Unmanned pickup apparatus for handling large orders

Abstract

An unmanned pickup apparatus for handling large orders is disclosed. The unmanned pickup apparatus may comprise: a main body; a tray which is disposed on the main body and which can load a plurality of beverage containers; a gate disposed at the upper portion of the main body and positioned in front of the tray; and a driving device which is disposed inside the main body and which includes a single power source. The driving device moves the tray in a first axial direction, and moves the gate in the direction opposite to the moving direction of the tray.

Description

Automated receiving device for bulk orders

[0001] The present disclosure relates to an unmanned receiving device that supplies multiple beverages in response to bulk orders.

[0002] Recently, the number of unmanned cafes has been increasing. Unmanned cafes are equipped with unmanned beverage dispensing devices, unmanned retrieval devices, and robotic arms that transport beverage containers containing drinks prepared by the dispensing devices to the unmanned retrieval devices. The unmanned retrieval devices serve small quantities, in units of one cup per serving. The robotic arm has a limited working radius, and the overall spatial design of the unmanned retrieval device is carried out considering the working radius of the robotic arm. The robotic arm loads beverage containers containing drinks finished by the dispensing device onto the tray of the unmanned retrieval device. The unmanned retrieval device is equipped with a safety plate that covers the beverage containers to restrict customer access to the containers before retrieval. The safety plate moves to a location where the beverage can be transported before the beverage containers are moved to the retrieval location (e.g., a location where customers can retrieve the beverage containers).

[0003] An unmanned receiving device according to one embodiment of the present disclosure may include: a main body; a tray disposed on the upper part of the main body and capable of loading a plurality of beverage containers; a gate disposed on the upper part of the main body and located in front of the tray; and a driving device disposed inside the main body and comprising a single power source. The driving device may be configured to move the tray along a first axis direction and to move the gate in a direction opposite to the direction of movement of the tray.

[0004] The above driving device may include a first movable block and a second movable block that move the tray along the first axis direction; and a third movable block and a fourth movable block that move the gate along the first axis direction. The first movable block may receive driving force directly from the power source. The third movable block may receive driving force from the first movable block through a first power transmission unit. The fourth movable block may be configured to receive driving force from the second movable block through a second power transmission unit.

[0005] The above power source may include a linear motor.

[0006] The first movable block may be configured to be connected to the movable body of the linear motor moving along the first axis direction through a cam structure.

[0007] The first movable block may include a base member located on the upper side of the movable body of the linear motor. The cam structure may include a roller rotatably disposed on the upper side of the movable body; and an insertion groove provided in the base member into which the roller is inserted in a cam contact state.

[0008] The first power transmission unit may include a pair of first pulleys rotatably connected to the inside of the main body and spaced apart along the first axial direction; and a first drive belt connected to the pair of first pulleys, with the first movable block connected to a part of the belt and the third movable block connected to another part. The second power transmission unit may include a pair of second pulleys rotatably connected to the inside of the main body and spaced apart along the first axial direction; and a second drive belt connected to the pair of second pulleys, with the second movable block connected to a part of the belt and the fourth movable block connected to another part. The first movable block and the third movable block may move in opposite directions according to the driving of the first drive belt. The second movable block and the fourth movable block may be configured to move in opposite directions according to the driving of the second drive belt.

[0009] The first movable block may include a first tray support. The second movable block may include a second tray support. The first tray support may include a first coupling projection on its upper surface. The second tray support may include a second coupling projection on its upper surface. The tray may include a first coupling groove into which the first coupling projection is inserted and a second coupling groove into which the second coupling projection is inserted.

[0010] The first movable block may include a first tray support that supports a first side of the lower surface of the tray. The second movable block may include a second tray support that supports a second side opposite to the first side of the lower surface of the tray. The first tray support and the second tray support may each be configured to be detachably connected to the tray by magnetic force.

[0011] The first tray support may include a first magnet. The second tray support may include a second magnet. The tray may include a first magnetic body corresponding to the first magnet and a second magnetic body corresponding to the second magnet.

[0012] The main body may include: a first guide rail that guides the first movable block; a second guide rail that guides the second movable block and is parallel to the first guide rail at the same height as the first guide rail; a third guide rail that guides the third movable block and is positioned adjacent to the first guide rail and parallel to the first guide rail; a fourth guide rail that guides the fourth movable block and is positioned adjacent to the second guide rail and parallel to the second guide rail; and a frame structure that supports the first guide rail, the second guide rail, the third guide rail, and the fourth guide rail.

[0013] The first movable block may include a plurality of first bearings slidably coupled to the first guide rail. The second movable block may include a plurality of second bearings slidably coupled to the second guide rail.

[0014] The plurality of first bearings may be arranged in a zigzag pattern along the first guide rail so as to alternately contact one side and the other side of the first guide rail. The plurality of second bearings may be configured to be arranged in a zigzag pattern along the second guide rail so as to alternately contact one side and the other side of the second guide rail.

[0015] The lower right side and lower left side of the gate, respectively, can be configured to be connected to the third movable block and the fourth movable block.

[0016] The above-described unmanned receiving device may further include a drainage structure for collecting contents spilled from the beverage container. The drainage structure may include: a drainage plate disposed on the upper part of the main body; a drainage hole formed in the drainage plate; a drainage pipe connected to the drainage hole at the lower side of the drainage plate; and a collection container for collecting contents transported through the drainage pipe.

[0017] The portion where the drainage plate and the main body come into contact can be configured to have a watertight structure.

[0018] In relation to the description of the drawings, the same or similar reference numerals may be used for identical or similar components.

[0019] FIG. 1 is a block diagram showing an unmanned receiving device according to one embodiment of the present disclosure.

[0020] FIGS. 2 and FIGS. 3 are perspective views showing an unmanned receiving device according to one embodiment of the present disclosure.

[0021] FIG. 4 is a perspective view showing a tray of an unmanned receiving device according to one embodiment of the present disclosure.

[0022] FIGS. 5 and 6 are perspective views showing the frame structure of an unmanned receiving device according to one embodiment of the present disclosure.

[0023] FIGS. 7 and FIGS. 8 are perspective views showing a driving device of an unmanned receiving device according to one embodiment of the present disclosure.

[0024] FIG. 9 is an enlarged view showing the cam structure of an unmanned receiving device according to one embodiment of the present disclosure.

[0025] FIG. 10 is a front view showing the frame structure of an unmanned receiving device according to one embodiment of the present disclosure.

[0026] Figure 11 is an enlarged view showing part A indicated in Figure 10.

[0027] FIG. 12 is a cross-sectional view along the line C-C' shown in FIG. 11.

[0028] FIGS. 13 and FIGS. 14 are perspective views showing the drainage structure of an unmanned receiving device according to one embodiment of the present disclosure.

[0029] FIG. 15 is a drawing showing the operation of an unmanned receiving device according to one embodiment of the present disclosure.

[0030] Embodiments according to the present disclosure may be subject to various modifications and may have various embodiments; specific embodiments are illustrated in the drawings and described in detail in this specification. However, this is not intended to limit the scope to specific embodiments and should be understood to include various modifications, equivalents, and / or alternatives of one or more embodiments according to the present disclosure. In relation to the description of the drawings, similar reference numerals may be used for similar components.

[0031] In describing the present disclosure, detailed descriptions of related known functions or configurations are omitted if it is determined that such descriptions would unnecessarily obscure the essence of the present disclosure. Additionally, one or more embodiments according to the present disclosure may be modified in various different forms, and the scope of the technical concept of the present disclosure is not limited to the following embodiments. Rather, these embodiments are provided to make the present disclosure more faithful and complete and to fully convey the technical concept of the present disclosure to those skilled in the art.

[0032] The terms used in this disclosure are used merely to describe specific embodiments and are not intended to limit the scope of the rights. Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0033] In the present disclosure, expressions such as “have,” “may have,” “include,” or “may include” indicate the presence of such features (e.g., numerical values, functions, actions, or components such as parts) and do not exclude the presence of additional features.

[0034] In the present disclosure, expressions such as “A or B,” “at least one of A or / and B,” or “one or more of A or / and B” may include all possible combinations of items listed together. For example, “A or B,” “at least one of A and B,” or “at least one of A or B” may refer to cases including (1) at least one A, (2) at least one B, or (3) both at least one A and at least one B.

[0035] Expressions such as "first," "second," "first," or "second" used in this disclosure may modify various components regardless of order and / or importance, and are used only to distinguish one component from another and do not limit said components.

[0036] As used in this disclosure, the expression “configured to” may be replaced, depending on the context, with, for example, “suitable for,” “having the capacity to,” “designed to,” “adapted to,” “made to,” or “capable of.” The term “configured to” may not necessarily mean only “specifically designed to” in hardware.

[0037] In the present disclosure, a 'module' or 'part' performs at least one function or operation and may be implemented in hardware or software, or a combination of hardware and software. Additionally, a plurality of 'modules' or a plurality of 'parts' may be integrated into at least one module and implemented by at least one processor, except for a 'module' or 'part' that needs to be implemented in specific hardware.

[0038] Meanwhile, various elements and areas in the drawings are depicted schematically. Accordingly, the technical concept of the present disclosure is not limited by the relative sizes or spacing depicted in the attached drawings.

[0039] Hereinafter, with reference to the attached drawings, one or more embodiments according to the present disclosure are described in detail so that those skilled in the art can easily implement them.

[0040] FIG. 1 is a block diagram showing an unmanned receiving device (10) according to one embodiment of the present disclosure. FIG. 2 and FIG. 3 are perspective views showing an unmanned receiving device (10) according to one embodiment of the present disclosure. FIG. 4 is a perspective view showing a tray (70) of an unmanned receiving device (10) according to one embodiment of the present disclosure.

[0041] Referring to FIGS. 1, 2 and 3, an unmanned receiving device (10) according to one embodiment of the present disclosure may include a main body (11), a memory (41), a processor (43), a tray (70), a gate (90), and a driving device (100). The unmanned receiving device (10) is an electronic device that operates to allow a user to directly receive a product. Although various embodiments of the present disclosure have been illustrated and described based on a device for supplying beverages, it is not necessarily limited thereto and can be used to supply various types of products.

[0042] According to one embodiment, the main body (11) may include a frame structure (20, see FIG. 5), a display (30), a barcode recognition unit (31), and a sensor (32).

[0043] The frame structure (20) is a configuration for specifying the size and shape of the main body (11). For example, the frame structure (20) may include a plurality of frames arranged in horizontal and vertical directions to maintain a roughly rectangular shape and positioned inside the main body (11). The frame structure (20) can support the weight of the tray (70) and the weight of at least one beverage container loaded on the tray (70) (in this case, the beverage container is a beverage container containing contents such as beverages or ice). Additionally, the frame structure (20) can support the weight of the gate (90). The frame structure (20) is described in detail below with reference to the drawings (e.g., FIGS. 5 and 6).

[0044] For example, the display (30) may be placed on the outer surface of the main body (11) (e.g., the front of the main body (11)). The display (30) may be controlled by the processor (43) to display order information (e.g., the price of the ordered beverage, the beverage preparation status, a receipt notification, an error message, etc.). For example, the display (30) may include an LCD panel, an OLED panel, or an LED panel for outputting order information. The display (30) may include a touch screen panel capable of outputting order information and inputting order information. In this case, the user may input order information through the display (30) without inputting order information through a separately provided kiosk.

[0045] The barcode recognition unit (31) is configured to recognize the barcode of an external object. For example, the barcode recognition unit (31) may be placed on the outer surface of the main body (11) (e.g., the front of the main body (11)). The barcode recognition unit (31) can scan a barcode provided by a user and transmit the corresponding information to the processor (43). For convenience of explanation, the present disclosure has been illustrated and described as a barcode recognition unit (31), but the barcode recognition unit (31) may be implemented as a configuration to recognize various external objects, such as QR codes, holograms, and images, in addition to barcodes. For example, the barcode recognition unit (31) may include a laser scanner that recognizes barcodes using a laser beam, a CCD (charge coupled device) scanner that recognizes barcodes using an LED, an image scanner that recognizes up to 2D (2-dimensional) barcodes such as QR codes (quick response codes), or a wireless scanner capable of transmitting data via wireless communication (e.g., Bluetooth, Wi-Fi, etc.). In this embodiment, the barcode recognition unit (31) is described as such as assuming a case where a barcode is recognized, but the barcode recognition unit (31) may also be described using various other terms such as identification module, identification sensor, scanner, etc.

[0046] The sensor (32) may be at least one sensor other than the sensor included in the barcode recognition unit (31). For example, the sensor (32) may include a weight sensor placed on at least one of the first tray support (135) and the second tray support (145) that support the tray (70). The weight sensor can detect the weight of the tray (70) and the weight of the beverage container containing the contents (beverage and / or ice) loaded into the tray (70). The weight sensor may be controlled by the processor (43).

[0047] For example, the sensor (32) may be an image sensor capable of capturing a beverage container loaded on a tray (70) to obtain image information. The image sensor may be controlled by a processor (43). For example, the image sensor may include a micro-vision camera, an RGB camera, a depth camera, a stereo camera, a LiDAR (light detection and ranging), an infrared camera, and / or a ToF camera (time of flight).

[0048] Memory (41) is configured to store at least one instruction, operating system (O / S), program, and data required for the operation of the unmanned receiving device (10). Memory (41) may be configured separately from the processor (43), but is not limited thereto. Memory (41) may be implemented as internal memory such as ROM (e.g., EEPROM (electrically erasable programmable read-only memory)) or RAM included in the processor (43).

[0049] According to one embodiment, the memory (41) may be implemented in the form of a memory embedded in the robot device (10) for data storage purposes, or in the form of a memory that can be attached to and detached from the main body (11) of the unmanned receiving device (10). For example, memory (41) can be implemented in various forms such as volatile memory, SRAM (static RAM), or SDRAM (synchronous dynamic RAM), etc., non-volatile memory (e.g., OTPROM (one time programmable ROM), PROM (programmable ROM), EPROM (erasable and programmable ROM), EEPROM (electrically erasable and programmable ROM), mask ROM, flash ROM, flash memory, hard drive, or solid state drive (SSD), CF (compact flash), SD (secure digital), MicroSD (micro secure digital), Mini-SD (mini secure digital), xD (extreme digital), MMC (multi-media card), etc. In this disclosure, the term memory (41) may be used to include a storage unit, a ROM (not shown), a RAM (not shown) within a processor (43), or a memory card (not shown) mounted on a robot device (e.g., a micro SD card, a memory stick). Memory (41) can be implemented in various numbers.

[0050] The memory (41) is accessed by the processor (43). In the memory (41), reading, writing, modifying, deleting, updating, etc. of data by the processor (43) may be performed. For example, the memory (41) may store information to be displayed on the display (30) (e.g., order list, order price, etc.), information obtained by the barcode recognition unit (31) (e.g., user ID), information obtained by the sensor (32) (e.g., weight of the tray (70) and weight of the beverage container loaded on the tray (70) (in this case, the beverage container includes contents (beverage, beverage and ice), image information of the beverage container loaded on the tray (70), etc.), information about the linear motor (110) of the driving device (100), and programs and commands for controlling the operation of the unmanned receiving device (10) and other devices.

[0051] According to one embodiment, the memory (41) can store a plurality of previously trained artificial intelligence models. For example, the artificial intelligence models may be implemented as a Convolutional Neural Network (CNN), Long Short-Term Memory (LSTM), Deep Neural Network (DNN), Recurrent Neural Network (RNN), Restricted Boltzmann Machine (RBM), Deep Belief Network (DBN), Bidirectional Recurrent Deep Neural Network (BRDNN), etc., but are not limited to such examples. These artificial intelligence models are computing systems implemented based on the neural networks of human or animal brains, and may be referred to as learning models, machine learning models, neural network models, deep learning models, etc.

[0052] The processor (43) is a configuration for controlling the overall operation of the unmanned receiving device (10). For example, the processor (43) is connected to the configuration of an electronic device including a memory (41), and can control the overall operation of the electronic device by executing at least one instruction stored in the memory (41) as described above. In particular, the processor (43) can be implemented as a single processor as well as as a plurality of processors.

[0053] According to one embodiment, the processor (43) may be implemented as one or more IC (integrated circuit (or circuitry)) chips and may perform various data processing operations. The processor (43) may include at least one electrical circuit and may process instructions (or programs, data, etc.) stored in memory individually or collectively in a distributed manner.

[0054] According to one embodiment, the processor (43) may include a processor assembly comprising one or more processing circuits. The processor (43) may include any processing circuit that is operative to control the performance and operations of one or more components (e.g., memory and / or drive devices (motors, sensors)) of the unmanned receiving device (10). For example, the processor (43) (e.g., AP) may be implemented as a system on chip (SoC) (e.g., a single chip or a chipset). For example, the processor (43) may be implemented as multiple cores (or at least one core circuit), multiple chips, or multiple chipsets. For example, the processor (43) may include one or more processing circuits. And the processor (43) may include one or more processing circuits configured to perform the various functions of the present disclosure individually and / or collectively.

[0055] For example, the processor (43) may include a central processing unit (CPU), a graphics processing unit (GPU), a neural processing unit (NPU), an image signal processor (ISP), a display controller, a memory controller, a storage controller, a communication processor (CP), and / or a sensor interface. These components of the processor (43) are merely exemplary. The processor (43) may include additional components other than those described above. Additionally, some components of the processor (43) may be omitted. Furthermore, some components of the processor (43) may be included as separate components of the unmanned receiving device (10) outside of the processor (43). For example, some components of the processor (43) (e.g., a memory controller) may be included within other components (e.g., at least a portion of memory, an interface (e.g., available for connection to at least one component of the robot device (10)), a display).

[0056] According to one embodiment, the processor (43) can cause other components of the unmanned receiving device (10) to perform various operations by executing instructions stored in memory (41). The processor (43) processes setting values, function commands, etc. according to a control program or control data stored in memory (41), and can output control signals related to functions that the unmanned receiving device (10) can perform, or communication signals for communicating with an external electronic device (e.g., a beverage dispensing device and / or a robotic arm).

[0057] According to one embodiment, the processor (43) can control the driving of the linear motor (110) of the driving device (100) to control the position of the tray (70) based on information obtained by the sensor (32). For example, the information obtained by the sensor (32) may be the weight of the tray (70) for recognizing whether a specified beverage container is loaded on the tray (70), the weight of the beverage container containing contents, image information of the beverage container loaded on the tray (70), etc.

[0058] According to one embodiment, the processor (43) can control the linear motor (110) of the drive device (100) to move the tray (70) loaded with a beverage container from the initial position to the receiving position and from the receiving position to the initial position based on information detected by the sensor (32) at the initial position of the tray (e.g., the position for loading a beverage container onto the tray (70)).

[0059] According to one embodiment, a plurality of mounting grooves (73) may be provided on the upper surface (71) of the tray (70) so that one or more beverage containers (e.g., referred to as 1, 2, and 3 in FIG. 15) can be placed therein. The plurality of mounting grooves (73) may be arranged in a grid in two rows (e.g., in the x-axis direction of FIG. 2) and three columns (e.g., in the y-axis direction of FIG. 2). However, the plurality of mounting grooves (73) are not limited to the arrangement shown in FIG. 2 and may be arranged in various ways depending on the size of the tray (70) or the size of the plurality of mounting grooves (73). The coordinates of the plurality of mounting grooves (73) at the initial position of the tray (70) (e.g., two-dimensional coordinates or three-dimensional coordinates) may be stored in memory (41) or in memory (not shown) included in a beverage manufacturing device (not shown). A beverage manufacturing device is a device for manufacturing a beverage to be provided by an unmanned receiving device (10) and providing it to the unmanned receiving device (10). The beverage manufacturing device may be implemented as a separate device from the unmanned receiving device (10) or as an integral part. The beverage manufactured by the beverage manufacturing device may be placed in a beverage container and then loaded into a designated mounting groove (73) of a tray (70) by a robot arm.

[0060] Referring to FIG. 4, a plurality of first coupling grooves (76a) and a plurality of second coupling grooves (76b) may be provided on the lower surface (75) of the tray (70). For example, a plurality of first coupling grooves (76a) may be placed on one side of the lower surface (75) of the tray (70), and a plurality of second coupling grooves (76b) may be placed on the other side of the lower surface (75) of the tray (70). A plurality of first coupling grooves (76a) and a plurality of second coupling grooves (76b) may be arranged symmetrically with respect to each other.

[0061] For example, one side and the other side of the lower surface (75) of the tray (70) may be supported by a first tray support (135) and a second tray support (145), respectively, located on the upper surface of the main body (11). In this case, a plurality of first coupling protrusions (135a) provided on the first tray support (135) as shown in FIG. 2 may be inserted into a plurality of first coupling grooves (76a). A plurality of second coupling protrusions (145a) provided on the second tray support (145) as shown in FIG. 2 may be inserted into a plurality of second coupling grooves (76a). Accordingly, the tray (70) may be moved to an initial position and a receiving position without being separated from the first tray support (135) and the second tray support (145) when the first tray support (135) and the second tray support (145) move along the y-axis direction of the main body (11). For example, the first tray support (135) and the second tray support (145) can be moved along the y-axis direction of the main body (11) by the operation of the linear motor (110) of the driving device (100).

[0062] According to one embodiment, the tray (70) can be more firmly coupled to the first tray support (135) and the second tray support (145) by magnetic force. In this case, the first tray support (135) may include a first magnet (M1) and a second magnet (M2). The first magnet (M1) and the second magnet (M2) may be embedded in the first tray support (135) at a predetermined interval. The second tray support (145) may include a third magnet (M3) and a fourth magnet (M4). The third magnet (M3) and the fourth magnet (M4) may be embedded in the second tray support (145) at a predetermined interval. The tray (70) may include a first magnetic body (79a) and a second magnetic body (79b) corresponding to the first magnet (M1) and the second magnet (M2), and a third magnetic body (79c) and a fourth magnetic body (79d) corresponding to the third magnet (M3) and the fourth magnet (M4). The first, second, third, and fourth magnetic bodies (79a, 79b, 79c, 79d) may be embedded in the tray (70).

[0063] According to one embodiment, the gate (90) is positioned on the upper part of the main body (11) and can be moved along the y-axis direction of the main body (11) by a driving device (100). The initial position of the gate (90) is located adjacent to the front of the main body (11) to restrict user access to the tray (70) in the initial position. When the tray (70) is moved from the initial position to the receiving position by the driving device (100), the gate (90) can be moved in the opposite direction to the direction of movement of the tray (70). The gate (90) can move substantially simultaneously with the tray (70). The gate (90) can be positioned at the rear of the tray (70) so that the user can pick up the beverage container loaded on the tray (70) when the tray (70) is in the receiving position.

[0064] According to one embodiment, the gate (90) may be provided with a space (97) through which a central tray (70) and a beverage container loaded on the tray (70) can pass. The lower right portion (91) of the gate (90) may be positioned approximately parallel to the upper right portion (13) of the main body (11), and the lower left portion (92) of the gate (90) may be positioned approximately parallel to the upper left portion (15) of the main body (11).

[0065] According to one embodiment, the lower left portion (91) of the gate (90) may be connected to the upper portion (191a) of the third movable block (191, see FIG. 7) by a plurality of fasteners (95) (e.g., screws). The lower right portion (92) of the gate (90) may be connected to the upper portion (195a) of the fourth movable block (195, see FIG. 7) by a plurality of fasteners (95). The third movable block (191) and the fourth movable block (195) are components included in the driving device (100) and may be moved in a direction opposite to the direction of movement of the first tray support (135) and the second tray support (145). Accordingly, the gate (90) may be moved along the y-axis direction of the main body (11) together with the third movable block (191) and the fourth movable block (195).

[0066] According to one embodiment, the driving device (100) can move the tray (70) and the gate (90) simultaneously in opposite directions. The tray (70) may be connected to the first and second tray supports (135, 145) of the driving device (100), and the gate (90) may be connected to the third and fourth movable blocks (191, 195) of the driving device (100). The driving device (100) is described in detail below with reference to the drawings (e.g., FIGS. 7 and 8).

[0067] FIGS. 5 and FIGS. 6 are perspective views showing the frame structure (20) of an unmanned receiving device (10) according to one embodiment of the present disclosure.

[0068] Referring to FIGS. 5 and 6, a frame structure (20) according to one embodiment is disposed inside a main body (11) and may have a roughly rectangular shape. The frame structure (20) may include first, second, third, and fourth lower horizontal frames (21a, 21b, 21c, 21d), first, second, third, and fourth upper horizontal frames (23a, 23b, 23c, 23d), and first, second, third, and fourth vertical frames (25a, 25b, 25c, 25d), a motor support frame (26), a first pulley support frame (28), and a second pulley support frame (29).

[0069] According to one embodiment, the first, second, third, and fourth lower horizontal frames (21a, 21b, 21c, 21d) may be interconnected to form a roughly rectangular shape. The first lower horizontal frame (21a) may be positioned on the front side of the main body (11), the second lower horizontal frame (21b) may be positioned on the rear side of the main body (11), the third lower horizontal frame (21c) may be positioned on the right side of the main body (11), and the fourth lower horizontal frame (21d) may be positioned on the left side of the main body (11).

[0070] According to one embodiment, the first, second, third, and fourth upper horizontal frames (23a, 23b, 23c, 23d) may be positioned above the first, second, third, and fourth lower horizontal frames (21a, 21b, 21c, 21d) at a predetermined interval with respect to the first, second, third, and fourth lower horizontal frames (21a, 21b, 21c, 21d). In this case, the first, second, third, and fourth upper horizontal frames (23a, 23b, 23c, 23d) may correspond to the first, second, third, and fourth lower horizontal frames (21a, 21b, 21c, 21d), respectively.

[0071] According to one embodiment, the first, second, third, and fourth vertical frames (25a, 25b, 25c, 25d) can interconnect the four corners of the rectangle formed by the first, second, third, and fourth lower horizontal frames (21a, 21b, 21c, 21d) and the four corners of the rectangle formed by the first, second, third, and fourth upper horizontal frames (23a, 23b, 23c, 23d).

[0072] According to one embodiment, the first upper horizontal frame (23a) and the second upper horizontal frame (23b) can support the first guide rail (61) and the second guide rail (62). The first guide rail (61) can guide the first movable block (130) of the driving device (100) along the y-axis direction of the main body (11). The second guide rail (62) can guide the second movable block (140) of the driving device (100) along the y-axis direction of the main body (11).

[0073] According to one embodiment, the first and second guide rails (61, 62) may be arranged parallel to each other along the y-axis direction of the main body (11). The first guide rail (61) may be arranged adjacent to the third upper horizontal frame (23c), and the second guide rail (62) may be arranged adjacent to the fourth upper horizontal frame (23d). Both ends of the first guide rail (61) may be connected to the first and second upper horizontal frames (23a, 23b), respectively. Both ends of the second guide rail (62) may be connected to the first and second upper horizontal frames (23a, 23b), respectively.

[0074] According to one embodiment, the load caused by the weight of the tray (70) and the weight of the beverage container loaded on the tray (70) (e.g., a beverage container with contents loaded) can be distributed through the first and second upper horizontal frames (23a, 23b) to the first, second, third, and fourth vertical frames (25a, 25b, 25c, 25d) and then transferred to the first, second, third, and fourth lower horizontal frames (21a, 21b, 21c, 21d).

[0075] According to one embodiment, the third upper horizontal frame (23c) and the fourth upper horizontal frame (23d) can support the third guide rail (63) and the fourth guide rail (64). The third guide rail (63) can guide the third movable block (191) of the driving device (100) along the y-axis direction of the main body (11). The fourth guide rail (64) can guide the fourth movable block (195) of the driving device (100) along the y-axis direction of the main body (11). A first slider (193) connected to the third movable block (191) can be movably coupled to the third guide rail (63). A second slider (197) connected to the fourth movable block (195) can be movably coupled to the fourth guide rail (64).

[0076] According to one embodiment, the third guide rail (63) may be positioned along the upper surface of the third upper horizontal frame (23c). The fourth guide rail (64) may be positioned along the upper surface of the fourth upper horizontal frame (23d). The load due to the weight of the gate (90) may be distributed through the third and fourth upper horizontal frames (23c, 23d) to the first, second, third, and fourth vertical frames (25a, 25b, 25c, 25d) and then transferred to the first, second, third, and fourth lower horizontal frames (21a, 21b, 21c, 21d).

[0077] According to one embodiment, the motor support frame (26) may be supported by a first lower horizontal frame (21a) and a second lower horizontal frame (21b). In this case, both ends of the motor support frame (26) may be connected to the first and second lower horizontal frames (21a, 21b), respectively. The motor support frame (26) may be positioned adjacent to a third lower horizontal frame (21c) along the y-axis direction of the main body (11). The linear motor (110) of the driving device (100) may be positioned along the upper surface of the motor support frame (26).

[0078] According to one embodiment, the first pulley support frame (28) can rotatably support a pair of first pulleys (171, 172) of the drive device (100). The first pulley support frame (28) is coupled to the lower surface of the third upper horizontal frame (23c) and can be positioned approximately parallel to the third upper horizontal frame (23c). The second pulley support frame (29) can rotatably support a pair of second pulleys (181, 182) of the drive device (100). The second pulley support frame (29) is coupled to the lower surface of the fourth upper horizontal frame (23d) and can be positioned approximately parallel to the fourth upper horizontal frame (23d).

[0079] FIGS. 7 and 8 are perspective views showing a driving device (100) of an unmanned receiving device (10) according to one embodiment of the present disclosure. FIG. 9 is an enlarged view showing a cam structure of an unmanned receiving device (10) according to one embodiment of the present disclosure.

[0080] Referring to FIGS. 7 and 8, a driving device (100) according to one embodiment may include a linear motor (110), a first movable block (130), a second movable block (140), a third movable block (191), a fourth movable block (195), a first power transmission unit (170), and a second power transmission unit (180).

[0081] According to one embodiment, a linear motor (110) can serve as a power source for a driving device (100). The linear motor (110) can move the first movable block (130) forward (e.g., towards the front of the main body (11)) and backward (e.g., towards the rear of the main body (11)) along the first guide rail (61, see FIG. 5). For example, the linear motor (110) may include a linear synchronous motor, a linear induction motor, a linear stepping motor, or a linear reluctance motor.

[0082] According to one embodiment, the linear motor (110) may include a movable body (111) that moves along the y-axis direction of the main body (11) as shown in FIG. 9, and a roller (115) rotatably connected to the upper part of the movable body (111). The roller (115) may be connected to a first base member (131) of a first movable block (130). For example, the roller (115) may be inserted in a cam contact state into an insertion groove (131b) formed in the lower part of the first base member (131) of the first movable block (130).

[0083] According to one embodiment, when the movable body (111) moves along the y-axis direction of the main body (11), the first base member (131) of the first movable block (130), connected via a roller (115), can move along the y-axis direction of the main body (11) together with the movable body (111). In this way, as the movable body (111) of the linear motor (110) and the first base member (131) of the first movable block (130) are interconnected by the cam structure described above, the load caused by the weight of the tray (70) and the weight of the beverage container loaded on the tray (70) can be substantially blocked or minimized from being transmitted to the linear motor (110). Therefore, since the linear motor (110) receives only the load in the transport direction of the tray (70), the required specifications of the linear motor (110) can be lowered, thereby reducing manufacturing costs. In addition, the tray (70) and the gate (90) can be driven simultaneously using a single linear motor (110).

[0084] According to one embodiment, the first movable block (130) can transmit the driving force generated from the linear motor (110) to the tray (70) to move the tray (70) in the y-axis direction of the main body (11). The first movable block (130) may include a first base member (131), first, second, and third assembly members (132, 133, 134), and a first tray support (135).

[0085] According to one embodiment, the first base member (131) may be connected to a portion of the first drive belt (173) through a connecting projection (131a) disposed on one side. For example, a portion of the first drive belt (173) may pass through the connecting projection (131a). In this case, the portion of the first drive belt (173) may be bonded to the connecting projection (131a) by an adhesive. When the first base member (131) moves toward the front or rear of the main body (11), the first drive belt (173) may be rotated forward or backward while supported by a pair of first pulleys (171, 172).

[0086] According to one embodiment, an extension (192) of the third movable block (191) may be connected to another part of the first drive belt (173). For example, another part of the first drive belt (173) may pass through the extension (192) of the third movable block (191). In this case, the other part of the first drive belt (173) may be bonded to the extension (192) of the third movable block (191) by an adhesive. Accordingly, when the first base member (131) of the first movable block (130) moves toward the front or rear of the main body (11), the third movable block (191) may be moved by the first drive belt (173) in the opposite direction to the direction in which the first base member (131) of the first movable block (130) moves.

[0087] According to one embodiment, the first, second, and third assembly members (132, 133, 134) may be interconnected to surround the first guide rail (61, see FIG. 5). For example, the first assembly member (132) may be fixed to the upper surface of the first base member (131), and the second assembly member (133) may be connected to the first assembly member (132). When the first and second assembly members (132, 133) are connected, they may form a roughly "C" shape. The third assembly member (134) may be connected to the second assembly member (133), and the first tray support (135) may be attached. For example, the first and second assembly members (132, 133) or the first to third assembly members (132, 133, 134) may be formed as a single unit.

[0088] According to one embodiment, the second movable block (140) may be connected to the first movable block (130) through a pair of connecting bars (161, 162). Accordingly, the second movable block (140) may be moved in the same direction as the first movable block (130) when the first movable block (130) moves. The second movable block (140) may include a second base member (141), fourth, fifth, and sixth assembly members (142, 143, 144), and a second tray support (145). The second movable block (140) may include a structure substantially identical to the first movable block (130), except for a cam structure.

[0089] According to one embodiment, the second base member (141) may be connected to the first base member (131) by a pair of connecting bars (161, 162) arranged along the x-axis direction of the main body (11). The second base member (141) may be connected to a part of the second drive belt (183) through a connecting projection (141a) arranged on one side. For example, a part of the second drive belt (183) may pass through the connecting projection (141a). In this case, the part of the second drive belt (183) may be bonded to the connecting projection (141a) by an adhesive. When the second base member (141) moves toward the front or rear of the main body (11), the second drive belt (183) may be rotated forward or backward while supported by a pair of second pulleys (181, 182).

[0090] According to one embodiment, an extension (196) of the fourth movable block (195) may be connected to another part of the second drive belt (183). For example, another part of the second drive belt (183) may pass through the extension (196) of the fourth movable block (195). In this case, the other part of the second drive belt (183) may be bonded to the extension (196) of the fourth movable block (195) by an adhesive. Accordingly, when the second base member (141) of the second movable block (140) moves toward the front or rear of the main body (11), the fourth movable block (195) may be moved by the second drive belt (183) in the opposite direction to the direction in which the second base member (141) of the second movable block (140) moves.

[0091] According to one embodiment, the fourth, fifth, and sixth assembly members (142, 143, 144) may be interconnected to surround the second guide rail (62, see FIG. 5). For example, the fourth assembly member (142) may be fixed to the upper surface of the second base member (141), and the fifth assembly member (143) may be connected to the fourth assembly member (142). When the fourth and fifth assembly members (142, 143) are connected, they may form a roughly "C" shape. The sixth assembly member (144) may be connected to the fifth assembly member (143), and the second tray support (145) may be attached. For example, the fourth and fifth assembly members (142, 143) or the fourth to sixth assembly members (142, 143, 144) may be formed as a single unit.

[0092] According to one embodiment, the upper end (191a) of the third movable block (191) is connected to the lower right end (91) of the gate (90), and the lower end of the third movable block (191) can be connected to the first drive belt (173) through an extension (192). The upper end (191a) of the third movable block (191) can be slidably inserted into a first slot (14, see FIG. 2) formed along the y-axis direction of the main body (11) on the upper right end (13, see FIG. 2) of the main body (11). The third movable block (191) can be moved along the third guide rail (63) through the first slider (193).

[0093] According to one embodiment, the fourth movable block (195) may be configured substantially identically to the third movable block (191). For example, the lower left portion (92) of the gate (90) may be connected to the upper portion (195a) of the fourth movable block (195), and the lower portion of the fourth movable block (195) may be connected to the second drive belt (183) through an extension portion (196). The upper portion (195a) of the fourth movable block (195) may be slidably inserted into a second slot (16, see FIG. 2) formed along the y-axis direction of the main body (11) on the upper left portion (15, see FIG. 2) of the main body (11). The fourth movable block (195) may be moved along the fourth guide rail (64) via a second slider (197).

[0094] FIG. 10 is a front view showing the frame structure (20) of an unmanned receiving device (10) according to one embodiment of the present disclosure. FIG. 11 is an enlarged view showing part A indicated in FIG. 10. FIG. 12 is a cross-sectional view along the line C-C' indicated in FIG. 11.

[0095] Referring to FIGS. 10, 11, and 12, a plurality of bearings (66a, 66b) that slide along a first guide rail (61) may be disposed in the third assembly member (134) of the first movable block (130). For example, a plurality of plates (65a) may be disposed in the third assembly member (134) of the first movable block (130), and a plurality of central axes (65b) arranged in a zigzag shape at regular intervals may be provided on the lower surface of each plate (65a). The plurality of central axes (65b) may be arranged along the z-axis direction. A plurality of bearings (66a, 66b) may be rotatably connected to each of the plurality of central axes (65b).

[0096] According to one embodiment, a plurality of bearings (66a, 66b) may be arranged in a zigzag shape. Some of the bearings (66a, 66b) may be in contact with one side (61a) of the first guide rail (61), and the remaining bearings (66b) may be in contact with the other side (61b) facing the one side (61a) of the first guide rail (61). Accordingly, when the first movable block (130) moves along the first guide rail (61), it may be moved in a straight line without shaking in the left-right direction (e.g., the x-axis direction of the main body (11)) due to machining tolerances and / or assembly tolerances.

[0097] According to one embodiment, the second movable block (140) may include a plurality of bearings (not shown) substantially identical to the plurality of bearings (66a, 66b) provided in the first movable block (130). The second movable block (140) may be slidably positioned on the second guide rail (62) by means of the plurality of bearings.

[0098] FIGS. 13 and FIGS. 14 are perspective views showing a drainage structure (200) of an unmanned receiving device (10) according to one embodiment of the present disclosure.

[0099] According to one embodiment, the unmanned receiving device (10) may include a drainage structure (200) that can block the flow of contents (e.g., coffee, juice, water, etc.) into the main body (11) and collect the contents when the contents of a beverage container loaded on the tray (70) overflow or the contents spill out when the tray (70) is moving.

[0100] According to one embodiment, the drainage structure may include a drainage plate (210), a plurality of drainage holes (231, 232, 233, 234), a plurality of drainage pipes (251, 252, 253, 254), and a collection container (270).

[0101] According to one embodiment, the drainage plate (210) is positioned on the upper part of the main body (11), and the right and left sides of the drainage plate (210) may be positioned adjacent to the upper right side (13) and upper left side (15) of the main body (11), respectively, as shown in FIG. 1. In this case, the portion where the right side of the drainage plate (210) contacts the upper right side (13) of the main body (11) is configured to be watertight so that no gap is formed, and the portion where the right side of the drainage plate (210) contacts the upper left side (15) of the main body (11) may be configured to be watertight so that no gap is formed. Additionally, the front and rear sides of the drainage plate (210) may be positioned to contact the upper front side (17) and upper rear side (18) of the main body (11), respectively. In this case, the portion where the front side of the drainage plate (210) and the upper front portion (17) of the main body (11) come into contact is configured to be watertight so that no gap is formed, and the portion where the rear side of the drainage plate (210) and the upper rear portion (18) of the main body (11) come into contact is configured to be watertight so that no gap is formed.

[0102] According to one embodiment, a plurality of drainage holes (231, 232, 233, 234) may be formed in the drainage plate (210). For example, the plurality of drainage holes (231, 232, 233, 234) may be positioned approximately adjacent to the corner portions of the drainage plate (210). In this case, the drainage plate (210) may be configured such that the area where the plurality of drainage holes (231, 232, 233, 234) are located is positioned slightly lower than the center portion of the drainage plate (210). Accordingly, contents spilled on the drainage plate (210) can flow smoothly along the upper surface of the drainage plate (210) into the plurality of drainage holes (231, 232, 233, 234). In the present disclosure, the number of drainage holes (231, 232, 233, 234) is described as four, but is not limited thereto. For example, there may be at least one drainage hole.

[0103] According to one embodiment, the upper ends of a plurality of drain pipes (251, 252, 253, 254) may each be connected to a plurality of drain holes (231, 232, 233, 234) on the lower side of a drain plate (210). The lower ends of the plurality of drain pipes (251, 252, 253, 254) may be located within a collection container (270) located inside the main body (11). Accordingly, contents flowing into the plurality of drain holes (231, 232, 233, 234) may be collected into the collection container (270) along the plurality of drain pipes (251, 252, 253, 254). For example, the collection container (270) may be fixed to a part of the frame structure (20).

[0104] FIG. 15 is a drawing showing the operation of an unmanned receiving device (10) according to one embodiment of the present disclosure.

[0105] Referring to FIG. 15, a beverage manufacturing device (not shown) can manufacture beverages according to a single order or a large order entered through a kiosk (not shown). For example, when a large order is entered, the beverage manufacturing device can manufacture the beverage according to the first order and then load the first beverage container (1) containing the beverage into a designated area among a plurality of mounting grooves (73) provided in the tray (70) of the unmanned receiving device (10) according to one embodiment of the present disclosure through a robotic arm (not shown). In this process, the remaining beverage containers (2, 3) containing beverages prepared according to the remaining orders can be sequentially loaded into the designated plurality of mounting grooves (73) of the tray (70) of the unmanned receiving device (10).

[0106] When all beverage containers (1, 2, 3) for a bulk order are loaded onto the tray (70), the processor (43, see FIG. 1) can control the display (30) to provide a notification to the user to pick up the beverage containers. When the ID of the user who ordered the beverage is identified by the barcode recognition unit (31) of a separate kiosk or unmanned pickup device (10), the processor (43) can control the drive device (100) to move the tray (70) to a position where the orderer can pick up the beverage containers (1, 2, 3). In this case, the gate (90) can be moved by the drive device (100) in the opposite direction of the tray's movement simultaneously with the tray (70) moving to the beverage container pickup position.

[0107] The processor (43) can recognize whether the beverage containers (1, 2, 3) loaded on the tray (70) have been received through the sensor (32, see FIG. 1). When the processor (43) recognizes through the sensor (32) that all the beverage containers (1, 2, 3) have been received from the tray (70), the processor (43) can control the drive device (100) to move the tray (70) and the gate (90) to their respective initial positions simultaneously.

[0108] Although the embodiments have been described above with reference to limited embodiments and drawings, those skilled in the art can make various modifications and variations from the description above. For example, appropriate results may be achieved even if the described techniques are performed in a different order than described, and / or if the components of the described system, structure, device, circuit, etc. are combined or assembled in a form different from described, or replaced or substituted by other components or equivalents. Therefore, other implementations, other embodiments, and equivalents to the claims below also fall within the scope of the claims.

Claims

1. In an unmanned receiving device, entity; A tray disposed on the above main body and capable of loading a plurality of beverage containers; A gate disposed on the main body and located at the front of the tray; and A driving device disposed in the above main body and comprising a single power source; comprising, The above driving device is, An unmanned receiving device configured to move the tray along a first axis direction and move the gate in the opposite direction to the direction of movement of the tray.

2. In Paragraph 1, The above driving device is, A first movable block and a second movable block for moving the tray along the first axis direction; and It includes a third movable block and a fourth movable block that move the gate along the first axis direction; and The first movable block above receives driving force directly from the power source, and The above third movable block receives driving force from the first movable block through the first power transmission unit, and An unmanned receiving device configured such that the above-mentioned fourth operating block receives driving power from the above-mentioned second operating block through the second power transmission unit.

3. In Paragraph 2, The above power source is, An unmanned receiving device including a linear motor.

4. In Paragraph 3, The above-mentioned first movable block is, An unmanned receiving device configured to be connected to the movable body of the linear motor moving along the first axis direction through a cam structure.

5. In Paragraph 4, The above-mentioned first movable block is, It includes a base member located on the upper side of the movable body of the above linear motor, and The above cam structure is, A roller rotatably disposed on the upper part of the above-mentioned movable body; and An unmanned receiving device comprising: an insertion groove provided in the base member into which the roller is inserted in a cam contact state.

6. In Paragraph 2, The above-mentioned first power transmission unit is, A pair of first pulleys rotatably connected to the inner side of the main body and spaced apart along the first axial direction; and A first drive belt connected to the above pair of first pulleys, with the first movable block connected to a part of the belt and the third movable block connected to another part of the belt; The above second power transmission unit is, A pair of second pulleys rotatably connected to the inner side of the main body and spaced apart along the first axis direction; and A second drive belt connected to the pair of second pulleys, with the second movable block connected to a part of the belt and the fourth movable block connected to another part; The first movable block and the third movable block move in opposite directions according to the driving of the first drive belt, and An unmanned receiving device in which the second operating block and the fourth operating block are configured to move in opposite directions according to the driving of the second driving belt.

7. In Paragraph 2, The above-mentioned first movable block includes a first tray support, and The above-mentioned second movable block includes a second tray support, and The above first tray support includes a first coupling projection on its upper surface, and The above second tray support includes a second coupling projection on its upper surface, and The above tray is an unmanned receiving device comprising a first coupling groove into which the first coupling projection is inserted and a second coupling groove into which the second coupling projection is inserted.

8. In Paragraph 7, The above-mentioned first movable block is, It includes a first tray support that supports the first side of the lower surface of the above tray, and The above second movable block is, It includes a second tray support that supports the second side opposite to the first side of the lower surface of the tray, and An unmanned receiving device, wherein the first tray support and the second tray support are each configured to be detachably connected to the tray by magnetic force.

9. In Paragraph 8, The above first tray support includes a first magnet, and The above second tray support includes a second magnet, and The above tray is, An unmanned receiving device comprising a first magnetic body corresponding to the first magnet and a second magnetic body corresponding to the second magnet.

10. In Paragraph 2, The above main body is, A first guide rail that guides the first movable block; A second guide rail that guides the second movable block and is parallel to the first guide rail at the same height as the first guide rail; A third guide rail that guides the third movable block and is positioned adjacent to the first guide rail and parallel to the first guide rail; A fourth guide rail that guides the fourth movable block and is positioned adjacent to the second guide rail and parallel to the second guide rail; and An unmanned receiving device comprising a frame structure supporting the first guide rail, the second guide rail, the third guide rail, and the fourth guide rail.

11. In Paragraph 10, The first movable block includes a plurality of first bearings slidably coupled to the first guide rail, and An unmanned receiving device, wherein the second movable block comprises a plurality of second bearings slidably coupled to the second guide rail.

12. In Paragraph 11, The above plurality of first bearings are, Arranged in a zigzag pattern along the first guide rail so as to alternately contact one side and the other side of the first guide rail, The above plurality of second bearings are, An unmanned receiving device configured to be arranged in a zigzag pattern along the second guide rail so as to alternately contact one side and the other side of the second guide rail.

13. In Paragraph 2, The lower right side and lower left side of the above gate, respectively, are: An unmanned receiving device configured to be connected to the above-mentioned third operating block and the above-mentioned fourth operating block.

14. In Paragraph 1, It further includes a drainage structure for collecting contents spilled from the above beverage container, and The above drainage structure is, A drainage plate positioned on the upper part of the above main body; A drainage hole formed in the above drainage plate; A drain pipe connected to the drain hole at the lower side of the drain plate; and An unmanned receiving device comprising a collection container for collecting contents transported through the above drain pipe.

15. In Paragraph 14, An unmanned receiving device configured such that the portion in contact between the drainage plate and the main body has a watertight structure.

Images