KR-20260064697-A - robot

KR20260064697AKR 20260064697 AKR20260064697 AKR 20260064697AKR-20260064697-A

Abstract

A robot is disclosed. The robot 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 the rotation axis of the motor; a lead screw extending longitudinally and rotatable by engaging 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 longitudinally of the lead screw; and a slider coupled to the lead screw and the guide shaft so as to be movable longitudinally of the lead screw, wherein the tray may be coupled to the slider and movable longitudinally of the lead screw together with the slider.

Inventors

이학림
천지영

Assignees

주식회사 베어로보틱스코리아

Dates

Publication Date: 20260507
Application Date: 20230901

Claims (15)

A base equipped with a wheel; A tray spaced apart from the above base; and, It includes a lift assembly that supports the tray on the base, The above lift assembly is: A motor mounted on the above base; A gear fixed to the rotating shaft of the above motor; A lead screw that is extended and rotatable by engaging with the gear above; 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, It includes 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 above tray is, A robot coupled to the slider and capable of moving along the longitudinal direction of the lead screw together with the slider.
In Article 1, The above lift assembly is: It further includes a moving plate that extends from the slider to the outside of the slider and is movably coupled to the guide shaft. The above guide shaft is: A robot comprising a plurality of guide shafts spaced apart from each other along the edge of the moving plate.
In Article 2, The above lift assembly is: It further includes a plurality of guide bushes that are 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 is, A robot that wraps around the outer surface of each of the above-mentioned plurality of guide shafts.
In Article 2, The above lift assembly is: It further includes 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 is, A robot capable of moving in a direction closer to or further away from the fixed plate in response to the operation of the above motor.
In Paragraph 4, The above fixed plate is, A robot that overlaps with the moving plate in the longitudinal direction of the lead screw.
In Article 2, The above lift assembly is: It further includes a support shaft that extends from the moving plate toward the tray and is fixed to the tray, The above support shaft is: A robot comprising a plurality of support shafts arranged alternately with the plurality of guide shafts.
In Article 1, The above tray is: A supporter coupled to the above slider; and, A robot including a conveyor located on the above-mentioned support.
In Article 7, The above conveyor is: A drive motor mounted on the above supporter; A head pulley fixed to the rotation shaft of the above drive motor; A tail pulley spaced apart from the head pulley; and, It includes a conveyor belt connecting the head pulley and the tail pulley, The head pulley and the tail pulley mentioned above are, A robot capable of rotating around an axis intersecting the direction of movement of the above tray.
In Article 7, The above conveyor is: Variable volume air pad; A frame positioned on the above air pad and having a plurality of holes; and, It includes a plurality of rotating members located in the plurality of holes and seated on the air pad, The above plurality of rotating members are, A robot that protrudes outward from or is inserted into the plurality of holes depending on the volume of the air pad.
In Article 9, It further includes a pushing module coupled to the supporter adjacent to one side of the supporter, and The above pushing module is: A robot comprising a pusher movable on the frame in a direction intersecting the rotation axis of the rotating member.
In Article 10, The above pushing module is: A body coupled to the above supporter; A rotary motor mounted on the above body; A first pulley fixed to the rotation shaft of the above-mentioned rotary motor; A second pulley spaced apart from the first pulley in the direction of movement of the pusher; and, It further includes a belt connecting the first pulley and the second pulley, The above pusher is, A robot fixed to a part of the above belt.
In Article 10, It further includes a control unit that controls the operation of the conveyor and the pushing module, In a 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, and 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.
Continuing from Paragraph 7, The above supporter is: A plate on which the above conveyor is placed; 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.
In Article 13, The above conveyor is, Moving the object located on the above conveyor, The above proximity sensor is: A robot comprising a plurality of proximity sensors spaced apart from each other in the direction of movement of the above object.
In Article 1, A sensor that detects the surroundings of the above 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.

Description

Robot The present disclosure relates to a robot. In particular, the present disclosure relates to a robot used for transporting objects such as boxes. A robot refers to a machine capable of performing tasks autonomously. Robots have played a significant role in production automation and have recently evolved into intelligent robots. An intelligent robot is a robot that independently perceives its external environment, assesses the situation, and autonomously executes necessary tasks. Intelligent robots can be broadly classified into industrial robots and service robots. Unlike conventional industrial robots that perform tasks in environments isolated from humans, collaborative robots can assist or replace human work in the same space. These collaborative robots are increasing productivity by performing tasks while physically interacting with humans in the same environment. Service robots are improving the convenience of human life by providing various services within social infrastructure. Recently, much research has been conducted on these intelligent robots. In particular, sorting robots in logistics centers are used to move goods to specific locations. However, conventional sorting robots had a problem with limited usability due to their fixed height. FIGS. 1 to 16 are drawings illustrating examples of robots according to embodiments of the present disclosure. Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Identical or similar components regardless of drawing symbols are given the same reference number, and redundant descriptions thereof will be omitted. The suffixes "module" and "part" used for components in the following description are assigned or used interchangeably solely for the ease of drafting the specification, and do not inherently possess distinct meanings or roles. In addition, when describing the embodiments disclosed in this specification, if it is determined that a detailed description of related prior art may obscure the essence of the embodiments disclosed in this specification, such detailed description is omitted. Furthermore, the attached drawings are intended only to facilitate understanding of the embodiments disclosed in this specification, and the technical concept disclosed in this specification is not limited by the attached drawings; it should be understood that they include all modifications, equivalents, and substitutions that fall within the concept and technical scope of this disclosure. Terms including ordinal numbers, such as first, second, etc., may be used to describe various components, but said components are not limited by said terms. These terms are used solely for the purpose of distinguishing one component from another. When it is stated that one component is "connected" or "connected" to another component, it should be understood that while it may be directly connected or connected to that other component, there may also be other components in between. On the other hand, when it is stated that one component is "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between. A singular expression includes a plural expression unless the context clearly indicates otherwise. In this application, terms such as "comprising" or "having" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof. The direction indicators for up (U, y), down (D), left (Le, x), right (Ri), front (F, z), and back (R) shown in the drawings are for convenience of explanation only and do not limit the technical ideas disclosed in this specification. 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). A base (10) may be formed on the lower part of the robot (1). The base (10) may have a round or angular block or box shape overall and may be referred to as a body (10) or a 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). The pole (20) may extend upward from the base (10). For example, the pole (20) may be located in the center of the base (10) and may have a cylindrical shape overall. The tray (30, 40) may be opposite to the base (10) with respect to the pole (20) and may be connected to the pole (20). For example, the top of the pole (20) may be located in 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 tr