EP-4741115-A1 - ROBOT EQUIPPED WITH SENSOR DEVICE

EP4741115A1EP 4741115 A1EP4741115 A1EP 4741115A1EP-4741115-A1

Abstract

A robot equipped with a sensor device is disclosed. The robot equipped with a sensor device, according to an embodiment of the present invention, is a robot for transporting a rolltainer, and comprises a robot body and a sensor device. The sensor device is disposed in the robot body. In addition, the sensor device according to an embodiment of the present invention comprises a length extension module and an obstacle sensor. The length of the length extension module is extended in one direction. The obstacle sensor is disposed in the length extension module. If a rolltainer is fastened to the robot body, a driving assembly provided in the sensor device is operated.

Inventors

SHIN, JIYONG
IM, Sanghyuk
PARK, JUHYUN
Han, Jongbeom
Cheon, Jeeyoung

Assignees

Bear Robotics Korea, Inc.

Dates

Publication Date: 20260513
Application Date: 20230706

Claims (19)

A robot configured to transport a rolltainer, the robot comprising: a robot body; and a sensor device disposed on the robot body, wherein the sensor device comprises: a length extension module configured to extend a length in one direction; and an obstacle sensor disposed on the length extension module, and wherein, when the rolltainer is coupled to the robot body, a driving assembly provided in the sensor device is configured to operate.
The robot of claim 1, wherein the length extension module comprises: a fixing plate; a first moving plate connected to the fixing plate and configured to move; a second moving plate connected to the first moving plate and configured to move; and the driving assembly configured to move the first moving plate in the one direction, wherein, when the first moving plate moves in the one direction, the second moving plate is configured to move in the one direction.
The robot of claim 2, wherein a first moving plate belt assembly is disposed on the first moving plate, wherein one side of a first moving plate belt provided in the first moving plate belt assembly is connected to the fixing plate, and wherein the other side of the first moving plate belt is connected to the second moving plate.
The robot of claim 3, wherein the first moving plate belt assembly is disposed on a one-side plate of the first moving plate, wherein the one-side plate of the first moving plate is located between bent portions, and wherein the bent portions are formed to be spaced apart from an upper end in a vertical direction by a predetermined distance.
The robot of claim 2, wherein a fixing plate guide rail is disposed on the fixing plate, wherein a first moving plate guide block is disposed on the first moving plate, and wherein the first moving plate guide block is configured to move along the fixing plate guide rail.
The robot of claim 2, wherein a first moving plate guide rail is disposed on the first moving plate, wherein a second moving plate guide block is disposed on the second moving plate, and wherein the second moving plate guide block is configured to move along the first moving plate guide rail.
The robot of claim 2, further comprising a third moving plate connected to the second moving plate and configured to move, and wherein, when the second moving plate moves in the one direction, the third moving plate is configured to move in the one direction.
The robot of claim 7, wherein the obstacle sensor is disposed on one end portion of the second moving plate or one end portion of the third moving plate.
The robot of claim 7, wherein a second moving plate belt assembly is disposed on the second moving plate, wherein one side of a second moving plate belt provided in the second moving plate belt assembly is connected to the first moving plate, and wherein the other side of the second moving plate belt is connected to the third moving plate.
The robot of claim 9, wherein the second moving plate comprises: a first bent portion; a second bent portion; and a third bent portion, wherein the first bent portion, the second bent portion, and the third bent portion are sequentially formed from an upper side toward a lower side, and wherein the second moving plate belt assembly is disposed between the third bent portion and a lower end of the second moving plate.
The robot of claim 7, wherein a second moving plate guide rail is disposed on the second moving plate, wherein a third moving plate guide block is disposed on the third moving plate, and wherein the third moving plate guide block is configured to move along the second moving plate guide rail.
The robot of claim 11, wherein the third moving plate comprises: a first bent portion; and a second bent portion, wherein the first bent portion and the second bent portion are sequentially formed from an upper side toward a lower side, and wherein the third moving plate guide block is disposed between an upper end of the third moving plate and the first bent portion.
The robot of claim 2, wherein the driving assembly comprises: a motor; and a motor gear connected to a rotation shaft of the motor, wherein the first moving plate comprises an other-side plate gear connected to the motor gear, and wherein, when the motor gear rotates by driving of the motor, the other-side plate gear is configured to move in the one direction.
The robot of claim 13, wherein the driving assembly further comprises a moving plate gear connected to the motor gear, and wherein the moving plate gear is configured to mesh with the other-side plate gear.
The robot of claim 2, wherein a plurality of length extension modules are provided, wherein the plurality of length extension modules comprise a first length extension module and a second length extension module, wherein the first length extension module and the second length extension module are disposed in a vertical direction with a moving plate gear of the driving assembly interposed therebetween, and wherein, when the moving plate gear rotates, a first moving plate of the first length extension module is configured to move in the one direction, and a first moving plate of the second length extension module is configured to move in a direction opposite to the one direction.
The robot of claim 1, wherein the sensor device is rotatably coupled to the robot body, wherein a housing of the sensor device comprises: a sensor device placement portion on which the sensor device is disposed; a housing protrusion rotatably coupled to a coupling portion provided in the robot body; and a rolltainer connection groove formed at a position facing the sensor device placement portion, wherein a rolltainer connection portion provided in the rolltainer is inserted into the rolltainer connection groove, wherein, when the rolltainer rotates, the rolltainer connection portion is configured to press side walls of the rolltainer connection groove, and the housing protrusion is configured to rotate by the pressing.
The robot of claim 16, wherein one or more bearings are disposed between an outer circumferential surface of the housing protrusion and an inner circumferential surface of the coupling portion provided in the robot body.
The robot of claim 1, wherein the sensor device comprises a sensor motor connected to the obstacle sensor, and wherein the obstacle sensor is configured to rotate by driving of the sensor motor.
The robot of claim 1, wherein an obstacle detection sensor is disposed on a front surface of the robot body.

Description

TECHNICAL FIELD The present disclosure relates to a robot including a sensor device. BACKGROUND A robot may transport goods using a rolltainer. Coupling methods by which a rolltainer is coupled to a robot include a fixed type and a towing type. FIGS. 1 to 4 illustrate examples in which a robot and a rolltainer are coupled in the fixed type, and FIG. 18 illustrates an example in which a robot and a rolltainer are coupled in the towing type. In FIGS. 1 to 4, reference numeral 1 denotes a robot, and reference numeral 2 denotes a rolltainer. In FIG. 4, reference symbol a denotes a sensing area sensed by a sensor mounted on the robot. When a rolltainer is coupled to a robot in the fixed type, the rolltainer is fixed to the robot, and the robot and the rolltainer move integrally. When a rolltainer is coupled to a robot in the towing type, the rolltainer is capable of rotating while being coupled to the robot. In general, a rolltainer is larger in size than a robot. When a rolltainer having a relatively large size is coupled to a robot having a relatively small size, the rolltainer blocks a sensing area of a sensor (for example, an obstacle detection sensor) mounted on the robot. As a result, the robot may collide with an obstacle around the robot, or the sensor may recognize the rolltainer mounted on the robot as an obstacle. Therefore, a device capable of expanding a sensing area of a sensor mounted on a robot is required. DISCLOSURE TECHNICAL PROBLEM An object of the present disclosure is to provide a robot including a sensor device. Another object of the present disclosure is to provide a sensor device including a length extension module. A further object of the present disclosure is to provide a length extension module having an extendable length. TECHNICAL SOLUTION The above-described objects of the present disclosure are achieved by the detailed description provided below. A robot according to examples of implementation states of the present disclosure is a robot configured to transport a rolltainer. The robot includes a robot body and a sensor device. The sensor device is disposed on the robot body. In addition, the sensor device according to examples of implementation states of the present disclosure includes a length extension module and an obstacle sensor. The length extension module is configured to extend a length in one direction. The obstacle sensor is disposed on the length extension module. When the rolltainer is coupled to the robot body, a driving assembly provided in the sensor device is configured to operate. The length extension module according to examples of implementation states of the present disclosure includes a fixing plate, a first moving plate, a second moving plate, and a driving assembly. The first moving plate is connected to the fixing plate and configured to move. The second moving plate is connected to the first moving plate and configured to move. The driving assembly is configured to move the first moving plate in one direction. When the first moving plate moves in the one direction, the second moving plate is configured to move in the one direction. Specifically, a first moving plate belt assembly is disposed on the first moving plate. One side of a first moving plate belt provided in the first moving plate belt assembly is connected to the fixing plate, and the other side of the first moving plate belt is connected to the second moving plate. Specifically, the first moving plate belt assembly is disposed on a one-side plate of the first moving plate. The one-side plate of the first moving plate is located between bent portions that are formed to be spaced apart from an upper end in a vertical direction by a predetermined distance. Specifically, a fixing plate guide rail is disposed on the fixing plate, and a first moving plate guide block is disposed on the first moving plate. The first moving plate guide block is configured to move along the fixing plate guide rail. Specifically, a first moving plate guide rail is disposed on the first moving plate, and a second moving plate guide block is disposed on the second moving plate. The second moving plate guide block is configured to move along the first moving plate guide rail. The length extension module according to examples of implementation states of the present disclosure further includes a third moving plate. The third moving plate is connected to the second moving plate and configured to move. When the second moving plate moves in the one direction, the third moving plate is configured to move in the one direction. Specifically, the obstacle sensor is disposed on one end portion of the second moving plate or one end portion of the third moving plate. Specifically, a second moving plate belt assembly is disposed on the second moving plate. One side of a second moving plate belt provided in the second moving plate belt assembly is connected to the first moving plate, and the other side of the second moving plate belt is co