Robot

Abstract

A robot is disclosed. The robot of the present disclosure may comprise: a base equipped with wheels; a frame coupled to the base and provided with an opening; and a tray assembly positioned in the opening of the frame. The tray assembly may comprise: a fixed tray coupled to the frame; and a moving tray coupled to the fixed tray so as to be movable in the direction passing through the opening of the frame.

Description

robot

[0001] The present disclosure relates to robots. In particular, the present disclosure relates to robots used to provide food or other items to users.

[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 isolated from humans, 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 and performing tasks. 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] In particular, serving robots are being used to deliver food to guests. However, conventional serving robots only transport food to the table, requiring guests or employees to personally bring the food from the serving robot to the table, which is inconvenient.

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

[0006] Another purpose might be to provide a robot that can move trays to specific locations.

[0007] Another purpose may be to provide horizontal and / or vertical movement structures for the trays.

[0008] Another goal could be to provide a robot that can move on its own and adjust the height and position of the tray based on information detected by sensors.

[0009] According to one aspect of the present disclosure for achieving the above or other purposes, a robot may include: a base having wheels; a frame coupled to the base and having an opening; and a tray assembly positioned in the opening of the frame, wherein the tray assembly may include: a fixed tray coupled to the frame; and a moving tray coupled to the fixed tray so as to be movable in a direction passing through the opening of the frame.

[0010] The effects of the robot according to the present disclosure are described as follows.

[0011] According to at least one of the embodiments of the present disclosure, a robot capable of moving a tray to a specific location can be provided.

[0012] According to at least one of the embodiments of the present disclosure, a horizontal and / or vertical movement structure of the tray can be provided.

[0013] According to at least one of the embodiments of the present disclosure, a robot can be provided that can move on its own and adjust the height and position of a tray based on information detected by a sensor.

[0014] 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.

[0015] Figures 1 to 26 are drawings illustrating examples of robots according to embodiments of the present disclosure.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0022] 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.

[0023] 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.

[0024]

[0025] Referring to FIG. 1, the robot (1) may include a base (10), a frame (20), and a tray assembly (30). The robot (1) may be referred to as a serving robot (1) or a delivery robot (1).

[0026] The base (10) may be formed at the bottom of the robot (1). The base (10) may have an overall block or box shape and may be referred to as a body (10), a cabinet (10), or a cart (10). The base (10) may include a base plate (10F) forming the bottom of the base (10) and a case (10H) forming the exterior of the base (10).

[0027] The frame (20) can be coupled to the upper end of the base (10) and can be opened forward and backward. The frame (20) can be a vertically long rectangular frame, and the opening (20P) of the frame (20) can also be formed to be long in the vertical direction. The frame (20) can have the shape of a square ring or an O-ring. The lower part (20D) can be coupled to the upper end of the base (10) adjacent to the front end of the base (10). For example, the lower part (20D) can cover the upper surface of the base (10). The left part (20L) can be adjacent to the left side of the lower part (20D) and extend upward from the lower part (20D). The right part (20R) may be adjacent to the right side of the lower part (20D) and may extend upward from the lower part (20D). The upper part (20U) may connect the upper end of the left part (20L) and the upper end of the right part (20R). The parts (20D, 20L, 20R, 20U) of the frame (20) may form a boundary of the opening (20P) of the frame (20).

[0028] The tray assembly (30) can be positioned in the opening (20P) of the frame (20) and can be coupled to the frame (20). The tray assembly (30) can extend in a direction intersecting the opening (20P). One tray assembly (30) can be coupled to the frame (20) (see FIGS. 4 to 6), or two or more tray assemblies (30) can be coupled to the frame (20). A user can place an object (Ob) on the tray assembly (30). For example, the object (Ob) can be a bowl or a tray containing food.

[0029] The robot (1) may be equipped with at least one sensor for detecting objects around the robot (1). The lidar (Sr) may be mounted in a groove (10S) formed on the front of the base (10) and may detect the surroundings of the robot (1). The upper sensor (Su) and the lower sensor (Sd) may be mounted on the front of the lower part (20D) of the frame (20) and may detect objects in front of the robot (1). The upper sensor (Su) may be adjacent to the upper end of the lower part (20D) and may be a TOF camera (Time of Flight camera) facing obliquely downward. The lower sensor (Sd) may be adjacent to the lower end of the lower part (20D) and may be a TOF camera (Time of Flight camera) facing obliquely upward. The top sensor (St) can be mounted on the front of the upper part (20U) of the frame (20) and can detect an object in front of the robot (1). The top sensor (S5) can be a TOF camera (Time of Flight camera) and / or an RGB camera that faces obliquely downward. The front sensors (Sa, Sb) can be mounted on the front end of the tray assembly (30) and can detect an object in front of the tray assembly (30). The front sensors (Sa, Sb) can be a TOF camera (Time of Flight camera) that faces forward of the tray assembly (30).

[0030] The robot (1) may be equipped with a charging terminal (Tc) connected to a battery built into the robot (1). The charging terminal (Tc) may be mounted on the front of the base (10) adjacent to the bottom of the base (10). The battery built into the base (10) may be charged by an external power source connected to the charging terminal (Tc), and the robot (1) may be driven by the power of the battery.

[0031] The robot (1) may be equipped with a display that displays the status or information of the robot (1) or information provided to a user interacting with the robot (1) (e.g., a message guiding the serving of an object (Ob)). For example, the front display (Df) may be mounted on the front of the upper part (20U) of the frame (20). For example, the rear display (Dr) may be mounted on the rear of the upper part (20U) of the frame (20). Meanwhile, the user may control the operation of the robot (1) by touching icons or buttons displayed on the displays (Df, Dr).

[0032]

[0033] Referring to FIGS. 2 and 3, various electronic components (10P), such as a battery (10B) and a PCB (Printed Circuit Board), can be mounted on the base plate (10F) of the base (10). The case (10H) of the base (10) can cover the components built into the base (10).

[0034] The wheel can be mounted on the base plate (10F) and can rotate under the base plate (10F). The drive wheel (11) can be mounted on the base plate (10F) and can have an in-wheel motor. For example, the first drive wheel (11a) can be adjacent to the left side of the base plate (10F), and the second drive wheel (11b) can be adjacent to the right side of the base plate (10F). The sub-wheel (12) can be mounted on the base plate (10F) and can rotate according to the movement of the base (10) by the drive wheel (11). The sub-wheel (12) can be a caster wheel. For example, the first and second sub-wheels (12a, 12b, see Fig. 1) may be adjacent to the left side of the base plate (10F) and may be opposite to the first drive wheel (11a). For example, the third and fourth sub-wheels (12c, 12d, see Fig. 2) may be adjacent to the right side of the base plate (10F) and may be opposite to the second drive wheel (11b).

[0035] Accordingly, the robot (1) can move on the ground using the wheels (11, 12). The base (10) having the wheels (11, 12) can be referred to as a moving base (10).

[0036]

[0037] Referring to FIGS. 4 to 6, a table (T) may include a top plate (TP) and legs (TL). A robot (1) carrying an object (Ob) can move toward the table (T) on its own based on information detected by a sensor detecting the surroundings of the robot (1). A robot (1) approaching the table (T) can move a moving tray (32) on which an object (Ob) is placed from a fixed tray (31) to the top plate (TP) of the table (T). A control unit of the robot (1) can control the movement of the robot (1), the vertical movement of the fixed tray (31), and the horizontal movement of the moving tray (32) described above and below based on information detected by the sensor. Accordingly, the robot (1) can serve the object (Ob) to a user.

[0038]

[0039] Referring to FIGS. 7 and 8, a guide frame (41) can be mounted on a right part (20R) of a frame (20). The guide frame (41) can be mounted on a groove (20Rg) formed on the inner surface of the right part (20R). The guide frame (41) can be referred to as a guide rail (41). The guide frame (41) can include a first bar (411) and a second bar (412) that are spaced apart from each other in the width direction (i.e., front-back direction) of the right part (20R). The first bar (411) and the second bar (412) can extend vertically. The first connecting portion (41Fa) can connect the upper end of the first bar (411) and the upper end of the second bar (412). The second connecting portion (41Fb) can connect the lower end of the first bar (411) and the lower end of the second bar (412).

[0040] The first pulley (431) may be positioned adjacent to the upper end of the guide frame (41) between the first and second bars (411, 412). The first pulley (431) may be rotatably coupled to the first and second bars (411, 412). First grooves (431g, see FIG. 10) may be formed at regular intervals (pitch) on the outer circumferential surface of the first pulley (431). The first pulley (431) may be referred to as an upper pulley (431), and the first grooves (431g) may be referred to as upper grooves (431g).

[0041] The second pulley (432) may be positioned adjacent to the lower end of the guide frame (41) between the first and second bars (411, 412). The second pulley (432) may be rotatably coupled to the first and second bars (411, 412). Second grooves (432g, see FIG. 9) may be formed at regular intervals (pitch) on the outer circumferential surface of the second pulley (432). The second pulley (432) may be referred to as a lower pulley (432), and the second grooves (432g) may be referred to as lower grooves (432g).

[0042] The belt (44) can be hung on the first pulley (431) and the second pulley (432), and can connect the first pulley (431) and the second pulley (432). The belt (44) can form a closed loop. These (teeth) can be formed at regular intervals (pitch) on the inner surface of the belt (44), and can be engaged with the first grooves (431g, see FIG. 11) of the first pulley (431) and can be engaged with the second grooves (432g, see FIG. 9) of the second pulley (432). The teeth can be referred to as cogs. Accordingly, as the first pulley (431) or the second pulley (432) rotates, the belt (44) can rotate the second pulley (432) or the first pulley (431). Additionally, the first and second pulleys (431, 432) can apply tension to the belt (44), so that the belt (44) can be kept taut.

[0043] The motor may be adjacent to the guide frame (41) and may provide rotational force. The motor may be an electric motor capable of adjusting the rotational direction, rotational angle, and rotational speed. For example, the motor may be mounted on the right part (20R) of the frame (20) adjacent to the upper end of the guide frame (41), and the rotational shaft (42) of the motor may be fixed to the first pulley (431) to rotate the first pulley (431). For another example, the motor may be mounted on the right part (20R) of the frame (20) adjacent to the lower end of the guide frame (41), and the rotational shaft (42) of the motor may be fixed to the second pulley (432) to rotate the second pulley (432).

[0044] The first guide shaft (45) may be adjacent to the first bar (411) and may extend along the first bar (411). The first guide shaft (45) may be opposite the belt (44) with respect to the first bar (411) or may be positioned between the first bar (411) and the belt (44). The upper and lower ends of the first guide shaft (45) may be fixed to the first bar (411).

[0045] The second guide shaft (46) may be adjacent to the second bar (412) and may extend along the second bar (412). The second guide shaft (46) may be opposite the belt (44) with respect to the second bar (412) or may be positioned between the second bar (412) and the belt (44). The upper and lower ends of the second guide shaft (46) may be fixed to the second bar (412).

[0046]

[0047] Referring to FIGS. 9 and 10, the bracket (52) may include a body (500), a first hand (501), a second hand (502), and a fixer (503).

[0048] The body (500) can be oriented toward one side of the guide frame (41) and the belt (44), and can extend in a direction in which the first bar (411) and the second bar (412) are spaced apart from each other.

[0049] The first hand (501) can be bent from one end of the body (500) to surround the first guide shaft (45). The first hand (501) can move in the longitudinal direction of the first guide shaft (45).

[0050] The second hand (502) can be bent from the other end of the body (500) to wrap around the second guide shaft (46). The second hand (502) can move in the longitudinal direction of the second guide shaft (46).

[0051] The fixer (503) can be opposite the body (500) with respect to the belt (44). A fastening member (504), such as a screw, can pass through the fixer (503) and be fastened to a hole (500h, see FIG. 8) of the body (500).

[0052] Accordingly, the bracket (52) can be fixed to a portion of the belt (44). The bracket (52) can move according to the movement of the belt (44) corresponding to the rotation of the pulley (43). The guide shafts (45, 46) can guide the vertical movement of the bracket (52) and minimize any movement other than the vertical movement of the bracket (52).

[0053]

[0054] Referring again to FIG. 8, the first stopper (48) can be fixed to the guide frame (41) adjacent to the upper end of the guide frame (41) and can face the upper end of the bracket (52). The second stopper (49) can be fixed to the guide frame (41) adjacent to the lower end of the guide frame (41) and can face the lower end of the bracket (52).

[0055] Accordingly, the rise of the bracket (52) can be limited by the bracket (52) contacting the first stopper (48), and the descent of the bracket (52) can be limited by the bracket (52) contacting the second stopper (49).

[0056]

[0057] Referring to FIG. 11 together with FIGS. 7 and 8, the second lift assembly (40b) may be mounted on the right side part (20R) of the frame (20) and may include the aforementioned guide frame (41), the first pulley (431), the second pulley (432), and the belt (44). The first lift assembly (40a) may be mounted on the left side part (20L) of the frame (20) and may be symmetrical with respect to the second lift assembly (40b) with respect to the vertical line (LL') passing through the center of the frame (20). That is, the first lift assembly (40a) may also include the aforementioned guide frame (41), the first pulley (431), the second pulley (432), and the belt (44).

[0058] The first tray assembly (30a) may be positioned between the first and second lift assemblies (40a, 40b). The second bracket (52a) may be fixed to the right side of the fixed tray (31) of the first tray assembly (30a), and the first part of the belt (44) of the second lift assembly (40b) may be fixed between the body (500) of the second bracket (52a) and the fixer (503). The first bracket (51a) may be fixed to the left side of the fixed tray (31) of the first tray assembly (30a), and may be symmetrical with respect to the second bracket (52a) with respect to the vertical line (LL') passing through the center of the first tray assembly (30a). That is, the first part of the belt (44) of the first lift assembly (40a) may be fixed between the body (500) of the first bracket (51a) and the fixer (503).

[0059] The second tray assembly (30b) can be positioned between the first and second lift assemblies (40a, 40b) and can be spaced downward from the first tray assembly (30a). The second bracket (52b) can be fixed to the right side of the fixed tray (31) of the second tray assembly (30b) and can have the same structure and shape as the second bracket (52a) fixed to the right side of the fixed tray (31) of the first tray assembly (30a). That is, the second part of the belt (44) of the second lift assembly (40b) can be fixed between the body (500) of the second bracket (52b) and the fixer (503). The first bracket (51b) can be fixed to the left side of the fixed tray (31) of the second tray assembly (30b) and can have the same structure and shape as the first bracket (51a) fixed to the left side of the fixed tray (31) of the first tray assembly (30a). That is, the second part of the belt (44) of the first lift assembly (40a) can be fixed between the body (500) and the fixer (503) of the first bracket (51b).

[0060] Accordingly, the first and second tray assemblies (30a, 30b) can rise or fall in response to the operation of the first and second lift assemblies (40a, 40b).

[0061]

[0062] Referring again to FIG. 4, the top plate (TP) of the table (T) may include four sides (TP1, TP2, TP3, TP4). The RGB camera of the top sensor (St) may detect the top plate (TP) and objects placed on the top plate (TP). The robot (1) may determine a position of the top plate (TP) suitable for placing an object (Ob) loaded on the robot (1) based on the information obtained from the top sensor (St). Based on the determination, the robot (1) may approach a specific position of any of the four sides (TP1, TP2, TP3, TP4). For example, the robot (1) may approach the center of the first side (TP1).

[0063]

[0064] Referring to FIGS. 12 and 13, the TOF camera of the top sensor (St) can detect the distance between the robot (1) and the table (T). The robot (1) can move toward the table (T) based on the information obtained from the top sensor (St). When the distance between the robot (1) and the table (T) (e.g., the distance between the frame (20) and the leg (TL)) reaches the reference distance (g1), the robot (1) can stop moving.

[0065] The first front sensor (Sa) can be mounted on the front end of the fixed tray (31) of the first tray assembly (30a) and can detect the distance between the first tray assembly (30a) and an object in front of the first tray assembly (30a). For example, the first front sensors (Sa) can be provided in pairs.

[0066] The second front sensor (Sb) can be mounted on the front end of the fixed tray (31) of the second tray assembly (30b) and can detect the distance between the second tray assembly (30b) and an object in front of the second tray assembly (30b). For example, the second front sensors (Sb) can be provided as a pair.

[0067] For example, an object (Ob) may be placed on a first tray assembly (30a). The robot (1) may calculate a height difference (h1) between the first tray assembly (30a) and the top plate (TP) of the table (T) based on information obtained from the first front sensor (Sa). Based on the calculation, the robot (1) may adjust the height of the first tray assembly (30a) to the level of the top plate (TP) of the table (T). When the height adjustment of the first tray assembly (30a) is completed, the first front sensor (Sa) may face and approach the top plate (TP) of the table (T), and the lower surface of the moving tray (32) may be positioned at the same height as or higher than the upper surface of the top plate (TP).

[0068] Meanwhile, the distance between the first tray assembly (30a) and the second tray assembly (30b) can be maintained constant.

[0069]

[0070] Referring to FIGS. 14 to 16, the tray assembly (30) may include a fixed tray (31), a moving tray (32), and a sliding assembly (33, 34, 35, 36).

[0071] The base (310) of the fixed tray (31) may have an overall square plate shape. The first rib (311) may protrude upward from the left side of the base (310) adjacent to the front end of the base (310). The second rib (312) may protrude upward from the right side of the base (310) adjacent to the front end of the base (310). The third rib (313) may protrude upward from the rear end of the base (310) and extend along the rear end. The mounting groove (314) may be formed in the central portion of the upper surface of the base (310) and may be formed to extend along the longitudinal direction of the base (310). The recessed portions (315, 316) may be formed on the upper surface of the base (310) adjacent to the mounting groove (314). The first recessed portion (315) may be located on the left side of the mounting groove (314) and may be formed to extend along the mounting groove (314). The second recessed portion (316) may be located on the right side of the mounting groove (314) and may be formed to extend along the mounting groove (314).

[0072] The moving tray (32) can be mounted on the fixed tray (31). The base (320) of the moving tray (32) may have an overall square plate shape. The left side of the base (320) may be adjacent to or in contact with the inner surface of the first rib (311) of the fixed tray (31). The right side of the base (320) may be adjacent to or in contact with the inner surface of the second rib (312) of the fixed tray (31). The rear end of the base (320) may face the inner surface of the third rib (313) of the fixed tray (31). A mounting groove (320g) may be formed on the upper surface of the base (320), and an object (Ob, see FIGS. 12 and 13) may be placed on the mounting groove (320g). The rotary members (321, 322) can be rotatably coupled to the front end of the base (320) and can be spaced upward from the recessed portions (314, 315) of the fixed tray (31). The rotary members (321, 322) can be rollers or balls having a rotational axis parallel to the front end of the base (320). The first rotary member (321) can be rotatably coupled to the front end of the base (320) adjacent to the left side of the base (320) and can be spaced upward from the first recessed portion (314). The second rotary member (322) can be rotatably coupled to the front end of the base (320) adjacent to the right side of the base (320) and can be spaced upward from the second recessed portion (315).

[0073] The rack (326) may be formed in the central portion of the lower surface of the base (320) of the moving tray (32) and may be formed to extend along the length of the base (320). The rack (326) may be provided in a recessed portion formed in the lower surface of the base (320). The rack (326) may be a collection of grooves formed at a constant interval (pitch).

[0074] The sliding assembly (33, 34, 35, 36) may include a motor (33), a first pulley (34), a second pulley (35), and a belt (36). The mounting groove (314) may include a first portion (314a) where the motor (33) is positioned and a second portion (314b) where the remaining components (34, 35, 36) of the sliding assembly are positioned. The second portion (314b) may be formed to be long in the longitudinal direction of the fixed tray (31), and the first portion (314a) may protrude to the left or right from the second portion (314b).

[0075] The motor (33) can provide rotational force. The motor (33) may be an electric motor capable of adjusting the rotational direction, rotational angle, and rotational speed. The rotational shaft of the motor (33) may be parallel to the width direction (i.e., left-right direction) of the fixed tray (31).

[0076] The first pulley (34) may be adjacent to the rear end of the first portion (314a) of the mounting groove (314) and may be fixed to the rotary shaft of the motor (33). The rotary axis of the first pulley (34) may be coaxial with the rotary shaft. The first grooves may be formed at regular intervals (pitch) on the outer circumferential surface of the first pulley (34). The first pulley (34) may be referred to as a rear pulley (34), and the first grooves may be referred to as rear grooves.

[0077] The second pulley (35) may be adjacent to the front end of the first portion (314a) of the mounting groove (314). The rotational axis of the second pulley (35) may be parallel to the rotational axis of the first pulley (34). The second grooves may be formed at regular intervals (pitch) on the outer circumferential surface of the second pulley (35). The second pulley (35) may be referred to as a front pulley (35), and the second grooves may be referred to as front grooves.

[0078] The belt (36) can be hung on the first pulley (34) and the second pulley (35), and can connect the first pulley (34) and the second pulley (35). The belt (36) can form a closed loop. These (teeth) can be formed at regular intervals (pitch) on the inner surface of the belt (36), and can be engaged with the first grooves of the first pulley (34) and the second grooves of the second pulley (35). The teeth can be referred to as cogs. Accordingly, in response to the rotation of the rotating shaft of the motor (33) and the rotation of the first pulley (34), the belt (36) can rotate the second pulley (35). Additionally, tension can be applied to the belt (36) by the first and second pulleys (34, 35), and as a result, the belt (36) can be kept taut.

[0079]

[0080] Referring to FIGS. 17 and 18, gear teeth (36t) may be formed at regular intervals (pitch) on the outer surface of the belt (36). When the moving tray (32) is placed on the fixed tray (31), the grooves of the rack (326) may engage with the gear teeth (36t) of the belt (36).

[0081] Accordingly, when the belt (36) rotates in the first direction (i.e., counterclockwise), the moving tray (32) on the fixed tray (31) can move forward (see the solid arrow in Fig. 18). When the belt (36) rotates in the second direction (i.e., clockwise) opposite to the first direction, the moving tray (32) on the fixed tray (31) can move backward (see the dotted arrow in Fig. 18). The third rib (313) can limit the backward movement of the moving tray (32) by coming into contact with the rear end of the moving tray (32).

[0082]

[0083] Referring to FIGS. 19 to 21, the first rib (311) and the second rib (312) can guide the forward or backward movement of the moving tray (32). That is, the moving tray (32) can move back and forth between the first and second ribs (311, 312).

[0084] The second holder (322a) may be mounted in a groove (320a) formed at the front end of the base (320) of the moving tray (32) and may include a holder body (322a1), a first wing (322a2), and a second wing (322a3). The holder body (322a1) may be elongated in the left-right direction. The first wing (322a2) may protrude forward from the left end of the holder body (322a1) and may be bent once, for example. The second wing (322a3) may protrude forward from the right end of the holder body (322a1) and may be bent once, for example. The second rotating member (322) may be located between the first wing (322a2) and the second wing (322a3).

[0085] The pin (322aa, pin) may protrude from both ends of the holder body (322a1) and may be coupled or fixed to the groove (320a). The shaft (322ab, shaft) may be extended long between the first wing (322a2) and the second wing (322a3) and may pass through the second rotating member (322) to be coupled to the first wing (322a2) and the second wing (322a3). The second rotating member (322) may rotate around the shaft (322ab).

[0086] Accordingly, the second rotary member (322) can be rotatably coupled to the base (320) of the moving tray (32) via the second holder (322a). Similarly, the first rotary member (321) can also be rotatably coupled to the base (320) of the moving tray (32) via the first holder, such as the second holder (322a).

[0087] As the moving tray (32) moves on the upper plate (TP) of the table (T), the first and second rotating members (321, 322) can rotate on the upper plate (TP). At this time, the first and second rotating members (321, 322) can protrude downward from the lower surface of the base (320) of the moving tray (32), and as a result, a gap (g1) can be formed between the lower surface of the base (320) and the upper plate (TP). Accordingly, friction between the moving tray (32) and the upper plate (TP) can be minimized.

[0088] Meanwhile, when the moving tray (32) is separated from the fixed tray (31) (see FIGS. 5 and 6), the rear end of the base (320) of the moving tray (32) can come into contact with the upper plate (TP). In this case, the moving tray (32) can be placed on the upper plate (TP) with the front side slightly raised by the first and second rotating members (321, 322).

[0089] The robot (1) can retrieve the moving tray (32). For example, the user can place the moving tray (32) back on the fixed tray (31) and then issue a retrieval command using the front display (Df). In this case, the moving tray (32) can move backward in response to the rotation of the belt (36), and the backward movement of the moving tray (32) can be restricted when the rear end of the moving tray (32) contacts the third rib (313).

[0090]

[0091] Referring to FIGS. 22 and 23, the pin (322aa) of the second holder (322a) can be rotatably coupled to the groove (320a). One end (i.e., the lower end) of the elastic member (322S) of the second holder (322a) can be fixed on the first wing (322a2) and / or the second wing (322a3), and the other end (i.e., the upper end) of the elastic member (322S) can be fixed to the groove (320a). The elastic member (322S) can be a coiled spring and can be elastically deformed in the vertical direction. Similarly, the first holder that connects the first rotation member (321) to the base (320) of the moving tray (32) can also have the same configuration as the pin (322aa) of the second holder (322a) and the elastic member (322S).

[0092] Before the first and second rotary members (321, 322) are positioned on the top plate (TP) of the table (T), the state of the elastic member (322S) may be the first state. At this time, the first and second rotary members (321, 322) may protrude downward from the lower surface of the base (320) of the moving tray (32).

[0093] When the first and second rotary members (321, 322) are positioned on the upper plate (TP) of the table (T) (see FIG. 22), the state of the elastic member (322S) may be a second state compressed from the first state by the load of the moving tray (32). At this time, the first and second rotary members (321, 322) may be rotated in a direction in which they are inserted into the base (320). In addition, a part of the load of the moving tray (32) may be supported by the fixed tray (31), and a gap (g2) may be formed between the lower surface of the base (320) of the moving tray (32) and the upper plate (TP). The gap (g2, see FIG. 22) may be smaller than the gap (g1, see FIG. 21).

[0094] When the moving tray (32) separated from the fixed tray (31) is positioned on the upper plate (TP) of the table (T) (see FIG. 23), the state of the elastic member (322S) may be a third state compressed from the second state by the load of the moving tray (32). At this time, the first and second rotating members (321, 322) may be further inserted into the base (320). In addition, the lower surface of the base (320) of the moving tray (32) may contact the upper plate (TP), and a certain level of force or more may be required for the movement of the moving tray (32) on the upper plate (TP) due to friction between the moving tray (32) and the upper plate (TP).

[0095]

[0096] Referring to FIGS. 24 to 26, the first stopper (311a) may be bent to the right from the top of the first rib (311) of the fixed tray (31). The first portion (323) may form a portion of the rear end of the moving tray (32) and may face the first stopper (311a) in the moving direction (i.e., the front-back direction) of the moving tray (32). For example, the first sliding groove (320g1) may be formed on the upper surface of the base (320) along the left side of the base (320) of the moving tray (32), and the first stopper (311a) may slide on the first sliding groove (320g1). In this case, the first portion (323) may form a part of the boundary of the first sliding groove (320g1). The first stopper (311a) may be referred to as a first hook (311a).

[0097] The second stopper (312a) may be bent to the left from the top of the second rib (312) of the fixed tray (31). The second portion (324) may form another portion of the rear end of the moving tray (32) and may face the second stopper (312a) in the moving direction (i.e., the front-back direction) of the moving tray (32). For example, the second sliding groove (320g2) may be formed on the upper surface of the base (320) along the right side of the base (320) of the moving tray (32), and the second stopper (312a) may slide on the second sliding groove (320g2). In this case, the second portion (324) may form a part of the boundary of the second sliding groove (320g2). The second stopper (312a) may be referred to as a second hook (312a).

[0098] Accordingly, the forward movement of the moving tray (32) can be restricted when the first and second parts (323, 324) of the moving tray (32) contact the first and second stoppers (311a, 312a). In addition, the first and second stoppers (311a, 312a) can prevent the moving tray (32) from being separated upward from the fixed tray (31). As a result, the moving tray (32) can provide the object (Ob) to the user without being completely separated from the fixed tray (31).

[0099] The robot (1) can retrieve the moving tray (32). For example, the robot (1) can retrieve the moving tray (32) when a sensor such as a top sensor (St) detects that an object (Ob) has been removed from the moving tray (32) or when a user issues a retrieval command via the front display (Df). Specifically, the moving tray (32) can move rearward in response to the rotation of the belt (36), and the rearward movement of the moving tray (32) can be restricted when the rear end of the moving tray (32) contacts the third rib (313).

[0100]

[0101] Referring to FIGS. 1 to 26, a robot according to one aspect of the present disclosure may include: a base having wheels; a frame coupled to the base and having an opening; and a tray assembly positioned in the opening of the frame, wherein the tray assembly may include: a fixed tray coupled to the frame; and a moving tray coupled to the fixed tray so as to be movable in a direction passing through the opening of the frame.

[0102] The above fixed tray can extend in a direction intersecting the opening of the frame, and the above moving tray can be placed on the fixed tray so as to be movable in the longitudinal direction of the fixed tray.

[0103] The robot may further include: a sliding assembly positioned between the fixed tray and the moving tray and moving the moving tray, the sliding assembly including: a motor mounted on the fixed tray; a first pulley fixed to a rotational axis of the motor; a second pulley spaced apart from the first pulley in the moving direction of the moving tray; and a belt connecting the first pulley and the second pulley, and the moving tray may include: a rack formed on one surface of the moving tray facing the fixed tray and engaged with the belt.

[0104] The above sliding assembly may further include a rotating member rotatably coupled to one side of the moving tray, and the rotating member may protrude from the one side of the moving tray.

[0105] The sliding assembly may further include: a holder that is rotatably coupled to the moving tray in a direction in which the holder is inserted into or protrudes from the one surface of the moving tray, and to which the rotating member is rotatably coupled; and an elastic member that is positioned between the holder and the moving tray, one end of which is fixed to the holder and the other end of which is fixed to the moving tray, wherein the elastic member can be compressed when the holder is rotated in a direction in which the holder is inserted into the one surface of the moving tray.

[0106] The above rotating member may include: a first rotating member; and a second rotating member opposite the first rotating member with respect to the rack of the moving tray.

[0107] The fixed tray may include: a first rib protruding from a first side of the fixed tray; and a second rib protruding from a second side of the fixed tray; and the moving tray may be movable between the first rib and the second rib, and the first rib and the second rib may be adjacent to or in contact with a side surface of the moving tray.

[0108] The fixed tray may further include a third rib protruding from a third side of the fixed tray connecting the first side and the second side and facing one side of the moving tray, and the moving tray may be movable in a direction away from or toward the third rib, and the third rib may limit movement of the moving tray by contacting the one side of the moving tray.

[0109] The fixed tray may further include: a first stopper bent from an end of the first rib and positioned on the moving tray; and a second stopper bent from an end of the second rib and positioned on the moving tray, wherein the moving tray may further include: a first sliding groove having a first portion on which the first stopper is movably seated and facing the first stopper in the moving direction of the moving tray; and a second sliding groove having a second portion on which the second stopper is movably seated and facing the second stopper in the moving direction of the moving tray, wherein movement of the moving tray may be restricted when the first and second portions contact the first and second stoppers.

[0110] The above opening may be formed long in a direction intersecting the moving direction of the moving tray, and the fixed tray may be coupled to the frame so as to be movable in the longitudinal direction of the opening.

[0111] The robot may further include: a bracket fixed to the fixed tray; and a lift assembly positioned between the bracket and the frame and configured to move the bracket, wherein the lift assembly may include: a motor mounted on the frame; a first pulley fixed to a rotational axis of the motor; a second pulley spaced apart from the first pulley in the moving direction of the fixed tray; and a belt connecting the first pulley and the second pulley and to which the bracket is fixed.

[0112] The lift assembly may further include a pair of guide shafts extending in the longitudinal direction of the opening adjacent the belt, fixed to the frame, and spaced apart from each other, and the bracket may be movably coupled to the pair of guide shafts.

[0113] The bracket may include: a first bracket; and a second bracket opposite the first bracket with respect to the fixed tray, and the lift assembly may include: a first lift assembly that moves the first bracket; and a second lift assembly that moves the second bracket.

[0114] The tray assembly may include: a first tray assembly; and second tray assemblies spaced apart from the first tray assembly in the longitudinal direction of the opening, and the bracket may include: a first bracket secured to the first tray assembly and a first portion of the belt; and a second bracket secured to the second tray assembly and a second portion of the belt.

[0115] The robot may further include: a sensor for detecting the surroundings of the robot; and a control unit for controlling the operation of the wheel, the movement of the moving tray, and the movement of the fixed tray based on information obtained from the sensor.

[0116]

[0117] 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.

[0118] 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.

[0119] 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. Base with wheels; A frame coupled to the above base and having an opening; and including a tray assembly positioned in the opening of the frame; The above tray assembly: A fixed tray coupled to the above frame; and, A robot comprising a moving tray coupled to the fixed tray so as to be movable in a direction passing through the opening of the frame.

2. In paragraph 1, The above fixed tray, extending in a direction intersecting the opening of the above frame, The above moving tray, A robot that is mounted on the fixed tray and is capable of moving in the longitudinal direction of the fixed tray.

3. In paragraph 1, Further comprising a sliding assembly positioned between the fixed tray and the moving tray and moving the moving tray, The above sliding assembly: A motor mounted on the above fixed tray; A first pulley fixed to the rotational axis of the above motor; A second pulley spaced apart from the first pulley in the direction of movement of the moving tray; and It includes a belt connecting the first pulley and the second pulley, The above moving tray: A robot comprising a rack formed on one side of the moving tray facing the fixed tray and interlocked with the belt.

4. In paragraph 3, The above sliding assembly: It further includes a rotating member rotatably coupled to one side of the above moving tray, The above rotating member is, A robot protruding from the above-mentioned one side of the above-mentioned moving tray.

5. In paragraph 4, The above sliding assembly: A holder that is rotatably connected to the moving tray in a direction in which it is inserted into or protrudes from the one side of the moving tray, and to which the rotating member is rotatably connected; and Further comprising an elastic member positioned between the holder and the moving tray, one end of which is fixed to the holder and the other end of which is fixed to the moving tray; The above elastic member is, A robot that is compressed when the holder is rotated in the direction in which it is inserted into the one side of the moving tray.

6. In paragraph 4, The above rotating member: First rotating member; and, A robot including a second rotating member opposite the first rotating member with respect to the rack of the moving tray.

7. In paragraph 3, The above fixed tray: A first rib protruding from the first side of the above fixed tray; and, including a second rib protruding from the second side of the fixed tray, The above moving tray, It is movable between the first rib and the second rib, The above first rib and the above second rib, A robot adjacent to or in contact with the side of the above moving tray.

8. In paragraph 7, The above fixed tray: Further comprising a third rib protruding from the third side of the fixed tray connecting the first side and the second side and facing one side of the moving tray, The above moving tray, It can move in a direction away from or closer to the third rib, The above third rib, A robot that restricts movement of the moving tray by contacting the one side of the moving tray.

9. In paragraph 7, The above fixed tray: A first stopper bent from the end of the first rib and positioned on the moving tray; and Further comprising a second stopper bent from the end of the second rib and positioned on the moving tray, The above moving tray: A first sliding groove having a first portion facing the first stopper in the moving direction of the moving tray and on which the first stopper is movably mounted; and The second stopper is movably mounted thereon, and includes a second sliding groove having a second portion facing the second stopper in the moving direction of the moving tray, The movement of the above moving tray is: A robot in which the first and second parts are restricted when they come into contact with the first and second stoppers.

10. In paragraph 1, The above opening is, It is formed long in a direction intersecting the moving direction of the above moving tray, The above fixed tray, A robot coupled to the frame so as to be able to move in the longitudinal direction of the opening.

11. In paragraph 10, A bracket fixed to the above fixed tray; and, Further comprising a lift assembly positioned between the bracket and the frame and moving the bracket, The above lift assembly: A motor mounted on the above frame; A first pulley fixed to the rotational axis of the above motor; A second pulley spaced apart from the first pulley in the direction of movement of the fixed tray; and A robot including a belt connecting the first pulley and the second pulley and to which the bracket is fixed.

12. In paragraph 11, The above lift assembly: Further comprising a pair of guide shafts extending in the longitudinal direction of the opening adjacent to the belt, fixed to the frame, and spaced apart from each other; The above brackets are, A robot movably coupled to the above pair of guide shafts.

13. In paragraph 11, The above brackets are: First bracket; and, Including a second bracket opposite the first bracket for the above fixed tray, The above lift assembly: A first lift assembly for moving the first bracket; and, A robot comprising a second lift assembly for moving the second bracket.

14. In paragraph 11, The above tray assembly: First tray assembly; and, comprising second tray assemblies spaced apart from the first tray assembly in the longitudinal direction of the opening; The above brackets are: A first bracket fixed to the first tray assembly and the first portion of the belt; and A robot comprising a second bracket fixed to the second tray assembly and the second portion of the belt.

15. In paragraph 10, A sensor that detects the surroundings of the robot; and A robot further comprising a control unit that controls the operation of the wheel, the movement of the moving tray, and the movement of the fixed tray based on information obtained from the sensor.

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