Robot

Abstract

A robot is disclosed. The robot of the present disclosure may comprise: a base having wheels; a tray spaced apart from the base; and a lift assembly for supporting, on the base, the tray, wherein the lift assembly can include: a motor mounted on the base; a gear fixed to a rotary shaft of the motor; a lead screw which is elongated, and which can engage with the gear and rotate; a guide shaft which is spaced apart from the lead screw in the direction intersecting with the longitudinal direction of the lead screw, and which extends in the longitudinal direction of the lead screw; and a slider coupled to the lead screw and the guide shaft so as to be movable in the longitudinal direction of the lead screw, and the tray is coupled to the slider and can move in the longitudinal direction of the lead screw together with the slider.

Description

robot

[0001] The present disclosure relates to a robot. In particular, the present disclosure relates to a robot used to transport objects such as boxes.

[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] In particular, sorting robots in logistics centers are being used to move items to specific locations. However, conventional sorting robots have a fixed height, limiting their usability.

[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 objects to specific locations.

[0007] Another purpose may be to provide a robot that can freely adjust the height of the tray on which the items are loaded.

[0008] Another purpose might be to provide a robot that can drop off loaded objects at specific locations.

[0009] Another goal could be to provide a robot that can detect the presence of objects on a tray.

[0010] According to one aspect of the present disclosure for achieving the above or other purposes, a robot may include: a base having wheels; a tray spaced apart from the base; and a lift assembly supporting the tray on the base, wherein the lift assembly may include: a motor mounted on the base; a gear fixed to a rotational axis of the motor; a lead screw extending long and rotatable by engaging with the gear; a guide shaft spaced apart from the lead screw in a direction crossing a longitudinal direction of the lead screw and extending in a longitudinal direction of the lead screw; and a slider coupled to the lead screw and the guide shaft so as to be movable in the longitudinal direction of the lead screw, wherein the tray may be coupled to the slider and may be movable together with the slider in the longitudinal direction of the lead screw.

[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 robot capable of moving an object to a specific location can be provided.

[0013] According to at least one of the embodiments of the present disclosure, a robot can be provided that can freely adjust the height of a tray on which an object is loaded.

[0014] According to at least one of the embodiments of the present disclosure, a robot capable of placing a loaded object at a specific location can be provided.

[0015] According to at least one of the embodiments of the present disclosure, a robot capable of detecting the presence or absence of an object on a tray can be provided.

[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 FIGS. 1 and 2, the robot (1) may include a base (10), a pole (20), and a conveyor (30, 40). The robot (1) may be referred to as a sorting robot (1), a delivery robot (1), or a logistics robot (1).

[0028] The base (10) may be formed at the bottom of the robot (1). The base (10) may have an overall round or angular block or box shape, and may be referred to as a body (10) or cart (10). The base (10) may include a frame (10F) forming the bottom of the base (10) and a case (10H) forming the exterior of the base (10).

[0029] The pole (20) may extend upward from the base (10). For example, the pole (20) may be located at the center of the base (10) and may have an overall cylindrical shape.

[0030] The tray (30, 40) may be opposite the base (10) with respect to the pole (20) and may be coupled to the pole (20). For example, the upper end of the pole (20) may be positioned at the center of the tray (30, 40), and the tray (30, 40) may extend in a direction intersecting the pole (20). A user may place an object (Ob), such as a box, on the tray (30, 40). The tray (30, 40) may be referred to as a rack (30, 40) or a head (30, 40).

[0031] The wheel can be mounted on the frame (10F) and can rotate under the frame (10F). The drive wheel (11) can be mounted on the frame (10F) and can have an in-wheel motor. For example, the first drive wheel (11a) can be adjacent to the periphery of the frame (10F), and the second drive wheel (11b) can be opposite the first drive wheel (11a) with respect to the center of the frame (10F). The sub-wheel (12) can be mounted on the frame (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 sub-wheel (12a) may be positioned between the first driving wheel (11a) and the second driving wheel (11b) in the circumferential direction (i.e., the radial direction) of the frame (10F), and the second sub-wheel (12b) may be opposite the first sub-wheel (12a) with respect to the center of the frame (10F).

[0032] 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).

[0033] The robot (1) may be equipped with at least one sensor that detects objects or terrain around the robot (1). The sensor is described in detail as follows.

[0034] The lidar (Sr) can be mounted in a groove (10S) formed in the front part of the base (10) and can detect the surroundings of the robot (1). The groove (10S) can be formed in an arc shape on the side of the case (10H) of the base (10). For example, the groove (10S) can be formed at an angle of approximately 180 degrees.

[0035] The upper sensor (St) can be mounted on the base (10) and can detect an object in front of the upper sensor (St). The upper sensor (St) can be located above the lidar (Sr) and can face the front of the base (10). The upper sensor (St) can be a TOF camera (Time of Flight camera).

[0036] The middle sensors (Sa, Sb, Sc, Sd) can be mounted on the side of the case (10H) of the base (10) and can detect an object in front of the middle sensors (Sa, Sb, Sc, Sd). The middle sensors (Sa, Sb, Sc, Sd) can be located below the groove (10S) and can detect the periphery of the base (10). The plurality of middle sensors (Sa, Sb, Sc, Sd) can be spaced apart from each other in the circumferential direction of the case (10H) of the base (10). The first middle sensor (Sa) and the second middle sensor (Sb) can be spaced apart from each other at the front of the base (10), and the third middle sensor (Sc) and the fourth middle sensor (Sd) can be spaced apart from each other at the rear of the base (10). The middle sensors (Sa, Sb, Sc, Sd) may be depth cameras that detect the distance (depth) of objects in front of the middle sensors (Sa, Sb, Sc, Sd).

[0037] The lower sensor (Se, Sf, Sg, Sh) can be mounted on the side of the case (10H) of the base (10) and can detect an object in front of the lower sensor (Se, Sf, Sg, Sh). The lower sensor (Se, Sf, Sg, Sh) can be located below the middle sensor (Sa, Sb, Sc, Sd) and can detect the surroundings of the base (10). The plurality of lower sensors (Se, Sf, Sg, Sh) can be spaced apart from each other in the circumferential direction of the case (10H) of the base (10). The first lower sensor (Se) and the second lower sensor (Sf) can be spaced apart from each other with the first and second middle sensors (Sa, Sb) therebetween. The third lower sensor (Sg) and the fourth lower sensor (Sh) may be spaced apart from each other with the third and fourth middle sensors (Sc, Sd) interposed therebetween. The lower sensors (Se, Sf, Sg, Sh) may be ultrasonic sensors that detect objects in front of the lower sensors (Se, Sf, Sg, Sh).

[0038] Proximity sensors (Va, Vb, Vc, Vd, Ve, Vf, Vg, Vh, Vi, Vj, see FIGS. 1 and 7) can be mounted on the edge of the tray (30, 40) and can detect an approaching object. The proximity sensors (Va, Vb, Vc, Vd, Ve, Vf, Vg, Vh, Vi, Vj) can be directed obliquely toward the bottom of the tray (30, 40). A plurality of proximity sensors (Va, Vb, Vc, Vd, Ve, Vf, Vg, Vh, Vi, Vj) can be spaced apart from each other along the edge of the tray (30, 40). The tray (30, 40) can include a supporter (30) in the shape of a square plate forming the bottom of the tray (30, 40). The first proximity sensor (Va) and the second proximity sensor (Vb) may be mounted on the front side of the supporter (30) and may be spaced apart from each other along the front side. The third proximity sensor (Vc) and the fourth proximity sensor (Vd) may be mounted on the rear side of the supporter (30) and may be spaced apart from each other along the rear side. The fourth proximity sensor (Ve), the fifth proximity sensor (Vf), and the sixth proximity sensor (Vg) may be mounted on the left side of the supporter (30) and may be spaced apart from each other along the left side. The seventh proximity sensor (Vh), the eighth proximity sensor (Vi), and the ninth proximity sensor (Vj) may be mounted on the right side of the supporter (30) and may be spaced apart from each other along the right side. For example, a proximity sensor (Va, Vb, Vc, Vd, Ve, Vf, Vg, Vh, Vi, Vj) may have a light emitting portion that emits light in the infrared wavelength range and a light receiving portion that receives light reflected from an object, and may detect the presence or absence of an object close to the proximity sensor.

[0039]

[0040] Referring to FIGS. 3 and 4, various electronic components (10P), such as a battery (10B) and a PCB (Printed Circuit Board), can be mounted on the frame (10F) of the base (10). The case (10H) of the base (10) can cover the components built into the base (10).

[0041] A charging terminal (not shown) can be mounted on the base (10) and connected to a battery (10B). The battery (10B) can be charged by an external power source connected to the charging terminal, and the robot (1) can be driven by the power of the battery (10B). That is, the battery (10B) can provide power to components of the robot (1), such as the driving wheel (11), the sensors described above and below, electronic components (10P) such as a control unit, and a motor (50M).

[0042]

[0043] Referring to FIGS. 5 to 7, the tray (30, 40) may include a supporter (30) and a conveyor (40).

[0044] The plate (31) of the supporter (30) may form the bottom of the supporter (30). The plate (31) may have a square plate shape. The plate (31) may be referred to as a top plate (31). The first rib (32, see FIG. 1) may be bent upward from the left side of the plate (31) and may extend along the left side. The second rib (33, see FIG. 1) may be bent upward from the right side of the plate (31) and may extend along the right side.

[0045] The conveyor (40) can be positioned on the plate (31) and can be positioned between the first rib (32) and the second rib (33) (see FIG. 1). The conveyor (40) can include a conveyor belt (41), a head pulley (42), a tail pulley (43), and a bend pulley (44). The head pulley (42), the tail pulley (43), and the bend pulley (44) can be elongated between the first rib (32) and the second rib (33) in a direction intersecting the first rib (32) and the second rib (33), and can be spaced apart from each other in a direction intersecting the longitudinal direction of the pulleys (42, 43, 44). The pulleys (42, 43, 44) can be rotatably coupled to the first rib (32) and the second rib (33) about axes of rotation that are parallel to each other. The conveyor belt (41) can be wound around the head pulley (42) and the tail pulley (43), and the band pulley (44) can bend the outer surface of the conveyor belt (41) between the head pulley (42) and the tail pulley (43). For example, the pulleys (42, 43) can be gear-connected or in close contact with the conveyor belt (41). The drive motor of the conveyor (40) can rotate the head pulley (42), and the conveyor belt (41) and the remaining pulleys (43, 44) can rotate in response to the rotation of the head pulley (42).

[0046] Accordingly, the conveyor (40) can move an object placed on the conveyor belt (41) in a first direction (z-axis direction) or a second direction opposite to the first direction (z-axis opposite direction).

[0047]

[0048] Referring again to FIGS. 3 and 4, the lift assembly (50) can be positioned inside the pole (20) and the base (10), and can support the plate (31) of the supporter (30) on the frame (10F) of the base (10).

[0049]

[0050] Referring to FIGS. 8 and 9, the lift assembly (50) may be positioned inside the pole (20) and the base (10). The lift assembly (50) may include a motor (50M), a coupling member (50C), a gear box (50B), a lead screw (51), a slider (52), a moving plate (53), a guide shaft (54), a support shaft (55), a fixed plate (56), and a cap (57).

[0051] The motor (50M) can be mounted on the frame (10F) of the base (10) and can provide rotational force. The motor (50M) can be an electric motor capable of adjusting the rotational direction, rotational angle, and rotational speed.

[0052] The lead screw (51) may be extended vertically from the center or vicinity of the frame (10F) of the base (10). The lower end of the lead screw (51) may be connected to a gear box (50B) mounted on the frame (10F) of the base (10). The gear box (50B) may be gear-connected to the rotational axis of the motor (50M) via a coupling member (50C) and may transmit the power of the motor (50M) to the lead screw (51).

[0053] For example, the end of the coupling member (50C) may be fixed to a worm, and the gear box (50B) may include a worm wheel that meshes with the worm. The rotational axis of the motor (50M) and the rotational axis of the worm may be aligned horizontally. The rotational axis of the worm wheel may be aligned vertically and may be fixed to the lower end of the lead screw (51). Accordingly, the lead screw (51) may rotate around the rotational axis of the worm wheel in response to the operation of the motor (50M).

[0054] For another example, the end of the coupling member (50C) may be fixed to a pinion, and the gear box (50B) may include a bevel gear that meshes with the pinion. The rotational axis of the motor (50M) and the rotational axis of the pinion may be aligned horizontally. The rotational axis of the bevel gear may be aligned vertically and may be fixed to the lower end of the lead screw (51). Accordingly, the lead screw (51) may rotate about the rotational axis of the bevel gear in response to the operation of the motor (50M).

[0055] The slider (52) may have an overall hollow cylinder shape. The lead screw (51) may penetrate the slider (52). Male threads may be formed on the outer surface of the lead screw (51), and female threads formed on the inner surface of the slider (52) may be engaged with the male threads. The slider (52) may be referred to as a lead nut (52), a ball nut (52), or a screw jack (52).

[0056] The moving plate (53) may include a hole (53h) in which the slider (52) is positioned. It may extend from the slider (52) in a radial direction of the slider (52). The moving plate (53) may be coupled to the slider (52). Alternatively, the moving plate (53) may be formed as one body with the slider (52). The moving plate (53) may have an overall cup shape. The rim of the moving plate (53) may be an octagonal rim. The moving plate (53) may be referred to as a lower plate (53).

[0057] The guide shaft (54) may extend in the longitudinal direction (i.e., vertical direction) of the lead screw (51). The lower end of the guide shaft (54) may be coupled or fixed on the frame (10F) of the base (10). The moving plate (53) may be coupled to the guide shaft (54) so ​​as to be movable in the longitudinal direction of the guide shaft (54). A plurality of guide shafts (54a, 54b, 54c, 54d) may be spaced apart from each other along the edge of the moving plate (53). The first guide shaft (54a) may be opposite the third guide shaft (54c) with respect to the lead screw (51). The second guide shaft (54b) may be opposite the fourth guide shaft (54d) with respect to the lead screw (51). The guide shaft (54) may be referred to as a bottom guide bar (54).

[0058] The guide bushing can be fixed to the moving plate (53) and can surround the outer circumference of the guide shaft (54). The first guide bushing (53a) can be fixed to the first side of the moving plate (53) and can surround the outer circumference of the first guide shaft (54a) that penetrates the first part of the moving plate (53). The second guide bushing (53b) can be fixed to the second side of the moving plate (53) and can surround the outer circumference of the second guide shaft (54b) that penetrates the second part of the moving plate (53). The third guide bushing (53c) can be fixed to the third side of the moving plate (53) and can surround the outer circumference of the third guide shaft (54c) that penetrates the third part of the moving plate (53). The fourth guide bush (53d) can be fixed to the fourth side of the moving plate (53) and can surround the outer surface of the fourth guide shaft (54d) that penetrates the fourth part of the moving plate (53).

[0059] The support shaft (55) can extend in the longitudinal direction (i.e., vertical direction) of the lead screw (51). The lower end of the support shaft (55) can be fixed on the moving plate (53). The upper end of the support shaft (55) can be fixed on the lower surface of the plate (31) of the supporter (30). The support shaft (55) can be adjacent to the edge of the moving plate (53) and can be adjacent to the guide shaft (54). A plurality of support shafts (55a, 55b, 55c, 55d, 55e, 55f, 55g, 55h) and a plurality of guide shafts (54a, 54b, 54c, 54d) can be alternately arranged along the edge of the moving plate (53). The first support shaft (55a) and the second support shaft (55b) may be positioned between the fourth guide shaft (54d) and the first guide shaft (54a). The third support shaft (55c) and the fourth support shaft (55d) may be positioned between the first guide shaft (54a) and the second guide shaft (54b). The fifth support shaft (55e) and the sixth support shaft (55f) may be positioned between the second guide shaft (54b) and the third guide shaft (54c). The seventh support shaft (55g) and the eighth support shaft (55h) may be positioned between the third guide shaft (54c) and the fourth guide shaft (54d). The support shaft (55) may be referred to as a top guide bar (55, top bar).

[0060] The fixed plate (56) can be spaced apart from the moving plate (53) in the longitudinal direction (i.e., vertical direction) of the lead screw (51). The fixed plate (56) can have an overall ring shape. The upper end of the guide shaft (54) can be fixed to the fixed plate (56). A plurality of guide shafts (54a, 54b, 54c, 54d) can be spaced apart from each other in the circumferential direction of the fixed plate (56) and can be fixed to the fixed plate (56). In this case, the rigidity of the guide shaft (54) can be improved. The fixed plate (56) can be referred to as an upper plate (56) or a middle plate (56).

[0061] The cap (57) can be positioned inside the fixed plate (56), and the top of the lead screw (51) can be coupled to the cap (57). The cap (57) can be referred to as a stopper (57).

[0062] Accordingly, when the lead screw (51) rotates in response to the driving of the motor (50M), the slider (52) can perform a linear reciprocating motion along the lead screw (51). At this time, the guide shaft (54) can prevent the rotation of the moving plate (53) fixed to the lead screw (51) but guide the vertical movement of the moving plate (53). In addition, the moving plate (53) fixed to the lead screw (51) can move closer to or further away from the fixed plate (56).

[0063]

[0064] Referring to FIGS. 10 and 11, the motor (50M) can rotate the lead screw (51) in a first rotational direction or a second rotational direction opposite to the first rotational direction through gear(s) fixed to the rotational axis of the motor (50M).

[0065] When the lead screw (51) is rotated in the first rotational direction, the slider (52) and the moving plate (53) can move upward along the lead screw (51). Accordingly, the support shaft (55) fixed on the moving plate (53) can also move upward, and the tray (30, 40) fixed on the upper end of the support shaft (55) can rise. The rise of the tray (30, 40) can be limited by the upper end of the slider (52) contacting the lower end of the cap (57). Alternatively, the rise of the tray (30, 40) can be limited by the upper surface of the moving plate (53) contacting the lower end of the fixed plate (56).

[0066] When the lead screw (51) is rotated in the second rotational direction, the slider (52) and the moving plate (53) can move downward along the lead screw (51). Accordingly, the support shaft (55) fixed on the moving plate (53) can also move downward, and the tray (30, 40) fixed on the upper end of the support shaft (55) can be lowered. This lowering of the tray (30, 40) can be limited by the plate (31) forming the bottom of the tray (30, 40) coming into contact with the upper surface of the fixed plate (56).

[0067]

[0068] Referring to FIGS. 12 and 13, the control unit of the robot (1) can move the robot (1) based on information about the surroundings of the robot (1) acquired by the aforementioned sensor(s). The robot (1) carrying an object (Ob) can move toward a shelf or rack (RF).

[0069] Referring to FIGS. 10 and 12, a robot (1) can be used to transport an object (Ob) to a first-floor shelf (F1) of a rack (RF). To this end, a tray (30, 40) of the robot (1) can have a minimum height (Ha) from the ground on which the base (10) is placed, and the object (Ob) can be transported to the first-floor shelf (F1) by a conveyor (40).

[0070] Referring to FIGS. 11 and 13, the robot (1) can be used to transport an object (Ob) to a second shelf (F2) of a rack (RF). To this end, the tray (30, 40) of the robot (1) can have a maximum height (Hb) from the ground on which the base (10) is placed, and the object (Ob) can be transferred to the second shelf (F2) by a conveyor (40).

[0071] The height of the tray (30, 40) can be varied between a minimum height (Ha) and a maximum height (Hb). The height of the tray (30, 40) can be calculated based on information about the distance between the supporter (30) and the base (10) obtained by a proximity sensor (Va, Vb, Vc, Vd, Ve, Vf, Vg, Vh, Vi, Vj, see FIGS. 1 and 7). The pole (20) can be lengthened or shortened in response to the height adjustment of the tray (30, 40). The pole (20) can include an inner sleeve (21) fixed to the base (10) and an outer sleeve (22) fixed to the supporter (30). The outer sleeve (22) can wrap around the outer circumference of the inner sleeve (21) and can be movable in the vertical direction.

[0072] Meanwhile, the user can adjust the height of the tray (30, 40) of the robot (1) carrying a specific object (Ob) to a specific height.

[0073] Alternatively, the robot (1) can detect the position of a shelf of a rack (RF) suitable for placing an object (Ob) using a sensor(s) and adjust the height of the tray (30, 40) accordingly.

[0074] Alternatively, the robot (1) may be equipped with a reader capable of reading an identification mark, such as a barcode, displayed on an object (Ob) on a conveyor (40). The identification mark may include information regarding the height of the location where the object (Ob) is to be loaded. In this case, based on the information read by the reader, the robot (1) may automatically adjust the height of the tray (30, 40) to correspond to the object (Ob).

[0075]

[0076] Referring to Fig. 14, a proximity sensor can be mounted on the first rib (32) or the second rib (33) of the supporter (30) and can detect an object on a conveyor belt (41). The proximity sensor can have a light emitting unit that emits light in an infrared wavelength range and a light receiving unit that receives light reflected from an object. Alternatively, the proximity sensor may be a photo sensor having a light emitting unit mounted on the first rib (32) and a light receiving unit mounted on the second rib (33). The presence or absence of an object approaching the proximity sensor can be detected. For example, the proximity sensor can include a plurality of proximity sensors (Ua, Ub, Uc, Ud) mounted on the inner surface (i.e., the left side) of the second rib (33). The first proximity sensor (Ua) may be adjacent to the front end of the second rib (33), and the second proximity sensor (Ub) adjacent to the first proximity sensor (Ua) may be positioned further away from the front end of the second rib (33) than the first proximity sensor (Ua). The fourth proximity sensor (Ud) may be adjacent to the rear end of the second rib (33), and the third proximity sensor (Uc) adjacent to the fourth proximity sensor (Ud) may be positioned further away from the rear end of the second rib (33) than the fourth proximity sensor (Ud).

[0077] The conveyor belt (41) can rotate in a first direction (FD) and move an object on the conveyor belt (41) forward. Alternatively, the conveyor belt (41) can rotate in a second direction (RD) and move an object on the conveyor belt (41) backward.

[0078] For example, an object at the rear of the conveyor belt (41) can be loaded onto the conveyor belt (41) rotating in the first direction (FD). In this case, the robot (1) can detect that the object is placed on the conveyor belt (41) when the object is sequentially (or simultaneously) detected by the fourth proximity sensor (Ud) and the third proximity sensor (Uc). Then, the robot (1) can detect that the object is moving forward along the conveyor belt (41) when the object is sequentially detected by the second proximity sensor (Ub) and the first proximity sensor (Ua).

[0079] As another example, an object in front of a conveyor belt (41) can be placed on a conveyor belt (41) that rotates in a second direction (RD). In this case, the robot (1) can detect that the object is placed on the conveyor belt (41) when the robot is sequentially (or simultaneously) detected by the first proximity sensor (Ua) and the second proximity sensor (Ub). Then, the robot (1) can detect that the object is moving backward along the conveyor belt (41) when the object is sequentially detected by the third proximity sensor (Uc) and the fourth proximity sensor (Ud).

[0080] Accordingly, the robot (1) can detect loading and unloading of objects using a plurality of proximity sensors (Ua, Ub, Uc, Ud).

[0081]

[0082] Referring to FIGS. 15 and 16, the conveyor (40') may be positioned on the plate (31) and may be positioned between the first rib (32) and the second rib (33). The conveyor (40') may include a frame (41'), a rotating member (42'), and an air pad (43').

[0083] The frame (41') may have an overall square plate shape. A plurality of holes may be formed on the upper surface of the frame (41'), and the upper surface of the frame (41') having the holes may exhibit a grid pattern.

[0084] A rotary member (42') can be inserted into the hole of the frame (41') and can rotate. The rotary member (42') can be a roller (42') or a ball (42'). Each of the plurality of rotary members (42') can be inserted into each of the plurality of holes of the frame (41').

[0085] The air pad (43') can be inserted into a groove formed on the lower surface of the frame (41') and can support the rotating member (42') on the plate (31). Air can be injected into the air pad (43') by a pump or discharged to the outside from the air pad (43').

[0086] When air is injected into the air pad (43'), the volume of the air pad (43') can increase, and the rotating member (42') on the air pad (43') can protrude upward from the upper surface of the frame (41'). In this case, the object (Ob) on the rotating member (42') can be easily moved by the rotating member (42').

[0087] When air escapes from the air pad (43'), the volume of the air pad (43') can be reduced, and the rotating member (42') on the air pad (43') can be inserted into the frame (41') from the upper surface of the frame (41'). In this case, the object (Ob) on the upper surface of the frame (41') may not move well due to friction between the object (Ob) and the upper surface of the frame (41').

[0088] A pushing module (90) may be mounted on the supporter (30) adjacent to the first rib (32) or the second rib (33). The pushing module (90) may include a body (91), a belt (92), a first pulley (93), a second pulley (94), and a pusher (95). The body (91) may have a groove (91g) in which the belt (92) and the pulleys (93, 94) are mounted.

[0089] The first pulley (93) can be rotatably coupled to a groove (91g) of the body (91) adjacent to the rear end of the body (91). The rotational axis of the first pulley (93) can intersect the first and second ribs (32, 33). The rotational motor of the pushing module (90) can rotate the first pulley (93).

[0090] The second pulley (94) can be rotatably coupled to a groove (91g) of the body (91) adjacent to the front end of the body (91). The rotation axis of the second pulley (94) can be parallel to the rotation axis of the first pulley (93).

[0091] The belt (92) can be wound around the first pulley (93) and the second pulley (94). For example, the belt (92) can be gear-connected or in close contact with the pulleys (93, 94). The pusher (95) can be fixed to a portion of the belt (92). The pusher (95) can extend in a direction intersecting the first rib (32) and can be positioned above the conveyor (40').

[0092] Accordingly, the rotation motor of the pushing module (90) can rotate the first pulley (93), and the belt (92) and the second pulley (94) can rotate in response to the rotation of the first pulley (93). When the belt (92) rotates in the first rotation direction, the pusher (95) fixed to the belt (92) can move backward on the conveyor (40'). When the belt (92) rotates in the second rotation direction opposite to the first rotation direction, the pusher (95) fixed to the belt (92) can move forward on the conveyor (40'). The moving direction of the pusher (95) can intersect the rotational center axis of the rotary member (42').

[0093] For example, an object (Ob) can be positioned on a conveyor (40'), and a robot (1') can move toward a destination. In this case, air can be released from an air pad (43') so that a rotating member (42') can be inserted into the inside of a frame (41'), and the object (Ob) can be placed on the upper surface of the frame (41').

[0094] For example, an object (Ob) can be positioned on a conveyor (40'), and a robot (1') can put the object (Ob) down at a destination. In this case, air can be injected into an air pad (43') so that the rotating member (42') protrudes outward from the frame (41'), and the object (Ob) can be placed on the rotating member (42'). Then, a pusher (95) located in front of the object (Ob) can push the object (Ob) backward. Alternatively, a pusher (95) located in the rear of the object (Ob) can push the object (Ob) forward.

[0095] Meanwhile, the robot (1') can detect the loading and unloading of an object (Ob) using a plurality of proximity sensors (Ue, Uf, Ug, Uh). The description of the proximity sensors (Ua, Ub, Uc, Ud) mounted on the second rib (33) described above with reference to Fig. 14 can be applied to the proximity sensors (Ue, Uf, Ug, Uh) mounted on the first rib (32).

[0096]

[0097] Referring to FIGS. 1 to 16, a robot according to an aspect of the present disclosure may include: a base having wheels; a tray spaced apart from the base; and a lift assembly supporting the tray on the base, wherein the lift assembly may include: a motor mounted on the base; a gear fixed to a rotational axis of the motor; a lead screw extending long and rotatable by engaging with the gear; a guide shaft spaced apart from the lead screw in a direction crossing a longitudinal direction of the lead screw and extending in a longitudinal direction of the lead screw; and a slider coupled to the lead screw and the guide shaft so as to be movable in the longitudinal direction of the lead screw, wherein the tray is coupled to the slider and may be movable together with the slider in the longitudinal direction of the lead screw.

[0098] The above lift assembly may further include: a moving plate extending from the slider to the outside of the slider and movably coupled to the guide shaft, wherein the guide shaft may include: a plurality of guide shafts spaced apart from each other along the edge of the moving plate.

[0099] The above lift assembly may further include: a plurality of guide bushes fixed to the moving plate and spaced apart from each other along the edge of the moving plate, each of the plurality of guide bushes being capable of wrapping around an outer circumference of each of the plurality of guide shafts.

[0100] The above lift assembly may further include a fixed plate spaced apart from the moving plate in the longitudinal direction of the lead screw and to which ends of the plurality of guide shafts are fixed, and the moving plate may be movable in a direction toward or away from the fixed plate in response to the operation of the motor.

[0101] The above fixed plate can overlap the above moving plate in the longitudinal direction of the lead screw.

[0102] The above lift assembly may further include: a support shaft extending from the moving plate toward the tray and fixed to the tray, wherein the support shaft may include: a plurality of support shafts arranged alternately with the plurality of guide shafts.

[0103] The above tray may include: a supporter coupled to the slider; and a conveyor positioned on the supporter.

[0104] The conveyor may include: a drive motor mounted on the supporter; a head pulley fixed to a rotational axis of the drive motor; a tail pulley spaced from the head pulley; and a conveyor belt connecting the head pulley and the tail pulley, wherein the head pulley and the tail pulley may be rotatable about an axis intersecting the moving direction of the tray.

[0105] The conveyor may include: an air pad having a variable volume; a frame positioned on the air pad and having a plurality of holes; and a plurality of rotating members positioned in the plurality of holes and seated on the air pad, wherein the plurality of rotating members may protrude outward from the plurality of holes or be inserted into the plurality of holes, depending on the volume of the air pad.

[0106] The robot may further include a pushing module coupled to the supporter adjacent to one side of the supporter, and the pushing module may include a pusher movable in a direction intersecting the rotational axis of the rotating member on the frame.

[0107] The pushing module may further include: a body coupled to the supporter; a rotary motor mounted on the body; a first pulley fixed to a rotational axis of the rotary motor; a second pulley spaced apart from the first pulley in the moving direction of the pusher; and a belt connecting the first pulley and the second pulley, and the pusher may be fixed to a portion of the belt.

[0108] The robot may further include a control unit that controls the operation of the conveyor and the pushing module, wherein in a mode in which movement of the pusher is disabled, the control unit may extract air from the air pad so that the rotating member is inserted into the inside of the frame, and in a mode in which movement of the pusher is enabled, the control unit may inject air into the air pad so that the rotating member protrudes outward from the frame.

[0109] The supporter may further include: a plate on which the conveyor is mounted; a rib protruding from one side of the plate; and a proximity sensor mounted on one side of the rib facing the side of the conveyor and detecting the presence or absence of an object on the conveyor.

[0110] The conveyor may move an object positioned on the conveyor, and the proximity sensor may include a plurality of proximity sensors spaced apart from each other in the direction of movement of the object.

[0111] 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 and the motor based on information obtained from the sensor.

[0112]

[0113] 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.

[0114] 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.

[0115] 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 tray spaced apart from the above base; and, A lift assembly is included that supports the tray on the base, The above lift assembly: A motor mounted on the above base; A gear fixed to the rotational axis of the above motor; A long, rotatable lead screw that is engaged with the gear; A guide shaft spaced apart from the lead screw in a direction intersecting the longitudinal direction of the lead screw and extending in the longitudinal direction of the lead screw; and A slider is included that is connected to the lead screw and the guide shaft so as to be movable in the longitudinal direction of the lead screw, The above tray, A robot coupled to the above slider and capable of moving in the longitudinal direction of the lead screw together with the above slider.

2. In paragraph 1, The above lift assembly: Further comprising a moving plate extending from the slider to the outside of the slider and movably coupled to the guide shaft, The above guide shaft: A robot comprising a plurality of guide shafts spaced apart from each other along the edge of the moving plate.

3. In paragraph 2, The above lift assembly: Further comprising a plurality of guide bushes fixed to the moving plate and spaced apart from each other along the edge of the moving plate, Each of the above plurality of guide bushes, A robot that wraps around the outer surface of each of the above plurality of guide shafts.

4. In paragraph 2, The above lift assembly: Further comprising a fixed plate spaced apart from the moving plate in the longitudinal direction of the lead screw and to which the ends of the plurality of guide shafts are fixed, The above moving plate, A robot capable of moving toward or away from the fixed plate in response to the operation of the above motor.

5. In paragraph 4, The above fixed plate, A robot that overlaps the moving plate in the longitudinal direction of the lead screw.

6. In paragraph 2, The above lift assembly: Further comprising a support shaft extending from the moving plate toward the tray and fixed to the tray, The above support shaft: A robot comprising a plurality of support shafts arranged alternately with the plurality of guide shafts.

7. In paragraph 1, The above tray: A supporter coupled to the above slider; and, A robot comprising a conveyor positioned on the above supporter.

8. In paragraph 7, The above conveyor: A drive motor mounted on the above supporter; A head pulley fixed to the rotational axis of the above drive motor; a tail pulley spaced apart from the head pulley; and, Including a conveyor belt connecting the head pulley and the tail pulley, The above head pulley and the above tail pulley, A robot capable of rotating around an axis intersecting the direction of movement of the above tray.

9. In paragraph 7, The above conveyor: Air pads with variable volume; A frame positioned on the air pad and having a plurality of holes; and A plurality of rotating members positioned in the plurality of holes and mounted on the air pad, The above plurality of rotating members are, A robot that protrudes outward from the plurality of holes or is inserted into the plurality of holes, depending on the volume of the air pad.

10. In paragraph 9, Further comprising a pushing module coupled to the supporter adjacent to one side of the supporter, The above pushing module: A robot including a pusher that can move in a direction intersecting the rotational axis of the rotating member on the frame.

11. In paragraph 10, The above pushing module: A body coupled to the above supporter; A rotary motor mounted on the above body; A first pulley fixed to the rotation axis of the above rotation motor; A second pulley spaced apart from the first pulley in the direction of movement of the pusher; and Further comprising a belt connecting the first pulley and the second pulley, The above pusher, A robot fixed to a portion of the above belt.

12. In paragraph 10, Further comprising a control unit for controlling the operation of the conveyor and the pushing module, In the mode where the movement of the above pusher is disabled, the control unit, Air is removed from the air pad so that the rotating member is inserted into the inside of the frame, In the mode where the movement of the above pusher is activated, the control unit, A robot that injects air into the air pad so that the rotating member protrudes outward from the frame.

13. Following paragraph 7, The above supporters are: A plate on which the conveyor is mounted; A rib protruding from one side of the above plate; and, A robot further comprising a proximity sensor mounted on one side of the rib facing the side of the conveyor and detecting the presence or absence of an object on the conveyor.

14. In paragraph 13, The above conveyor, Move the object located on the conveyor above, The above proximity sensor: A robot comprising a plurality of proximity sensors spaced apart from each other in the direction of movement of the above object.

15. In paragraph 1, A sensor that detects the surroundings of the robot; and A robot further comprising a control unit that controls the operation of the wheel and the motor based on information obtained from the sensor.

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