] In at least one embodiment of the present invention, the lidar frame is formed below the motor frame.

[0031] In at least one embodiment of the present invention, a plurality of cameras are installed on the support frame in the front-rear direction and the left-right direction, respectively.

Advantages of the Invention

[0032] After loading an article, by moving the drive unit inside the main body of the delivery robot during transportation to travel, the width of the delivery robot is reduced, achieving the effect of being able to easily move into a narrow space.

[0033] Also, when the delivery robot is running, the drive unit is steered, and when the article is stored or discharged, the motor provided in the steering unit moves the loading unit in the vertical direction, achieving the effect of simplifying the structure and reducing costs

[0034] Also, when discharging an article, after moving the drive units to both sides of the main body of the delivery robot, the loading unit is lowered so that the article can be moved close to the ground for discharging, achieving the effect of reducing the impact applied to the article during discharging.

[0035] The effects obtained by the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those with ordinary knowledge in the technical field to which the present invention belongs from the following description.

Brief Description of the Drawings

[0036] [Figure 1] [Figure 1] It is a perspective view showing an unmanned delivery robot according to an embodiment of the present invention. [Figure 2] It is a perspective view showing a state in which the first and second moving frames protrude in the unmanned delivery robot according to an embodiment of the present invention. [Figure 3] It is a perspective view on the opposite side of FIG. 1. [Figure 4]This is a diagram showing the front view of an unmanned delivery robot according to an embodiment of the present invention. [Figure 5] This figure shows the state in which the second electric wheel, provided on the second mobile frame, is rotating in an unmanned delivery robot according to an embodiment of the present invention. [Figure 6] This figure illustrates a state in which the second mobile frame is moved by the second electric wheel in an unmanned delivery robot according to an embodiment of the present invention. [Figure 7] This figure shows an unmanned delivery robot according to an embodiment of the present invention, where the second moving frame is moved by the second electric wheel and then further moved, and the support frame is moved. [Figure 8] This figure shows an unmanned delivery robot according to an embodiment of the present invention, in which the second moving frame and the support frame have been moved by the second electric wheel, and the second electric wheel has been aligned in the forward direction. [Figure 9] This diagram illustrates an unmanned delivery robot according to an embodiment of the present invention, driving a conveyor belt to discharge goods. [Figure 10] This figure shows an embodiment of the present invention where an unmanned delivery robot drives a conveyor, and when a portion of an item comes into contact with the ground, it drives an electric wheel in the opposite direction to the conveyor to completely discharge the item. [Figure 11] This diagram illustrates the steering unit and electric wheel of an unmanned delivery robot according to an embodiment of the present invention. [Figure 12] This diagram illustrates the steering section and the upper part of the electric wheel of an unmanned delivery robot according to an embodiment of the present invention. [Figure 13] This diagram shows the steering section and electric wheel side view of an unmanned delivery robot according to an embodiment of the present invention. [Figure 14] This diagram illustrates a drive motor and a third pulley provided in an unmanned delivery robot according to an embodiment of the present invention. [Modes for carrying out the invention]

[0037] The present invention is subject to various modifications and can have many embodiments; therefore, specific embodiments will be illustrated and explained in the drawings. However, this should not be understood as limiting the present invention to specific embodiments, but rather as including all modifications, equivalents, or substitutes that fall within the spirit and technical scope of the present invention.

[0038] Terms including ordinal numbers, such as "first," "second," etc., can be used to describe a variety of components, but the components are not limited by these terms. These terms are used solely for the purpose of distinguishing one component from another.

[0039] The term "and / or" is used to include all possible combinations of the items it refers to. For example, "A and / or B" means all three cases: "A", "B", and "A and B".

[0040] When it is mentioned that one component is "linked" or "connected" to another, it should be understood that it may be directly connected to the other component, or may be connected to it, but other components may be present in between. On the other hand, when it is mentioned that one component is "directly linked" or "directly connected" to another, it should be understood that there are no other components in between.

[0041] In the description of the embodiments, the statement that each layer, region, pattern, or structure is formed "on" or "under" the substrate, each layer, region, pad, or pattern includes all cases where it is formed directly or via other layers. The criteria for "on" or "under" are based on the representation in the drawings for convenience and are used only to represent the relative positional relationship between components, and should not be understood as limiting the actual position of the components. For example, "on B" simply indicates that B is shown on top of A in the drawing unless it is not specifically mentioned or A must be positioned on top of B due to the attributes of A and B. In actual implemented products, B may be positioned below A, or B and A may be positioned side by side.

[0042] Furthermore, the thickness and size of each layer, region, pattern, or structure in the drawings may be altered for clarity and convenience of explanation, and therefore do not fully reflect their actual size.

[0043] The terms used in this application are used solely to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, terms such as “includes” or “has” are intended to specify the presence of features, figures, stages, operations, components, parts, or combinations thereof as described in the specification, and should not be understood to preemptively exclude the presence or possibility of adding one or more other features, figures, stages, operations, components, parts, or combinations thereof.

[0044] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as those generally understood by a person of ordinary skill in the art to which this invention pertains. Terms as defined in commonly used dictionaries should be interpreted as having the meaning consistent with their meaning in the context of the relevant art, and not as ideal or overly formal unless expressly defined herein.

[0045] The embodiments will be described in detail below with reference to the attached drawings. Regardless of the reference numerals used in the drawings, identical or corresponding components will be assigned the same reference numerals, and redundant explanations will be omitted.

[0046] According to one embodiment of the present invention, the unmanned delivery robot includes a support frame 100, a loading section 110, a first moving frame 130, a second moving frame 140, a first electric wheel, a second electric wheel, a first steering section 220, and a second steering section 220.

[0047] The support frame 100 is formed by connecting multiple rectangular steel pipes 101, which are made of steel, in the horizontal and vertical directions to create a rectangular parallelepiped-shaped skeleton, and a space is formed inside in which the loading section 110, which will be described later, moves back and forth in the vertical direction.

[0048] The loading section 110 is supported by the support frame 100 and is connected so as to be movable vertically.

[0049] The loading section 110 includes at least one conveyor, and conveyor support sections 170 are installed on both sides of the conveyor.

[0050] Specifically, the conveyor includes a first conveyor 140, a second conveyor 150, and a third conveyor 160 between conveyor support sections 170. The first to third conveyors 140 through 160 are each driven independently by a drive motor 350 (not shown) and can be driven in the same or opposite direction to adjust the spacing between multiple items loaded on the first conveyor.

[0051] The first to third conveyors 140 to 160 include a belt section 200 and a head pulley 180 and a tail pulley 190. The first to third conveyors 140 to 160 are equipped with a drive motor on either the head pulley 180 or the tail pulley 190, and the drive motor is an in-wheel motor 410 (not shown) installed on either the head pulley 180 or the tail pulley 190. Through this, there is no need to provide space in the loading section 110 for installing a separate motor when the first to third conveyors 140 to 160 are driven, thus achieving the effect of not reducing the loading space.

[0052] The first movable frame 130 and the second movable frame 140 are each connected to the support frame 100 so as to be slidable.

[0053] The first movable frame 130 is equipped with a first steering unit 220 and a first electric wheel 230, and the second movable frame is equipped with a second steering unit 220 and a second electric wheel 230.

[0054] The first steering unit 220 and first electric wheel 230 installed on the first movable frame 130, and the second steering unit 220 and second electric wheel 230 installed on the second movable frame 140 are each provided in pairs, and may be a four-wheel steering system that is independently steered.

[0055] Referring to Figures 4 to 8, the first movable frame 130 and the second movable frame 140 are moved from a position below the loading section 110 toward both sides to secure space for the loading section 110 to move downward.

[0056] The process by which the first moving frame 130 and the second moving frame 140 are moved will be explained with reference to Figures 4 to 8.

[0057] As shown in Figure 4, the first electric wheel installed on the first moving frame 130 and the second electric wheel installed on the second moving frame 140 are aligned in the second direction (X-axis direction).

[0058] As shown in Figure 5, the first motor wheel steers the first motor wheel in the first direction (Y-axis direction) so that the first moving frame 130 and the second moving frame 140 protrude from the support frame 100. Referring to Figure 6, the steered first motor wheel is driven and moves the first moving frame 130 in the first direction. Once the first moving frame has fully protruded, the first motor wheel continues to move the first moving frame 130 in the first direction while the first moving frame 130 is fully protruding in the first direction. As shown in Figure 7, the support frame 100 moves along the first moving frame 130, and the second moving frame is exposed from inside the support frame 100 to the outside. At this time, when the first movable frame 130 and the second movable frame 140 protrude from the support frame 100 in the process described above, the second electric wheel installed on the second movable frame 140 is not driven and is steered in the second direction, which has the effect of preventing the support frame 100 from swaying in the first direction so as the first movable frame and the support frame 100 move in the first direction without moving the second movable frame.

[0059] As the first moving frame 130 and the second moving frame 140 are moved during the process described above, the loading section 110 descends towards the ground, and the conveyor, while being driven, moves the items in direction A as described in 9, thereby discharging the items from the unmanned delivery robot.

[0060] Light items 10 can be easily discharged by the drive of the conveyor alone, but in the case of heavy items, as shown in figure 10, if the corner of the item 10 comes into contact with the ground, even if the conveyor continues to operate and pushes the item, the item 10 will slip off the conveyor and will not be discharged.

[0061] To prevent such problems, the present invention provides a separate weight sensor in the loading section 110, and when the weight of the articles 10 placed on the conveyor is measured to be greater than or equal to a set weight, when discharging the articles, the first electric wheel 230 and the second electric wheel 230 are set to rotate in the opposite direction to the rotation direction of the conveyor (in Figure 10, the conveyor is driven counterclockwise to discharge the articles), thereby moving the support frame 100 in the opposite direction to the article discharge direction (direction B) and moving the articles in the opposite direction to facilitate the discharge of the articles.

[0062] Since the configuration of the second moving frame 140 is exactly the same as that of the first moving frame 130, a detailed explanation of the structure of the second moving frame 140 will be omitted below, and the first moving frame 130 will be described with reference to Figures 1 to 12.

[0063] The first movable frame 130 includes a rail section 210 so that it can slide on the support frame 100.

[0064] The steering unit 220 is installed on the first movable frame 130 and steers the electric wheel 230. In this embodiment, the steering unit 220 and the electric wheel 230 may consist of two as described above, but in this embodiment, the steering unit 220 consists of two units on the first movable frame 130, while only one electric wheel 230 is provided, and one of them is a general-purpose wheel that cannot generate its own rotational force.

[0065] The steering unit 220 includes a steering motor 240, an outer ring section 250, a motor support section 270, a first pulley 280, a second pulley 290, an inner ring section 290, a fan belt 300, and a tension adjustment rod 310.

[0066] The steering motor 240 may measure the steering angle of the first electric wheel by sensing the angle of rotation of the rotor shaft of the steering motor 240 via a steering angle sensor or encoder. The steering motor 240 is located below the motor support 270. By having the steering motor 240 located below the first moving frame 130, when the unmanned delivery robot moves to deliver goods, it is only necessary to move the height of the loading section 110 to the upper position of the first moving frame 130 and the second moving frame 140, which can achieve the effect of lowering the center of gravity of the unmanned delivery robot.

[0067] The outer ring portion 250 is installed on the first movable frame 130. The motor support portion 270 is formed on the outer ring portion 250 and supports the steering motor 240.

[0068] The tension adjustment rod 310 is installed between the motor support portion 270 and the outer ring portion 250. The tension adjustment rod 310 adjusts the tension of the fan belt 300 by separating the outer ring portion 250 from the motor support portion 270.

[0069] The tension adjustment rod is fixed to the outer ring portion 250 via a screw (not shown) tightened in the same direction as the tension adjustment rod. Loosening the screw allows adjustment of the distance between the motor support portion 270 and the outer ring portion 250. This achieves the effect of maintaining the fan belt 300 in a constantly taut state.

[0070] Furthermore, the outer ring portion 250 includes a plurality of tensioners 320 that narrow the gap between the fan belts between the first pulley 280 and the second pulley 290. The tensioners 320 achieve the effect of narrowing the gap between the fan belts and increasing the steering angle of the steering portion 220.

[0071] The first pulley 280 is installed on the steering motor 240.

[0072] The steering shaft 260 is connected to the electric wheel 230 and transmits the rotational force of the steering motor 240 to change the steering direction of the electric wheel 230.

[0073] The second pulley 290 is installed on one side of the steering shaft 260.

[0074] The inner ring portion 290 is mounted on the steering shaft 260 and is rotatably supported by the outer ring portion 250 by multiple balls (not shown).

[0075] The fan belt 300 connects the first pulley 280 and the second pulley 290, transmitting the rotational force of the steering motor 240 to the steering shaft 260.

[0076] The electric wheel includes an in-the-motor wheel bracket 420, a wheel support 440, and a suspension 430.

[0077] The wheel bracket 420 is installed on the inner ring portion 290 and rotates like the inner ring portion 290.

[0078] The wheel support portion 440 is installed on the wheel bracket 420 and supports the in-wheel motor 410. Cable holes 330 are formed in the same position on the inner ring portion 290 and the wheel bracket 420. The cable holes 330 may be formed around more than half of the circumference of the inner ring portion 290, as shown in Figures 11 and 12. The main cable 450 is a cable that supplies power to the in-wheel motor 410 from the power supply unit 400 and transmits control signals from the steering module control unit and the travel module control unit. This main cable 450 passes through the cable hole 330 to connect the power supply unit 400 and the in-wheel motor 410. However, if the power supply unit and the in-wheel motor were connected without passing through the cable hole 330, a problem would occur where the main cable 450 would get wrapped around the steering unit 220 when the electric wheel is steered. In this case, the steering angle would have to be very narrow in order to prevent the main cable 450 from getting wrapped around the steering unit 220. To solve these problems, if a cable hole 330 is formed in the inner ring portion 290, the main cable 450 rotates circumferentially, and the problem of the main cable 450 being wound around the steering unit 220 can be solved. However, even in this case, the steering angle of the steering unit 220 cannot exceed 300 degrees due to the fan belt 300 mentioned above. Therefore, the present invention may enable steering up to a maximum of 450 degrees by forming a cable hole 330 in the inner ring portion 290, as shown in Figure 12, in a circumferential direction and covering more than half of the circumference of the inner ring.

[0079] A suspension 430, described later, is provided between the wheel bracket 420 and the wheel support portion 440. The suspension 430 is connected to the inside of the wheel bracket 420 and supports the electric wheel 230 by reciprocating movement inside the wheel bracket 420 due to the contraction of the suspension wires, described later.

[0080] The suspension 430 is installed on the wheel bracket 420 at one end and on the wheel support 440 at the other end, and its role is to mitigate shocks transmitted from the ground.

[0081] The first moving frame 130 includes a power supply unit 400 for supplying power to the in-wheel motor 410. The power supply unit 400 includes at least one of a battery, a steering module control unit, and a travel module control unit.

[0082] The travel module control unit controls the steering unit 220, and the travel module control unit controls the electric wheels 230. The power supply unit 400 is located below the first moving frame 130, similar to the steering motor 240. This allows the height of the loading unit 110 to be moved to the upper position of the first moving frame 130 and the second moving frame 140 when the unmanned delivery robot moves to deliver goods, thereby achieving the effect of lowering the center of gravity of the unmanned delivery robot.

[0083] The support frame 100 additionally includes the motor frame 340.

[0084] The motor frame 340 includes a drive motor 350 that provides driving force to move the loading section 110 vertically. A third pulley 360 is mounted on the drive motor 350. The third pulley 360 is mounted together with the drive motor 350 shaft.

[0085] The third pulley 360 has a first V groove 361 and a second V groove 362 formed therein, and a wire fixing groove 363 is formed between the first V groove 361 and the second V groove 362.

[0086] The loading section 110 includes a pair of fourth pulleys 380 and fifth pulleys 390 that are rotatably and symmetrically installed on one side, as shown in Figures 4 and 5.

[0087] As shown in Figure 14, the wire 490 is connected to the wire fixing groove 363 at an intermediate point between its ends and secured by fixing screws 364, and both ends are connected to the motor frame 340 via a pair of fourth pulleys 380 and a pair of fifth pulleys 390.

[0088] As the third pulley 360 rotates, the wire 490 is wound into the first groove 361 and the second groove 362, shortening in length, causing the loading section 110 to move upward.

[0089] When fixing both ends of the wire 490 to the motor frame, it may be fixed via a turnbuckle (not shown). If the wire 490 that lifts the loading section 110 is a single wire, and the middle point of the wire is fixed to the third pulley, and the loading section 110 rises, and an imbalance occurs causing the loading section 110 to get stuck between the support frames, the balance during the raising of the loading section may be adjusted by loosening the fixing screw fixed to the wire fixing groove of the third pulley and adjusting the position of the middle point of the wire.

[0090] As shown in Figures 1 and 2, the unmanned delivery robot may have a first magnetic fixing unit 460 installed on the first moving frame 130.

[0091] The first magnetic fixing part 460 serves to prevent the first movable frame 130 from protruding while in motion. The magnetic fixing part is attached to the square steel pipe 101 by magnetic force.

[0092] Depending on the embodiment, the first magnetic fixing part may be installed on the support frame 460, and a fixing frame (not shown) may be installed on the first movable frame 130 at a position corresponding to the installation position of the first magnetic fixing part. The fixing frame may be made of steel.

[0093] The support frame 100 includes a second magnetic force fixing section 470 that electronically generates a racking magnetic force. The second magnetic force fixing section 470 plays a role in restricting downward movement when the loading section 110 is moved upward.

[0094] The first magnetic fixing section 460 and the second magnetic fixing section 470 may include at least one of the following: an electromagnet that generates a magnetic force when energized, and an EPM holder whose magnetic force is released when energized.

[0095] The support frame 100 includes the rider frame 501.

[0096] The Rida Frame 501 is equipped with the Rida 500. The Rida 500 is an all-around Rida 500, which scans the conditions that occur in all directions while riding.

[0097] Furthermore, the support frame 100 may have multiple cameras installed in the front-rear and left-right directions, respectively, to capture all-around images of the situation that occurs during driving. The multiple cameras include multiple first cameras 510 that capture the front and second cameras 520 that capture the downward direction. The second cameras 520 may capture images of the ground in real time, achieving the same effect as around-view monitoring systems, which have recently become increasingly common in vehicles.

[0098] The unmanned delivery robot includes a multi-joint robotic arm 550. The multi-joint robotic arm 550 is mounted on top of the support frame 100 and is responsible for pressing the elevator button or the entrance / exit button.

[0099] The articulated robot arm 550 is equipped with a tip section 540 at its end that can press elevator buttons or automatic door switches, and a third camera 530 is installed on the tip section.

[0100] The articulated robot arm 550 is controlled by a control module (not shown), and when elevator buttons or other objects are captured through the third camera 530, they are imaged, and the articulated robot arm 550 is controlled to recognize the buttons from the image and press the buttons for the destination layer.

[0101] In this embodiment, the third camera 530 can photograph the delivered goods 10 if the second camera 520 mentioned above is malfunctioning or damaged and inoperable.

[0102] Furthermore, the control module improves the accuracy of the multi-joint robot arm 550 in pressing buttons through machine learning.

[0103] The above description has focused on embodiments, but these are merely illustrative and do not limit the present invention. Anyone with ordinary skill in the art to which the present invention belongs will understand that various modifications and applications not exemplified above are possible, as long as they do not deviate from the essential characteristics of these embodiments. For example, each component specifically shown in the embodiments can be modified and implemented. Such differences in modifications and applications should be interpreted as falling within the scope of the present invention as defined in the appended claims. [Explanation of symbols]

[0104] 10 products 100 Support Frames 101 Square steel pipe 110 Loading section 120 First Movement Frame 130 Second Movement Frame 140 First Conveyor 150 Second Conveyor 160 Third Conveyor 170 Conveyor support section 180 Head Pulley 190 Tail Pulley 200 Belt section 210 Rail section 220 Steering section 230 Electric Wheel 240 Steering motor 250 Outer ring section 260 Steering shaft 270 Motor Support 280 First Pulley 281 Second Pulley 290 Inner ring 300 Timing belt 310 Tension Adjustment Rod 320 Tensioner 330 Cable Holes 340 Motor Frame 350 drive motor 360 Third Pulley 361 First Vi-Gang 362 Second Vi-Gang 363 Wire fixing groove 364 Fixing screws 380 4th pulley 390 Fifth Pulley 400 Power supply section 410 In-Wheel Motor 420 Wheel Bracket 430 Suspension 440 Wheel Support 450 Main Cable 460 1st magnetic force fixing part 470 2nd magnetic force fixing part 490 wire 500 Rider 510 Camera 1 520 Second Camera 530 Third Camera 540 Tip 550 Multi-joint robotic arms

Claims

1. Support frame and A loading section is supported by the aforementioned support frame and connected so as to be movable vertically, In order to secure space for the downward movement of the loading section, first and second movable frames are connected to the support frame so as to be slidable on both sides from a position below the loading section, At least one first electric wheel installed on the first moving frame, At least one second electric wheel mounted on the second moving frame, A first steering unit that steers the first electric wheel, It includes a second steering unit that steers the second electric wheel independently of the first steering unit, The first and second moving frames protrude from the inside of the support frame to both sides by the first and second electric wheels, The loading section is moved downward into the space secured by the first and second moving frames protruding from both sides. Unmanned delivery robot.

2. When the first and second movable frames are extended, the steering directions of the first steering unit and the second steering unit are opposite to each other. The unmanned delivery robot according to claim 1.

3. The first and second moving frames are, With the drive of the second electric wheel restricted, the first moving frame is first moved out of the support frame in a first direction by the first electric wheel, and as the first moving frame is moved further by the first electric wheel while it is protruding, the support frame moves in the first direction, and the second moving frame is moved out of the support frame. The unmanned delivery robot according to claim 1.

4. When either the first or second moving frame protrudes from the support frame, the electric wheel installed on the protruding moving frame is steered in a first direction, and the electric wheel installed on the other moving frame is steered in an angular direction set relative to the first direction. The unmanned delivery robot according to claim 1.

5. When the first movable frame is extended and the second movable frame is extended, the first steering unit is steered in the first direction, and the second steering unit is steered in a second direction perpendicular to the first direction. The unmanned delivery robot according to claim 4.

6. The first and second steering units are, Steering motor and An outer ring portion installed on the first or second movable frame, A motor support portion formed on the outer ring portion and supporting the steering motor, A first pulley installed on the steering motor, A steering shaft connected to the first or second electric wheel, A second pulley is installed on one side of the steering shaft, An inner ring portion attached to the steering shaft and rotatably supported by a plurality of balls on the outer ring portion, A timing belt connecting the first pulley and the second pulley, Includes an adjustment unit that separates the outer ring portion and the motor support portion to adjust the tension of the timing belt, The unmanned delivery robot according to claim 1.

7. The steering motor is located at the lower part of the motor support section. The unmanned delivery robot according to claim 6.

8. The first or second electric wheel is In-wheel motor and, A wheel bracket attached to the inner ring portion, Includes a wheel support portion attached to the wheel bracket and supporting the in-wheel motor, The unmanned delivery robot according to claim 6.

9. Cable holes are formed in the inner ring portion and the wheel bracket. The aforementioned cable hole is Formed over more than half of the circumference of the steering axis, The unmanned delivery robot according to claim 8.

10. The first or second electric wheel is The suspension further includes one part installed on the wheel bracket and the other part installed on the wheel support, which mitigates shocks transmitted from the ground. The unmanned delivery robot according to claim 8.

11. The first and second moving frames are each equipped with a first and second power supply unit for supplying power to the first and second electric wheels, respectively. The unmanned delivery robot according to claim 1.

12. The first or second power supply unit includes at least one of a battery, a steering module control unit, and a driving module control unit, The unmanned delivery robot according to claim 11.

13. The first power supply unit is located at the bottom of the first movable frame. The second power supply unit is located at the bottom of the second movable frame. The unmanned delivery robot according to claim 12.

14. The aforementioned support frame is Further including the motor frame, The motor frame includes a drive motor that provides driving force to move the loading section vertically. The drive motor includes a third pulley on which a wire fixing portion is formed, The unmanned delivery robot according to claim 1.

15. The third pulley described above includes a wire, The aforementioned loading section is, It includes a pair of fourth and fifth pulleys that are symmetrically mounted and rotatable on one side, The wire is fixed at its midpoint to the wire fixing part, and both ends are connected to the motor frame via the pair of fourth pulleys and the pair of fifth pulleys. As the third pulley rotates, the wire is wound up and its length decreases, causing the loading section to move upward. The unmanned delivery robot according to claim 14.

16. The first and second moving frames include: It includes a first magnetic force fixing part on both sides, The first magnetic fixing part is attached to the support frame so that the first and second moving frames do not protrude while in motion. The unmanned delivery robot according to claim 1.

17. The aforementioned support frame includes: Including a second magnetic force fixing part, The second magnetic fixing part fixes the loading part with magnetic force so that when the loading part moves upward, downward movement is restricted. The unmanned delivery robot according to claim 16.

18. The first and second magnetic fixing parts are, Including at least one electromagnet and an EPM (Electro-Permanent Magnetic) holder, The unmanned delivery robot according to claim 17.

19. The aforementioned loading section is, At least one conveyor, Includes a weight sensor for measuring the weight of the items loaded on top of the conveyor, The unmanned delivery robot according to claim 1.

20. Multiple such conveyors are provided. The aforementioned multiple conveyors are driven independently and are driven in the same direction or in opposite directions to adjust the spacing between items. The unmanned delivery robot according to claim 19.

21. The aforementioned support frame includes the rider frame, A rider is attached to the aforementioned rider frame. The aforementioned rider is an omnidirectional rider. The unmanned delivery robot according to claim 14.

22. The rider frame is formed at the lower part of the motor frame. The unmanned delivery robot according to claim 21.

23. Multiple cameras are installed on the support frame in the front-to-back and left-to-right directions, respectively. The unmanned delivery robot according to claim 1.

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