Robot

Abstract

A robot is disclosed. The robot of the present disclosure may comprise: a movable cart which is equipped with wheels; a robotic arm which is mounted on the cart; a docking station to or from which the cart is connected or separated; and a guide rail which is aligned with the docking station between same and the cart, wherein the wheels may move along the guide rail.

Description

robot

[0001] The present disclosure relates to a robot. In particular, the present disclosure relates to a robot having a cart and a docking station for docking the cart.

[0002] A robot is a machine capable of performing tasks autonomously. Robots have played a significant role in production automation and have recently evolved into intelligent robots. Intelligent robots are robots that perceive their external environment, assess situations, and autonomously execute necessary tasks.

[0003] Intelligent robots can be broadly divided into industrial robots and service robots. Unlike conventional industrial robots, which perform tasks in isolated environments, collaborative robots can assist or even replace human tasks in the same space. These collaborative robots enhance productivity by physically interacting with humans in the same space. Service robots provide various services within social infrastructure, enhancing the convenience of human life. Recently, extensive research has been conducted on these intelligent robots.

[0004] Existing robot carts required significant labor for setup. Furthermore, moving the robot cart to its original position or resetting it to its original position required significant labor.

[0005] The present disclosure aims to solve the above-mentioned and other problems.

[0006] Another purpose may be to provide a structure that allows for quick and accurate installation of a robot cart into a docking station.

[0007] Another purpose may be to provide a structure that minimizes the labor required to install a robot cart into a docking station.

[0008] Another purpose may be to provide a structure that can ensure the rigidity of a cart for a robot installed in a docking station.

[0009] Another purpose may be to provide a structure and method that allows an operator to easily set up connections such as power, pneumatic control, and communication between a robot cart and a docking station.

[0010] According to one aspect of the present disclosure for achieving the above or other purposes, a robot may include: a movable cart having wheels; a robot arm mounted on the cart; a docking station to which the cart is connected or disconnected; and a guide rail aligned with the docking station between the cart and the docking station, wherein the wheel may be movable along the guide rail.

[0011] The effects of the robot according to the present disclosure are described as follows.

[0012] According to at least one of the embodiments of the present disclosure, a structure can be provided that can quickly and accurately install a cart for a robot into a docking station.

[0013] According to at least one of the embodiments of the present disclosure, a structure can be provided that can minimize the labor of a worker required to install a cart for a robot into a docking station.

[0014] According to at least one of the embodiments of the present disclosure, a structure capable of securing the rigidity of a cart for a robot installed in a docking station can be provided.

[0015] According to at least one of the embodiments of the present disclosure, a structure and method can be provided that allows a worker to easily set up connections such as power, pneumatic control, and communication between a robot cart and a docking station.

[0016] Further scope of the applicability of the present disclosure will become apparent from the detailed description below. However, since various modifications and variations within the spirit and scope of the present disclosure will become apparent to those skilled in the art, it should be understood that the detailed description and specific examples, such as preferred embodiments of the present disclosure, are given by way of example only.

[0017] Figures 1 to 16 are drawings illustrating examples of robots according to embodiments of the present disclosure.

[0018] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Regardless of the drawing numbers, identical or similar components are given the same reference numbers and redundant descriptions thereof will be omitted.

[0019] The suffixes "module" and "part" used for components in the following description are given or used interchangeably only for the convenience of writing specifications, and do not have distinct meanings or roles in themselves.

[0020] In addition, when describing the embodiments disclosed in this specification, if it is determined that a detailed description of a related known technology may obscure the gist of the embodiments disclosed in this specification, the detailed description thereof will be omitted. In addition, the attached drawings are only intended to facilitate easy understanding of the embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited by the attached drawings, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and technical scope of the present disclosure.

[0021] Terms that include ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by these terms. These terms are used solely to distinguish one component from another.

[0022] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components intervening. Conversely, when a component is referred to as being "directly connected" or "connected" to another component, it should be understood that there are no other components intervening.

[0023] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0024] In this application, terms such as “include” or “have” are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but should be understood not to exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0025] The direction indications of up (U, y), down (D), left (Le, x), right (Ri), front (F, z), and back (R) shown in the drawings are only for convenience of explanation, and the technical ideas disclosed in this specification are not limited thereby.

[0026]

[0027] Referring to FIG. 1, the robot (1) may include a cart (10) and a docking station (20). The cart (10) may be referred to as a moving cart (10), a docking cart (10), or a cabinet (10). The robot (1) may be referred to as a docking module (1), a docking assembly (1), a docking system (1), or a robot system (1).

[0028] A cart (10) may include a frame (10F), a case (11), and wheels (12, 13). The frame (10F) may form the skeleton of the cart (10). Components built into the cart (10) may be mounted on the frame (10F). The case (11) may be coupled to the frame (10F) and may form the exterior of the cart (10). The case (11) may cover the components mounted on the frame (10F). The cart (10) may move on the ground by wheels (12, 13) mounted on the lower side of the frame (10F). A pair of drive wheels (12) spaced apart from each other left and right may be mounted on the lower side of the rear portion of the cart (10), and a pair of sub wheels (13) spaced apart from each other left and right may be mounted on the lower side of the front portion of the cart (10). The sub wheel (13) may be a swivel caster wheel.

[0029] The robot arm (19) can be mounted on a cart (10). The robot arm (19) can be a multi-joint arm and can be referred to as a manipulator (19). Accordingly, the cart (10) can provide coordinates to the robot arm (19), and the robot arm (19) can be operated at the coordinates provided by the cart (10).

[0030] The docking station (20) can be fixed to a specific location. A user can move the cart (10) toward the docking station (20) to dock the cart (10) to the docking station (20). The user can detach the cart (10) from the docking station (20). Alternatively, the cart (10) can move on its own to dock to or detach from the docking station (20).

[0031]

[0032] Referring to FIG. 2, a guide rail (30) can be fixed to the ground via a plurality of holders (30H). The guide rail (30) can be aligned with the docking station (20) between the cart (10, see FIG. 1) and the docking station (20). The guide rail (30) can be a rod or a circular bar having a groove into which a wheel can be movably inserted.

[0033] For example, a single guide rail (not shown) may extend parallel to the front and rear from the center of the docking station (20). The longitudinal axis of the guide rail may be aligned with the docking station (20). In this case, a sub wheel (not shown) may be mounted at the center of the lower side of the front of the cart (10) and may move along the groove of the guide rail.

[0034] As another example, a pair of guide rails (30a, 30b) may be spaced apart from each other in the left-right direction, and a docking station (20) may be fixed on the ground between the pair of guide rails (30a, 30b). A central axis between the pair of guide rails (30a, 30b) may be aligned with the docking station (20). In this case, a pair of sub wheels (13a, 13b) may move along the side surfaces of the pair of guide rails (30a, 30b).

[0035] The first guide rail (30a) may include a rear part (31), a middle part (32), and a front part (33). The rear part (31) may extend parallel in the front-rear direction. The middle part (32) may extend from the front end of the rear part (31) toward the docking station (20) and may be inclined from the rear part (31). The front part (33) may extend parallel in the front-rear direction from the front end of the middle part (32).

[0036] The second guide rail (30b) may include a rear part (31), a middle part (32), and a front part (33). The rear part (31) may extend parallel in the front-rear direction. The middle part (32) may extend from the front end of the rear part (31) toward the docking station (20) and may be inclined from the rear part (31). The front part (33) may extend parallel in the front-rear direction from the front end of the middle part (32).

[0037] The first and second guide rails (30a, 30b) may be symmetrical left and right. The distance (D1) between the rear parts (31) of the first and second guide rails (30a, 30b) may be greater than the distance (D3) between the front parts (33) of the first and second guide rails (30a, 30b). The distance (D2) between the middle parts (32) of the first and second guide rails (30a, 30b) may become smaller from the rear toward the front. The area between the rear parts (31) of the first and second guide rails (30a, 30b) may be referred to as an entry area, the area between the middle parts (32) of the first and second guide rails (30a, 30b) may be referred to as a guide area, and the area between the front parts (33) of the first and second guide rails (30a, 30b) may be referred to as a docking area. The docking station (20) may be positioned in the docking area, and the left and right width of the docking station (20) may be equal to or less than the distance (D3).

[0038]

[0039] Referring to FIGS. 3 and 4, the front part of the cart (10) can enter between the rear parts (31) of the first and second guide rails (30a, 30b). A pair of sub wheels (13) can be positioned between the rear parts (31) of the first and second guide rails (30a, 30b). The distance between the pair of sub wheels (13) (see FIG. 1) can be smaller than the distance (D1, see FIG. 2) between the rear parts (31) of the first and second guide rails (30a, 30b). Accordingly, the front part of the cart (10) can smoothly enter between the first and second guide rails (30a, 30b).

[0040]

[0041] Referring to FIG. 5, the cart (10) can move forward toward the docking station (20), and a pair of sub wheels (13) can be positioned between the middle parts (32) of the first and second guide rails (30a, 30b). The distance (D2, see FIG. 2) between the middle parts (32) of the first and second guide rails (30a, 30b) can gradually decrease from the rear toward the front, and the pair of sub wheels (13) can move along the middle parts (32) of the first and second guide rails (30a, 30b). Accordingly, the cart (10) can gradually be aligned with the docking station (20) while moving forward.

[0042]

[0043] Referring to Fig. 6, a hole (11bh) may be formed from the lower edge of the front surface of the case (11) toward the inside of the case (11). The hole (11bh) may be a rectangular notch having a predetermined width (Wh) and height. The upper boundary of the hole (11bh) may be spaced upward from the ground by a predetermined distance (Hh). The hole (11bh) may provide a passage through which a docking unit (25) of a docking station (20) described later passes.

[0044] The guide roller (14) can be mounted on the frame (10F) adjacent to the hole (11bh) and can be rotatable around a vertical axis (i.e., the y-axis). The guide roller (14) can include a material such as rubber, silicone, or urethane. For example, a pair of rollers (14a, 14b) can be spaced apart from each other in the left-right direction. The first roller (14a) can be adjacent to the left edge of the hole (11bh) and can be rotatably coupled to a first shaft (10Fa) protruding upward from the frame (10F). The second roller (14b) can be adjacent to the right edge of the hole (11bh) and can be rotatably coupled to a second shaft (10Fb) protruding upward from the frame (10F).

[0045] The connection unit (15) can be mounted on the frame (10F) between the first and second rollers (14a, 14b) and can be exposed rearward through a hole (11bh). The connection unit (15) can include a block (150), a guide pin (151), a fixing pin (152), and a first connector (153).

[0046] The block (150) may have an overall shape of a square pillar. The guide pin (151) may protrude rearward from the rear of the block (150) and may be adjacent to the upper side of the block (150). For example, a pair of guide pins (151a, 151b) may be spaced apart from each other in the left-right direction. The fixed pin (152) may protrude rearward from the rear of the block (150) and may be adjacent to the lower side of the block (150). For example, a pair of fixed pins (152a, 152b) may be spaced apart from each other in the left-right direction. The fixed pin (152) may be referred to as a clamp pin (152) or an anchor shaft (152). The first connector (153) can be mounted on the rear of the block (150) and can be positioned between a pair of guide pins (151a, 151b).

[0047]

[0048] Referring to FIG. 7, the frame (20F) can form the skeleton of the docking station (20). The mount (20H) can be formed at the bottom of the frame (20F). The mount body (20Ha) can be placed on the ground, and a fixing member (20Hb), such as an anchor bolt, can be fixed to the ground by penetrating the mount body (20Ha). The cover (21) can be coupled to the frame (20F) at the rear of the frame (20F) and can cover components built into the docking station (20). Meanwhile, the holder (30H) described above can include a holder body (30Ha) that surrounds guide rails (30a, 30b) and a fixing member (30Hb, for example, an anchor bolt) that penetrates the holder body (30Ha) and is fixed to the ground.

[0049] The docking unit (25) can be mounted on the front of the frame (20F) and can be adjacent to the upper side of the frame (20F). The left-right width of the docking unit (25) can be smaller than the width (Wh) of the hole (11bh) of the case (11), and the distance between the ground and the top of the docking unit (25) can be smaller than the distance (Hb) from the ground of the hole (11bh). Accordingly, the hole (11bh) can pass through the docking unit (25). The docking unit (25) can include a base (250), a guide hole (251), a fixing unit (252), and a second connector (253).

[0050] The base (250) may have an overall flat rectangular pillar shape. A guide hole (251) may be formed on the front surface of the base (250) and may be adjacent to the upper side of the base (250). The guide hole (251) may correspond to a guide pin (151, see FIG. 6). For example, a pair of guide holes (251a, 251b) may be spaced apart from each other in the left-right direction. A fixing unit (252) may be formed on the front surface of the base (250) and may be adjacent to the lower side of the base (250). The fixing unit (252) may correspond to a fixing pin (152, see FIG. 6). For example, a pair of fixing units (252a, 252b) may be spaced apart from each other in the left-right direction. The second connector (253) can be mounted on the front of the base (250) and can be located between a pair of guide holes (251a, 251b).

[0051] The guide part (24) may be formed on one side of the base (250) facing the guide roller (14, see FIG. 6) and may have a rounded corner (i.e., a fillet). The guide part (24) may protrude from the one side of the base (250). For example, the first guide part (24a) may protrude to the left from the left side of the base (250) and may be adjacent to the lower side of the base (250). For example, the second guide part (24b) may protrude to the right from the right side of the base (250) and may be adjacent to the lower side of the base (250).

[0052]

[0053] Referring to FIGS. 8 and 9, the cart (10) can move forward toward the docking station (20), and the pair of sub wheels (13) can be positioned between the front parts (33) of the first and second guide rails (30a, 30b). The distance between the pair of sub wheels (13) can be equal to or slightly smaller than the distance (D3, see FIG. 2) between the front parts (33) of the first and second guide rails (30a, 30b). Accordingly, the cart (10) can be generally aligned with the docking station (20) at the distance between the front parts (33) of the first and second guide rails (30a, 30b).

[0054] The distance between the first guide part (24a) and the second guide part (24b) may be equal to or smaller than the distance between the first guide roller (14a) and the second guide roller (14b). The left side (24ar, i.e., the left front edge) of the front of the first guide part (24a) may be formed round and may be referred to as the first fillet (24ar, first fillet). The right side (24br, i.e., the right front edge) of the front of the second guide part (24b) may be formed round and may be referred to as the second fillet (24br, second fillet).

[0055] As the cart (10) moves forward toward the docking station (20), the docking unit (25) of the docking station (20) can be inserted into the hole (11bh) of the cart (10). At this time, even if the cart (10) is misaligned to the right with respect to the docking station (20), the cart (10) can be gradually aligned with the docking station (20) by moving to the left while the first guide roller (14a) rotates along the first fillet (24ar) of the first guide part (24a). Alternatively, even if the cart (10) is misaligned to the left with respect to the docking station (20), the cart (10) can be gradually aligned with the docking station (20) by moving to the right while the second guide roller (14b) rotates along the second fillet (24br) of the second guide part (24b).

[0056]

[0057] Referring to FIG. 10, as the cart (10) moves forward toward the docking station (20), the guide pin (151) of the connection unit (15) can come closer to the guide hole (251) of the docking unit (25). The first guide pin (151a) can move toward the first guide hole (251a), and the second guide pin (151b) can move toward the second guide hole (251b).

[0058] The guide pin (151) may include a first part (1511), a second part (1512), and a third part (1513). The first part (1511) may extend forward from the front of the block (150) and may have a cylindrical shape. The second part (1512) may extend forward from the front end of the first part (1511) and may have a cylindrical shape with a smaller diameter than the first part (1511). The third part (1513) may extend from the front end of the second part (1512) and may have a conical shape. The third part (1513) may be referred to as a tip of the guide pin (151).

[0059] The guide hole (251) may include a guide surface (2511) and an insertion hole (2512). The diameter of the guide surface (2511) may decrease from the rear to the front. The guide surface (2511) may be referred to as a tapered surface (2511) or a conical surface (2511). The insertion hole (2512) may be formed at the center of the guide surface (2511) and may be a round hole. The insertion hole (2512) may be an internal space of a bush inserted at the center of the guide surface (2511). The diameter of the insertion hole (2512) may be equal to or larger than the diameter of the first part (1511) of the guide pin (151). This guide hole (251) may be referred to as a countersink hole (251).

[0060] As the cart (10) moves forward toward the docking station (20), the guide pin (151) of the connection unit (15) can be inserted into the guide hole (251) of the docking unit (25). At this time, even if the cart (10) is misaligned to the right with respect to the docking station (20), the third part (1513) of each of the first and second guide pins (151a, 151b) moves to the left along the guide surface (2511) of each of the first and second guide holes (251a, 251b), so that the cart (10) can be gradually aligned with the docking station (20). Alternatively, even if the cart (10) is misaligned to the left with respect to the docking station (20), the cart (10) can be gradually aligned with the docking station (20) by moving the third part (1513) of each of the first and second guide pins (151a, 151b) to the right along the guide surface (2511) of each of the first and second guide holes (251a, 251b).

[0061] The guide operation of the guide roller (14) and the guide part (24) described above with reference to FIGS. 8 and 9 may be referred to as a first guide operation, and the guide operation of the guide pin (151) and the guide hole (251) described above with reference to FIG. 10 may be referred to as a second guide operation. For example, the first guide operation may be started before the second guide operation, and the second guide operation may be started during the first guide operation and ended after the first guide operation. Alternatively, the second guide operation may be started before or in this manner. Accordingly, the cart (10) can be aligned with the docking station (20). Accordingly, the cart (10) can be precisely guided to the docking station (20).

[0062]

[0063] Referring to FIGS. 11 and 12, as the cart (10) moves forward toward the docking station (20), the fixing pin (152) of the connection unit (15) can move closer to the fixing unit (252) of the docking unit (25). The first fixing pin (152a) can move toward the first fixing unit (252a), and the second fixing pin (152b) can move toward the second fixing unit (252b) (see FIGS. 6 and 10).

[0064] The fixed pin (152) may include a body portion (1521), a catch portion (1522), and an insert portion (1523). The body portion (1521) may extend forward from the front of the block (150, see FIG. 6) and may have a cylindrical shape. The catch portion (1522) may extend forward from the front end of the body portion (1521) and may have a diameter that increases from the rear toward the front. The insert portion (1523) may extend forward from the front end of the catch portion (1522) and may have a diameter that decreases from the rear toward the front. The maximum diameter of the fixed pin (152) may be defined at the boundary between the catch portion (1522) and the insert portion (1523).

[0065] The fixed unit (252) may include a top part (2521), a bottom part (2523), a support part (2524), a moving part (2525), an elastic member (2526), ​​balls (2527), and a fluid (A).

[0066] The top part (2521) can be positioned parallel to the front of the base (250, see FIG. 10), and a fixing hole (2522) can be formed in the center of the top part (2521). The bottom part (2523) can support the top part (2521) and can accommodate a support part (2524), a moving part (2525), an elastic member (2526), ​​a fixing member (2527), and a fluid (A).

[0067] The support part (2524) may be positioned between the bottom part (2523) and the top part (2521) and may include pillars (2524a). The moving part (2525) may be positioned between the support part (2524) and the top part (2521) and may surround the side of the pillars (2524a). The elastic member (2526) may be positioned between the support part (2524) and the horizontal portion (2525a) of the moving part (2525) and may be a spring that provides elastic force to the horizontal portion (2525a). The balls (2527) may be positioned on the pillars (2524a) and adjacent to the vertical portion (2525b) of the moving part (2525).

[0068] The fluid (A) can be provided from a source (AS) and filled between the moving part (2525) and the top part (2521). For example, the fluid (A) can be air, and the fixed unit (252) can be a pneumatic clamp. Alternatively, the fixed unit (252) can be a hydraulic or water-pressure clamp.

[0069] Referring to FIG. 11, the fixed pin (152) can be inserted between the balls (2527) through the fixed hole (2522). At this time, the fluid (A) can be filled between the moving part (2525) and the top part (2521), and thus the horizontal part (2525a) of the moving part (2525) can move toward the bottom part (2523) and compress the elastic member (2526), ​​and the vertical part (2525b) of the moving part (2525) can be spaced apart from the balls (2527). The insertion part (1523) of the fixed pin (152) can be inserted into the space (2524b) between the fillers (2524a) while pushing out the balls (2527).

[0070] Referring to FIG. 12, the insertion portion (1523) of the fixed pin (152) can pass between the balls (2527) and be positioned in the space (2524b). At this time, a portion of the fluid (A) can be returned to the source (AS) from between the moving part (2525) and the top part (2521), and thus, the horizontal portion (2525a) of the moving part (2525) can move toward the top part (2521) by the elastic force of the elastic member (2526), ​​and the vertical portion (2525b) of the moving part (2525) can push the balls (2527) toward the engaging portion (1522) of the fixed pin (152).

[0071] Accordingly, the catch (1522) of the fixed pin (152) can be caught on the balls (2527), and as a result, the fixed pin (152) can be fixed to the fixed unit (252). When the fixed pin (152) is fixed to the fixed unit (252), even if the robot arm (19) is operated or the cart (10) is located on an uneven road surface, the cart (10) can remain fixed to the docking station (20) and not move. That is, the fixed pin (152) can support the load applied to the cart (10).

[0072] Meanwhile, even if the cart (10) is misaligned to the right with respect to the docking station (20), the cart (10) can be gradually aligned with the docking station (20) by moving the insertion portion (1523) of each of the first and second fixing pins (152a, 152b) to the left along the fixing holes (2522) of each of the first and second fixing units (252a, 252b) (see FIGS. 6 and 10). Alternatively, even if the cart (10) is misaligned to the left with respect to the docking station (20), the cart (10) can be gradually aligned with the docking station (20) by moving the insertion portion (1523) of each of the first and second fixing pins (152a, 152b) to the right along the fixing holes (2522) of each of the first and second fixing units (252a, 252b) (see FIGS. 6 and 10). In this way, the fixed pin (152) and the fixed unit (252) may not only be a structure for fixing the cart (10) to the docking station (20), but may also be a structure for aligning the cart (10) to the docking station (20).

[0073]

[0074] Referring to FIGS. 13 and 14, the cart (10) can be docked to a docking station (20).

[0075] At this time, a pair of driving wheels (12) may be positioned between the rear parts (31) of the first and second guide rails (30a, 30b). The distance between the pair of driving wheels (12) may be equal to or smaller than the distance (D1, see FIG. 2) between the rear parts (31) of the first and second guide rails (30a, 30b).

[0076] In addition, the guide pin (151) and the fixing pin (152) of the connection unit (15) can be inserted into the guide hole (251) and the fixing unit (252) of the docking unit (25), respectively (see FIGS. 6 and 10), and the first connector (153) of the connection unit (15) can be electrically connected to the second connector (253) of the docking unit (25) (see FIGS. 6 and 10). The first and second connectors (153, 253) can be referred to as multi-connectors (153, 253). The first connector (153) of the connection unit (15) can be referred to as a jack (153, jack), and the second connector (253) of the docking unit (25) can be referred to as a port (253, port).

[0077] The control unit (16) can be mounted on the upper part of the rear of the cart (10). The user can control the cart (10) by operating a plurality of buttons (B1, B2, B3, B4, S) of the control unit (16). When the first and second connectors (153, 253) are (mechanically) connected to each other, light can be generated (e.g., LED blinking) from a light source such as a key switch (K) of the control unit (16) or an LED (Light Emitting Diode) around the key switch (K). According to a user input such as turning the key switch (K), a part of the fluid (A) can be returned to the source (AS) from between the moving part (2525) and the top part (2521), thereby allowing the fixed pin (152) to be fixed to the fixed unit (252) (see FIG. 12).

[0078] Accordingly, the cart (10) can be fixed to the docking station (20) by the user's input, and the first and second connectors (153, 253) can be activated to electrically connect the cart (10) and the docking station (20). In this case, the cart (10) can be powered by the docking station (20), operate a source (AS, see FIGS. 11 and 12) by the docking station (20), or communicate via the docking station (20). This power supply and communication connection can be used to operate the robot arm (19) mounted on the cart (10).

[0079] That is, the user can easily secure the usability of the robot by operating the key switch (K). In addition, the user can apply power to the robot arm (19) by operating the key switch (K), which can result in improved work safety.

[0080] Meanwhile, the user can lower the foot (18) from the cart (10) docked to the docking station (20) to the ground. The foot (18) can support the cart (10) on the ground.

[0081] Handles (17a, 17b) may be provided at both ends of the control unit (16). The user (P) can hold the handles (17a, 17b) to move the cart (10) to dock or detach the cart (10) to or from the docking station (20). At this time, the user (P) can operate the key switch (K) to fill the fluid (A) of the source (AS) between the moving part (2525) and the top part (2521) (see FIG. 11), and detach the cart (10) from the docking station (20) while the fixing pin (152) is not restrained by the fixing unit (252).

[0082]

[0083] Referring to FIGS. 15 and 16, when the connection unit (15) is docked to the docking unit (25), the front surface of the block (150) of the connection unit (15) can contact the rear surface of the base (250) of the docking unit (25). Accordingly, even when the robot arm (19) is operated or the cart (10) is positioned on an uneven road surface, the cart (10) can remain fixed to the docking station (20) and not move. That is, the front surface of the block (150) and the rear surface of the base (250), which are in contact with each other, can support the load applied to the cart (10), and can minimize the cart (10) from being twisted or rotated with respect to the docking station (20). In addition, the fixing pin (152) can minimize the sliding of the front surface of the block (150) on the rear surface of the base (250).

[0084] Furthermore, a certain gap may be formed between the first connector (153) and the block (150) and between the second connector (253) and the base (250). Accordingly, the load applied to the cart (10) may not be transmitted to the first and second connectors (153, 253).

[0085]

[0086] Referring to FIGS. 1 to 16, a robot according to one aspect of the present disclosure may include: a movable cart having wheels; and a docking station to which the cart is connected or disconnected.

[0087] The above robot may further include a robot arm mounted on the cart.

[0088] The robot may further include a guide rail aligned with the docking station between the cart and the docking station, and the wheel may be movable along the guide rail.

[0089] The above guide rail may include: a pair of guide rails opposite to each other with respect to the docking station, and the wheel may include: a pair of caster wheels positioned between the pair of guide rails.

[0090] The area between the pair of guide rails may include: an entry area located farthest from the docking station and having a maximum width; a docking area located closest to the docking station and having a minimum width; and a guide area located between the entry area and the docking area and having a width that decreases as it gets closer to the docking area.

[0091] The cart may include: a frame on which the wheel is mounted; a case covering the frame; a case having a hole formed on one surface of the case facing the docking station; and a pair of guide rollers rotatably coupled to the frame adjacent to the hole and spaced apart from each other, and the docking station may include: a docking unit positioned in the hole and having a pair of guide parts positioned between the pair of guide rollers, and the guide parts may include a round surface facing the guide roller.

[0092] The rotation axis of the guide roller may be aligned in a vertical direction, and the pair of guide parts may include: a first guide part protruding from a first side of the docking unit; and a second guide part protruding from a second side of the docking unit opposite to the first side.

[0093] The cart may include: a frame; a block mounted on the frame and facing the docking station; and a guide pin protruding from the block toward the docking station, and the docking station may include: a base facing the block; and a guide hole formed in the base and into which the guide pin can be inserted.

[0094] The above guide pin may include: a pair of guide pins spaced apart from each other in the width direction of the block, and the above guide hole may include: a pair of guide holes into which the pair of guide pins are inserted.

[0095] The above guide pin may include a tip forming the end of the guide pin and having a conical shape, and the guide hole may be a countersink hole having a guide surface having a shape corresponding to the tip.

[0096] The cart may further include: a first connector mounted on one side of the block facing the base, and the docking station may further include: a second connector mounted on one side of the base facing the block and connected to the first connector.

[0097] The cart may further include a fixing pin protruding from the block toward the docking station, and the docking station may further include a fixing unit formed on the base and into which the fixing pin is inserted.

[0098] The above fixed pin may include: a pair of fixed pins spaced apart from each other in the width direction of the block, and the above fixed unit may include: a pair of fixed units into which the pair of fixed pins are inserted.

[0099] The above-mentioned one surface of the above-mentioned block can contact the above-mentioned one surface of the above-mentioned base.

[0100] The above fixed unit can fix the fixed pin inserted into the fixed unit to the fixed unit based on a user's input when the first connector is coupled to the second connector.

[0101] The first connector can be electrically connected to the second connector when the fixed pin is fixed to the fixed unit.

[0102] The above fixing unit may be a pneumatic clamp, and the cart may further include: a light source indicating the engagement of the first connector and the second connector; and a switch controlling the operation of the pneumatic clamp.

[0103]

[0104] Any or all of the embodiments of the present disclosure described above are not mutually exclusive or distinct. Any or all of the embodiments of the present disclosure described above may have their respective components or functions combined or used together.

[0105] For example, it means that a configuration A described in a particular embodiment and / or drawing can be combined with a configuration B described in another embodiment and / or drawing. That is, even if a combination between configurations is not directly described, it means that a combination is possible, except in cases where a combination is described as impossible.

[0106] The above detailed description should not be construed as limiting in any respect and should be considered illustrative only. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are intended to be included within the scope of the present invention.

Claims

1. A cart with wheels and a movable structure; A robot arm mounted on the above cart; A docking station to which the above cart is connected or disconnected; and Including a guide rail aligned with the docking station between the cart and the docking station, The above wheel, A robot capable of moving along the above guide rail.

2. In paragraph 1, The above guide rails: A pair of guide rails opposite to each other for the above docking station, The above wheels are: A robot comprising a pair of caster wheels positioned between the pair of guide rails.

3. In paragraph 2, The area between the above pair of guide rails is: An entry area located furthest from the above docking station and having the maximum width; A docking area located closest to the above docking station and having the minimum width; and, A robot comprising a guide area located between the entry area and the docking area, the guide area having a width that decreases as it gets closer to the docking area.

4. In paragraph 1, The above cart: A frame on which the above wheel is mounted; A case covering the above frame; a case having a hole formed on one side of the case facing the docking station; and, A pair of guide rollers rotatably coupled to the frame adjacent to the hole and spaced apart from each other, The above docking station: A docking unit is provided, which is positioned in the above hole and has a pair of guide parts positioned between the pair of guide rollers, The above guide part: A robot comprising a round surface facing the above guide roller.

5. In paragraph 4, The rotation axis of the above guide roller is parallel to the vertical direction, The above pair of guide parts are: A first guide part protruding from the first side of the above docking unit; and, A robot comprising a second guide part protruding from a second side of the docking unit opposite to the first side.

6. In paragraph 1, The above cart: frame; a block mounted on the frame and facing the docking station; and Including a guide pin protruding from the block toward the docking station, The above docking station: a base facing the above block; and, A robot formed on the base and including a guide hole into which the guide pin can be inserted.

7. In paragraph 6, The above guide pins: A pair of guide pins spaced apart from each other in the width direction of the above block are included, The above guide hole: A robot comprising a pair of guide holes into which the pair of guide pins are inserted.

8. In paragraph 6, The above guide pins: forming the end of the above guide pin and including a tip having a cone shape, The above guide hole is, A robot having a countersink hole having a guide surface having a shape corresponding to the above tip.

9. In paragraph 6, The above cart: Further comprising a first connector mounted on one side of the block facing the base, The above docking station: A robot further comprising a second connector mounted on one side of the base facing the block and connected to the first connector.

10. In paragraph 9, The above cart: Further comprising a fixed pin protruding from the block toward the docking station, The above docking station: A robot further comprising a fixed unit formed on the base and into which the fixed pin is inserted.

11. In paragraph 10, The above fixed pins are: comprising a pair of fixed pins spaced apart from each other in the width direction of the above block, The above fixed unit: A robot comprising a pair of fixed units into which the above pair of fixed pins are inserted.

12. In paragraph 10, The above one side of the above block, A robot that contacts the above surface of the above base.

13. In paragraph 10, The above fixed unit is, A robot that fixes the fixed pin inserted into the fixed unit to the fixed unit based on a user's input when the first connector is coupled to the second connector.

14. In paragraph 13, The above first connector, A robot electrically connected to the second connector when the above fixed pin is fixed to the above fixed unit.

15. In paragraph 13, The above fixed unit is a pneumatic clamp, The above cart: A light source indicating the connection of the first connector and the second connector; and A robot further comprising a switch for controlling the operation of the pneumatic clamp.

Images