Patent Description:
A robot is a machine that automatically processes or operates a given task by own capabilities thereof, and the application fields of robots can be generally classified into industrial, medical, space, subsea use, and the like and can be used in various fields.

In order to deliver items using a robot, a robot that can move indoors and outdoors and a delivery box that can store items such as items may be needed, and the robot and the delivery box can communicate with each other and the robot docks with the delivery box, the delivery boxes should be able to move items to the robot. In addition, the robot should be able to transport items to its destination, such as in front of the house.

Related robot systems are disclosed e.g. in <CIT>, <CIT>, <CIT>, <CIT> or <CIT>.

Embodiments provide a robot system capable of safely and quickly transporting items stored inside the station body to the exit of the station body.

Embodiments provide a robot system capable of maximizing the size of items stored in a station body.

A robot system according to one embodiment comprises a station body on which an object is placed; a first robot having a lifter that lifts the object placed on the station body and disposed to move in a first direction on the station body; and a second robot disposed on the station body to move in a second direction different from the first direction and having a seating body on which the first robot is seated.

The station body may comprise a first guide rail having a height lower than a height of the transport object and on which the first robot is guided.

The station body may further include a second guide rail having a height lower than a height of the first guide rail and guiding the second robot.

The first guide rail may be disposed long in the front and back direction, and the second guide rail may be disposed long in the left and right direction.

The robot system further comprising a lifting mechanism for lifting the second robot guided by the second guide rail.

A robot charger for charging the first robot or the second robot may be disposed in the station body.

A second robot charger for charging the second robot may be disposed in the station body.

A first robot charger for charging the first robot may be disposed in the station body.

The station body may comprise an outlet.

The robot system further comprises a pusher pushing an item placed on the object; and a conveyor for transferring the item pushed by the pusher to the outlet of the station body.

The first robot further comprises a first robot body on which the lifter is disposed; an in-wheel motor disposed on the first robot body; and a proximity sensor disposed on the first robot body.

The first robot may further comprise a guide roller disposed on the first robot body and rolling along the station body or the second robot.

The first robot further may comprise a magnet installed on the bottom of the first robot body.

The second robot further may comprise a hall sensor for sensing the magnet.

The first robot further may comprise a first battery disposed in the first robot body; a charging terminal electrically connected to the first battery.

The lifter may comprise a lift plate, and the charging terminal is arranged to be lifted together with the lift plate.

The second robot may further comprise a supply terminal to which the charging terminal comes in contact.

The lifter may comprise a lift plate that lifts a object; a guide plate coupled to the lift plate; a lift bush disposed on the guide plate; and an actuator disposed on the first robot body to lift the lift bush.

A first robot accommodating space accommodating at least a portion of the first robot is formed in the seating body.

The first robot may comprise a wheel, and a wheel accommodating portion is formed in the seating body to which a portion of the wheel is inserted and caught.

The second robot may comprise a second robot body on which the seating body is disposed; a wheel arranged to rotate on the second robot body; a motor that rotates the wheel; a second battery disposed in the second robot body; and an inner proximity sensor disposed on the second body to sense the first robot.

An accommodating portion accommodating the driving portion of the lifter may be formed in the second robot body.

The second robot may further comprise an outer proximity sensor disposed on the second robot body.

A robot system according to another embodiment comprises a station body in which an outlet through which item passes is formed and a frame is disposed therein; a guide rail disposed on the frame; a robot guided along the guide rail and carrying the item; a lifting mechanism for lifting the robot guided by the guide rail; a pusher pushing item on the robot; and a conveyor for conveying the item pushed by the pusher to the outlet.

The robot may comprise a first robot moving in a first direction along the guide rail; and a second robot having a seating body on which the first robot is seated and moving along the guide rail in a second direction different from the first direction,.

The robot is raised to a height of the guide rail by the lifting mechanism and moves to the guide rail in a state in which the first robot is seated on the second robot.

The first robot may comprise a lifter that lifts an item.

The first robot may lift the item in a third direction perpendicular to the first and second directions in a state in which the first robot is separated from the second robot.

Hereinafter, detailed embodiments will be described in detail with reference to the accompanying drawings.

A robot may refer to a machine that automatically processes or operates a given task by its own ability. In particular, a robot having a function of recognizing an environment and performing a self-determination operation may be referred to as an intelligent robot.

Robots may be classified into industrial robots, medical robots, home robots, military robots, and the like according to the use purpose or field.

The robot includes a driving unit may include an actuator or a motor and may perform various physical operations such as moving a robot joint. In addition, a movable robot may include a wheel, a brake, a propeller, and the like in a driving unit, and may travel on the ground through the driving unit or fly in the air.

Artificial intelligence refers to the field of studying artificial intelligence or methodology for making artificial intelligence, and machine learning refers to the field of defining various issues dealt with in the field of artificial intelligence and studying methodology for solving the various issues. Machine learning is defined as an algorithm that enhances the performance of a certain task through a steady experience with the certain task.

An artificial neural network (ANN) is a model used in machine learning and may mean a whole model of problem-solving ability which is composed of artificial neurons (nodes) that form a network by synaptic connections. The artificial neural network can be defined by a connection pattern between neurons in different layers, a learning process for updating model parameters, and an activation function for generating an output value.

The artificial neural network may include an input layer, an output layer, and optionally one or more hidden layers. Each layer includes one or more neurons, and the artificial neural network may include a synapse that links neurons to neurons. In the artificial neural network, each neuron may output the function value of the activation function for input signals, weights, and deflections input through the synapse.

Model parameters refer to parameters determined through learning and include a weight value of synaptic connection and deflection of neurons. A hyperparameter means a parameter to be set in the machine learning algorithm before learning, and includes a learning rate, a repetition number, a mini batch size, and an initialization function.

The purpose of the learning of the artificial neural network may be to determine the model parameters that minimize a loss function. The loss function may be used as an index to determine optimal model parameters in the learning process of the artificial neural network.

Machine learning may be classified into supervised learning, unsupervised learning, and reinforcement learning according to a learning method.

The supervised learning may refer to a method of learning an artificial neural network in a state in which a label for learning data is given, and the label may mean the correct answer (or result value) that the artificial neural network must infer when the learning data is input to the artificial neural network. The unsupervised learning may refer to a method of learning an artificial neural network in a state in which a label for learning data is not given. The reinforcement learning may refer to a learning method in which an agent defined in a certain environment learns to select a behavior or a behavior sequence that maximizes cumulative compensation in each state.

Machine learning, which is implemented as a deep neural network (DNN) including a plurality of hidden layers among artificial neural networks, is also referred to as deep learning, and the deep learning is part of machine learning. In the following, machine learning is used to mean deep learning.

Self-driving refers to a technique of driving for oneself, and a self-driving vehicle refers to a vehicle that travels without an operation of a user or with a minimum operation of a user.

For example, the self-driving may include a technology for maintaining a lane while driving, a technology for automatically adjusting a speed, such as adaptive cruise control, a technique for automatically traveling along a predetermined route, and a technology for automatically setting and traveling a route when a destination is set.

The vehicle may include a vehicle having only an internal combustion engine, a hybrid vehicle having an internal combustion engine and an electric motor together, and an electric vehicle having only an electric motor, and may include not only an automobile but also a train, a motorcycle, and the like.

At this time, the self-driving vehicle may be regarded as a robot having a self-driving function.

<FIG> illustrates an AI device <NUM> including a robot according to an embodiment of the present disclosure.

The AI device <NUM> may be implemented by a stationary device or a mobile device, such as a TV, a projector, a mobile phone, a smartphone, a desktop computer, a notebook, a digital broadcasting terminal, a personal digital assistant (PDA), a portable multimedia player (PMP), a navigation device, a tablet PC, a wearable device, a set-top box (STB), a DMB receiver, a radio, a washing machine, a refrigerator, a desktop computer, a digital signage, a robot, a vehicle, and the like.

Referring to <FIG>, the AI device <NUM> may include a communicator <NUM>, an input interface <NUM>, a learning processor <NUM>, a sensor <NUM>, an output interface <NUM>, a memory <NUM>, and a processor <NUM>.

The communicator <NUM> may transmit and receive data to and from external devices such as other AI devices 10a to 10e and the AI server <NUM> by using wire/wireless communication technology. For example, the communicator <NUM> may transmit and receive sensor information, a user input, a learning model, and a control signal to and from external devices.

The communication technology used by the communicator <NUM> includes GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), LTE (Long Term Evolution), <NUM>, WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Bluetooth™, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), ZigBee, NFC (Near Field Communication), and the like.

The input interface <NUM> may acquire various kinds of data.

At this time, the input interface <NUM> may include a camera for inputting a video signal, a microphone for receiving an audio signal, and a user input interface for receiving information from a user. The camera or the microphone may be treated as a sensor, and the signal acquired from the camera or the microphone may be referred to as sensing data or sensor information.

The input interface <NUM> may acquire a learning data for model learning and an input data to be used when an output is acquired by using learning model. The input interface <NUM> may acquire raw input data. In this case, the processor <NUM> or the learning processor <NUM> may extract an input feature by preprocessing the input data.

The learning processor <NUM> may learn a model composed of an artificial neural network by using learning data. The learned artificial neural network may be referred to as a learning model. The learning model may be used to an infer result value for new input data rather than learning data, and the inferred value may be used as a basis for determination to perform a certain operation.

At this time, the learning processor <NUM> may perform AI processing together with the learning processor <NUM> of the AI server <NUM>.

At this time, the learning processor <NUM> may include a memory integrated or implemented in the AI device <NUM>. Alternatively, the learning processor <NUM> may be implemented by using the memory <NUM>, an external memory directly connected to the AI device <NUM>, or a memory held in an external device.

The sensor <NUM> may acquire at least one of internal information about the AI device <NUM>, ambient environment information about the AI device <NUM>, and user information by using various sensors.

Examples of the sensors included in the sensor <NUM> may include a proximity sensor, an illuminance sensor, an acceleration sensor, a magnetic sensor, a gyro sensor, an inertial sensor, an RGB sensor, an IR sensor, a fingerprint recognition sensor, an ultrasonic sensor, an optical sensor, a microphone, a lidar, and a radar.

The output interface <NUM> may generate an output related to a visual sense, an auditory sense, or a haptic sense.

At this time, the output interface <NUM> may include a display unit for outputting time information, a speaker for outputting auditory information, and a haptic module for outputting haptic information.

The memory <NUM> may store data that supports various functions of the AI device <NUM>. For example, the memory <NUM> may store input data acquired by the input interface <NUM>, learning data, a learning model, a learning history, and the like.

The processor <NUM> may determine at least one executable operation of the AI device <NUM> based on information determined or generated by using a data analysis algorithm or a machine learning algorithm. The processor <NUM> may control the components of the AI device <NUM> to execute the determined operation.

To this end, the processor <NUM> may request, search, receive, or utilize data of the learning processor <NUM> or the memory <NUM>. The processor <NUM> may control the components of the AI device <NUM> to execute the predicted operation or the operation determined to be desirable among the at least one executable operation.

When the connection of an external device is required to perform the determined operation, the processor <NUM> may generate a control signal for controlling the external device and may transmit the generated control signal to the external device.

The processor <NUM> may acquire intention information for the user input and may determine the user's requirements based on the acquired intention information.

The processor <NUM> may acquire the intention information corresponding to the user input by using at least one of a speech to text (STT) engine for converting speech input into a text string or a natural language processing (NLP) engine for acquiring intention information of a natural language.

At least one of the STT engine or the NLP engine may be configured as an artificial neural network, at least part of which is learned according to the machine learning algorithm. At least one of the STT engine or the NLP engine may be learned by the learning processor <NUM>, may be learned by the learning processor <NUM> of the AI server <NUM>, or may be learned by their distributed processing.

The processor <NUM> may collect history information including the operation contents of the AI apparatus <NUM> or the user's feedback on the operation and may store the collected history information in the memory <NUM> or the learning processor <NUM> or transmit the collected history information to the external device such as the AI server <NUM>. The collected history information may be used to update the learning model.

The processor <NUM> may control at least part of the components of AI device <NUM> so as to drive an application program stored in memory <NUM>. Furthermore, the processor <NUM> may operate two or more of the components included in the AI device <NUM> in combination so as to drive the application program.

<FIG> illustrates an AI server <NUM> connected to a robot according to an embodiment of the present disclosure.

Referring to <FIG>, the AI server <NUM> may refer to a device that learns an artificial neural network by using a machine learning algorithm or uses a learned artificial neural network. The AI server <NUM> may include a plurality of servers to perform distributed processing, or may be defined as a <NUM> network. At this time, the AI server <NUM> may be included as a partial configuration of the AI device <NUM>, and may perform at least part of the AI processing together.

The AI server <NUM> may include a communicator <NUM>, a memory <NUM>, a learning processor <NUM>, a processor <NUM>, and the like.

The communicator <NUM> can transmit and receive data to and from an external device such as the AI device <NUM>.

The memory <NUM> may include a model storage unit 23a. The model storage unit 23a may store a learning or learned model (or an artificial neural network 26b) through the learning processor <NUM>.

The learning processor <NUM> may learn the artificial neural network 26b by using the learning data. The learning model may be used in a state of being mounted on the AI server <NUM> of the artificial neural network, or may be used in a state of being mounted on an external device such as the AI device <NUM>.

The learning model may be implemented in hardware, software, or a combination of hardware and software. If all or part of the learning models are implemented in software, one or more instructions that constitute the learning model may be stored in memory <NUM>.

The processor <NUM> may infer the result value for new input data by using the learning model and may generate a response or a control command based on the inferred result value.

<FIG> illustrates an AI system <NUM> according to an embodiment of the present disclosure.

Referring to <FIG>, in the AI system <NUM>, at least one of an AI server <NUM>, a robot 10a, a self-driving vehicle 10b, an XR device 10c, a smartphone 10d, or a home appliance 10e is connected to a cloud network <NUM>. The robot 10a, the self-driving vehicle 10b, the XR device 10c, the smartphone 10d, or the home appliance 10e, to which the AI technology is applied, may be referred to as AI devices 10a to 10e.

The cloud network <NUM> may refer to a network that forms part of a cloud computing infrastructure or exists in a cloud computing infrastructure. The cloud network <NUM> may be configured by using a <NUM> network, a <NUM> or LTE network, or a <NUM> network.

That is, the devices 10a to 10e and <NUM> configuring the AI system <NUM> may be connected to each other through the cloud network <NUM>. In particular, each of the devices 10a to 10e and <NUM> may communicate with each other through a base station, but may directly communicate with each other without using a base station.

The AI server <NUM> may include a server that performs AI processing and a server that performs operations on big data.

The AI server <NUM> may be connected to at least one of the AI devices constituting the AI system <NUM>, that is, the robot 10a, the self-driving vehicle 10b, the XR device 10c, the smartphone 10d, or the home appliance 10e through the cloud network <NUM>, and may assist at least part of AI processing of the connected AI devices 10a to 10e.

At this time, the AI server <NUM> may learn the artificial neural network according to the machine learning algorithm instead of the AI devices 10a to 10e, and may directly store the learning model or transmit the learning model to the AI devices 10a to 10e.

At this time, the AI server <NUM> may receive input data from the AI devices 10a to 10e, may infer the result value for the received input data by using the learning model, may generate a response or a control command based on the inferred result value, and may transmit the response or the control command to the AI devices 10a to 10e.

Alternatively, the AI devices 10a to 10e may infer the result value for the input data by directly using the learning model, and may generate the response or the control command based on the inference result.

Hereinafter, various embodiments of the AI devices 10a to 10e to which the above-described technology is applied will be described. The AI devices 10a to 10e illustrated in <FIG> may be regarded as a specific embodiment of the AI device <NUM> illustrated in <FIG>.

The robot 10a, to which the AI technology is applied, may be implemented as a guide robot, a carrying robot, a cleaning robot, a wearable robot, an entertainment robot, a pet robot, an unmanned flying robot, or the like.

The robot 10a may include a robot control module for controlling the operation, and the robot control module may refer to a software module or a chip implementing the software module by hardware.

The robot 10a may acquire state information about the robot 10a by using sensor information acquired from various kinds of sensors, may detect (recognize) surrounding environment and objects, may generate map data, may determine the route and the travel plan, may determine the response to user interaction, or may determine the operation.

The robot 10a may use the sensor information acquired from at least one sensor among the lidar, the radar, and the camera so as to determine the travel route and the travel plan.

The robot 10a may perform the above-described operations by using the learning model composed of at least one artificial neural network. For example, the robot 10a may recognize the surrounding environment and the objects by using the learning model, and may determine the operation by using the recognized surrounding information or object information. The learning model may be learned directly from the robot 10a or may be learned from an external device such as the AI server <NUM>.

At this time, the robot 10a may perform the operation by generating the result by directly using the learning model, but the sensor information may be transmitted to the external device such as the AI server <NUM> and the generated result may be received to perform the operation.

The robot 10a may use at least one of the map data, the object information detected from the sensor information, or the object information acquired from the external apparatus to determine the travel route and the travel plan, and may control the driving unit such that the robot 10a travels along the determined travel route and travel plan.

The map data may include object identification information about various objects arranged in the space in which the robot 10a moves. For example, the map data may include object identification information about fixed objects such as walls and doors and movable objects such as pollen and desks. The object identification information may include a name, a type, a distance, and a position.

In addition, the robot 10a may perform the operation or travel by controlling the driving unit based on the control/interaction of the user. At this time, the robot 10a may acquire the intention information of the interaction due to the user's operation or speech utterance, and may determine the response based on the acquired intention information, and may perform the operation.

The robot 10a, to which the AI technology and the self-driving technology are applied, may be implemented as a guide robot, a carrying robot, a cleaning robot, a wearable robot, an entertainment robot, a pet robot, an unmanned flying robot, or the like.

The robot 10a, to which the AI technology and the self-driving technology are applied, may refer to the robot itself having the self-driving function or the robot 10a interacting with the self-driving vehicle 10b.

The robot 10a having the self-driving function may collectively refer to a device that moves for itself along the given movement line without the user's control or moves for itself by determining the movement line by itself.

The robot 10a and the self-driving vehicle 10b having the self-driving function may use a common sensing method so as to determine at least one of the travel route or the travel plan. For example, the robot 10a and the self-driving vehicle 10b having the self-driving function may determine at least one of the travel route or the travel plan by using the information sensed through the lidar, the radar, and the camera.

The robot 10a that interacts with the self-driving vehicle 10b exists separately from the self-driving vehicle 10b and may perform operations interworking with the self-driving function of the self-driving vehicle 10b or interworking with the user who rides on the self-driving vehicle 10b.

At this time, the robot 10a interacting with the self-driving vehicle 10b may control or assist the self-driving function of the self-driving vehicle 10b by acquiring sensor information on behalf of the self-driving vehicle 10b and providing the sensor information to the self-driving vehicle 10b, or by acquiring sensor information, generating environment information or object information, and providing the information to the self-driving vehicle 10b.

Alternatively, the robot 10a interacting with the self-driving vehicle 10b may monitor the user boarding the self-driving vehicle 10b, or may control the function of the self-driving vehicle 10b through the interaction with the user. For example, when it is determined that the driver is in a drowsy state, the robot 10a may activate the self-driving function of the self-driving vehicle 10b or assist the control of the driving unit of the self-driving vehicle 10b. The function of the self-driving vehicle 10b controlled by the robot 10a may include not only the self-driving function but also the function provided by the navigation system or the audio system provided in the self-driving vehicle 10b.

Alternatively, the robot 10a that interacts with the self-driving vehicle 10b may provide information or assist the function to the self-driving vehicle 10b outside the self-driving vehicle 10b. For example, the robot 10a may provide traffic information including signal information and the like, such as a smart signal, to the self-driving vehicle 10b, and automatically connect an electric charger to a charging port by interacting with the self-driving vehicle 10b like an automatic electric charger of an electric vehicle.

<FIG> is a perspective view showing a robot system according to the present embodiment.

The robot system may comprise a station body <NUM> for storing items and a delivery robot <NUM> for delivering items in the station body <NUM> to a destination.

An example of an item that can be moved by the delivery robot <NUM> may be a delivery box.

Items can be put into the station body <NUM> from the outside, and the items stored in the station body <NUM> can be transferred to the delivery robot <NUM>, and the delivery robot <NUM> can transport items to its destination.

The delivery robot <NUM> may be an outer robot that travels outside the station body <NUM>. The delivery robot <NUM> can dock to the exit <NUM> of the station body <NUM>.

The station body <NUM> may be a delivery station for storing items such as parcel.

The station body <NUM> may comprise an outer case <NUM> forming an exterior of the station body <NUM>.

An example of the station body <NUM> may comprise an inlet <NUM> through which item is introduced and an outlet <NUM> through which items is taken out.

In another example of the station body <NUM>, an inlet and an outlet may be formed by a single opening, and an entrance through which item may be transferred in or out may be formed in the station body <NUM>.

A plurality of items may be stored in the station body <NUM>. While items in the station body <NUM> is being taken out, new item may be put into the station body <NUM>, and an inlet <NUM> and an outlet <NUM> are preferably formed in the station body <NUM>, respectively.

It is preferable that the inlet <NUM> and the outlet <NUM> are spaced apart from each other.

It is preferable that the inlet <NUM> is formed in plurality.

The station body <NUM> may comprise a door <NUM> opening and closing the inlet <NUM>. The door <NUM> may be rotated or slid to open and close the inlet <NUM>. When there is a plurality of inlets <NUM>, it is preferable that a plurality of doors <NUM> are also provided. The number of doors <NUM> may be equal to the number of inlets <NUM>.

The outlet <NUM> is preferably formed to correspond to the height of the delivery robot <NUM>.

A separate inner robot may be disposed inside the station body <NUM>, and the separate inner robot is different from the delivery robot <NUM>. The inner robot may help take out the items in the station body <NUM> to the outlet <NUM>. Hereinafter, the inner robot is referred to as the robot 10a and will be described.

The robot 10a may move inside the station body <NUM> and may be an inner shuttle robot that transports item in the station body <NUM>.

<FIG> is a perspective view in which the outer case shown in <FIG> is separated, <FIG> is a plan view showing the inside of the robot system according to the present embodiment, <FIG> is a front view showing the inside of the robot system according to the present embodiment, <FIG> is a side view showing the inside of the robot system according to the present embodiment, <FIG> is a perspective view showing a guide rail and a robot according to the present embodiment.

The robot system may use a system that lifts and moves an object through a guide rail.

The station body <NUM> may comprise a frame <NUM> disposed inside the outer case <NUM>.

An object <NUM> may be placed on the frame <NUM>. The object <NUM> may be a carrier carried by the robot 10a, and an item B may be placed on the object <NUM>. An example of the item B may be a delivery box. The object <NUM> may be a box plate containing the delivery box.

If the type of item B is an item in an atypical state such as a bag, the robot system can transport the item B using the carrier <NUM> as a fixed medium, and the robot system can store and extract various types of items.

The frame <NUM> may be disposed inside the station body <NUM>.

The frame <NUM> may be accommodated inside the outer case <NUM> (see <FIG>).

Frame <NUM> may be a combination of a plurality of members. The frame <NUM> may include plates <NUM>, <NUM>, and <NUM> and posts <NUM> and <NUM>.

A plurality of plates <NUM>, <NUM>, and <NUM> may be provided, and a space may be formed between the plurality of plates <NUM>, <NUM>, and <NUM>. The plurality of plates <NUM>, <NUM>, and <NUM> may include a base plate <NUM>, a middle plate <NUM>, and an upper plate <NUM>.

The base plate <NUM> may be located above the base of the outer case <NUM>.

The middle plate <NUM> may be positioned above the base plate <NUM>, and a space may be formed between the middle plate <NUM> and the base plate <NUM>. A space formed between the base plate <NUM> and the middle plate <NUM> may be a base space S1.

The upper plate <NUM> may be positioned above the middle plate <NUM>, and a space may be formed between the upper plate <NUM> and the middle plate <NUM>, and a space formed between the middle plate <NUM> and the upper plate <NUM> may form a storage space S2 in which the item B can be accommodated and stored. The storage space S2 may be a lower space S2 having a higher height than the base space S1, and may be separated from the base space S1 by the middle plate <NUM>.

A space formed between the upper plate <NUM> and the top cover of the outer case <NUM> can be a storage space S3 in which the item B can be accommodated and stored. This storage space S3 may be an upper space S3 higher in height than the lower space S2, and may be separated from the lower space S2 by the upper plate <NUM>.

The object <NUM> may be seated on at least one of the plurality of plates <NUM>, <NUM>, and <NUM>.

A plurality of objects <NUM> may be provided in the robot system. The object <NUM> may be provided on each of the middle plate <NUM> and the upper plate <NUM>.

The object <NUM> may be seated on the middle plate <NUM>, and the middle plate <NUM> may be a seating plate (eg, a lower seating body) on which the object <NUM> is seated. The object <NUM> seated on the middle plate <NUM> may be a lower object.

The object <NUM> may be seated on the upper plate <NUM>, and the upper plate <NUM> may be a seat plate (eg, an upper seat body) on which the object <NUM> is seated. The object <NUM> seated on the upper plate <NUM> may be an upper object.

An opening <NUM> through which the lifter <NUM> of the robot 10a passes may be formed in the seating plate. The opening <NUM> may be opened in the vertical direction Z of the seating plate. The opening <NUM> may be opened in the front and rear direction X of the seating plate.

The size of the opening <NUM> may be larger than a size of of the lifter <NUM> and may be smaller than that of the object <NUM>.

The width of the object <NUM> in the second direction Y may be greater than the width of the opening <NUM> in the second direction Y, and each of both ends of the object <NUM> in the second direction Y can be seated around the periphery of the opening <NUM>.

The width of the lifter <NUM> in the second direction Y may be smaller than the width of the opening <NUM> in the second direction Y, and a portion of the lifter <NUM> may pass through the opening <NUM> in the vertical direction Z.

The lifter <NUM> can be raised from the lower side of the opening <NUM> of the seating plate, pass through the opening <NUM>, and come into contact with the lower surface of the object <NUM> to lift the object <NUM>.

When the lifter <NUM> lifts the object <NUM>, the object <NUM> can be positioned above the seating plate, can be spaced apart from the seating plate in the vertical direction Z, and Gap may be formed between the object <NUM> and the seating plate.

A plurality of posts <NUM> and <NUM> may be provided.

The plurality of posts <NUM> and <NUM> may include a lower post <NUM> and an upper post <NUM>.

The lower post <NUM> may be disposed between the base plate <NUM> and the middle plate <NUM> and may space the middle plate <NUM> apart from the base plate <NUM> in the vertical direction Z.

The upper post <NUM> may be disposed between the middle plate <NUM> and the upper plate <NUM>, and may space the upper plate <NUM> apart from the middle plate <NUM> in the vertical direction Z.

The station body <NUM> may include a plurality of frame units (FU).

Each of the plurality of frame units FU may include a plurality of plates <NUM>, <NUM>, and <NUM> and a plurality of posts <NUM> and <NUM>. A plurality of frame units FU may be accommodated together in the outer case <NUM>.

In the station body <NUM>, a plurality of frame units FU may be arranged in a line in the first direction X. A plurality of frame units FU disposed in the first direction X may be spaced apart from each other.

In the station body <NUM>, a plurality of frame units FU may be arranged in a line in the second direction Y. The plurality of frame units FU disposed in the second direction Y may be disposed close to each other.

When the plurality of frame units FU is disposed in the first direction X and the second direction Y, a gap G can be formed between some of the plurality of frame units FU and the rest of the plurality of frame units FU and the robot 10a can move through the gap G.

For example, when the plurality of frames FU includes four frames FU, the plurality of frame units FU includes a left front frame LF, a right front frame RF, and a left rear frame. (LR) and a right rear frame (RR).

In this case, the left front frame LF and the right front frame RF may be arranged in a row in the left and right direction Y, and the left rear frame LR and the right rear frame RR may be disposed in the left and right direction Y, a gap G may be formed between the left front frame LF and the left rear frame LR, and a gap G may be formed between the right front frame RF and the right rear frame RR.

The robot 10a can be guided along the guide rail and can carry the item B.

The robot 10a may comprise a first robot <NUM> and a second robot <NUM>.

Each of the first robot <NUM> and the second robot <NUM> may have a driving unit.

The first robot <NUM> may be disposed to move in the first direction on the station body <NUM>. The first robot <NUM> may move in the first direction along the guide rail.

The first direction may be a horizontal direction, and the first direction may be a front and back direction X. The first robot <NUM> may be arranged to move in the forward and backward direction X.

The first robot <NUM> may comprise a lifter <NUM>. The lifter <NUM> may lift the station body <NUM>, in particular, the object <NUM> placed on the frame <NUM>.

The lifter <NUM> may be a object lifter or a first lifter that is disposed on the first robot <NUM> and lifts the object <NUM>.

When the object <NUM> is lifted by the lifter <NUM>, a gap may be formed between the object <NUM> and the seat plate, and in this state, the first robot <NUM> moves to the second robot <NUM>. When moved, the first robot <NUM> can return to the second robot <NUM> without friction between the object <NUM> and the seating plate.

The first robot <NUM> may be moved to the second robot <NUM> and seated on the second robot <NUM>. The size of the first robot <NUM> may be smaller than the size of the second robot <NUM>. The width of the first robot <NUM> in the vertical direction (Z) may be smaller than the width of the second robot <NUM> in the vertical direction. The first robot <NUM> may be inserted into the second robot <NUM>.

The first robot <NUM> may be moved by the second robot <NUM> while being seated on the second robot <NUM>.

The first robot <NUM> may lift the item B in a third direction perpendicular to the first and second directions X and Y in a state in which the first robot <NUM> is separated from the second robot <NUM>. The third direction may be a vertical direction Z. The first robot <NUM> may lift the item B in the vertical direction Z.

The second robot <NUM> may be disposed on the station body <NUM> to move in a second direction different from the first direction. The second robot <NUM> may move in a second direction different from the first direction along the guide rail.

The second direction may be orthogonal to the first direction. The second direction may be a horizontal direction, and the second direction may be a left and right direction Y. The second robot <NUM> may be disposed to move in the left and right direction Y.

The second robot <NUM> may include a seating body <NUM> (see <FIG>) on which the first robot <NUM> is seated. The second robot <NUM> may form a first robot accommodating space S4 in which the first robot <NUM> is inserted and accommodated. The upper surface of the first robot accommodating space S1 may be open. The first robot accommodating space (S1) may be opened in the first direction X.

The first robot <NUM> may be moved in a first direction and inserted into the first robot accommodating space S1, and may be seated on the seating body <NUM> and accommodated in the first robot accommodating space S1.

When the first robot <NUM> is inserted into the second robot <NUM>, the height of the lower end of the first robot <NUM> may be higher than the height of the lower end of the second robot <NUM>.

As shown in <FIG>, the station body <NUM> may further include a guide rail for guiding the robot 10a. The robot 10a is guided along the guide rail and can carry the item B. A guide rail may be disposed on the frame <NUM>.

The guide rail may comprise a first guide rail <NUM> and a second guide rail <NUM>.

The first robot <NUM> may be guided by the first guide rail <NUM>.

The first robot <NUM> can be moved along the first guide rail <NUM> in the second robot <NUM> and can be moved to the lower side of the object <NUM>. The first robot <NUM> may lift the item B by lifting the object <NUM>.

The first guide rail <NUM> may be coupled to the frame <NUM>. The first guide rail <NUM> may be disposed long in the first direction and may guide the first robot <NUM> in the first direction. When the first direction is the front and back direction X, the first guide rail <NUM> may be disposed long in the front and back direction X.

The height of the first guide rail <NUM> may be lower than that of the object <NUM>. As shown in <FIG>, the first guide rail <NUM> may include a pair of rails 48a and 48b spaced apart in the second direction y.

The first guide rail <NUM> may be provided for each of a plurality of frame units FU. A plurality of first guide rails <NUM> may be provided in the frame unit FU. The plurality of first guide rails <NUM> provided in the frame unit FU may be spaced apart in the third direction Z.

The first guide rails <NUM> may be provided in each of the storage spaces S2 and S3 in the frame unit FU, and a plurality of first guide rails <NUM> may be disposed in the frame unit FU.

As shown in <FIG>, the plurality of first guide rails <NUM> can comprise a first lower guide rail 48c disposed below the middle plate <NUM> and a first upper guide rail 48d disposed below the upper plate <NUM>.

The first lower guide rail 48c may be located in an upper region of the base space S1.

The first upper guide rail 48d may be located in an upper region of the lower space S2.

The first robot <NUM> may enter and be guided through the first lower guide rail 48c, move under the object <NUM> seated on the middle plate <NUM>, lift the object <NUM> seated on the middle plate <NUM>. The object <NUM> can be separated from the middle plate <NUM> by the first robot <NUM>.

The robot 10a may move along the second guide rail <NUM> in a state in which the first robot <NUM> and the second robot <NUM> are not separated.

The second guide rail <NUM> may be coupled to at least one of the first guide rail <NUM> and the frame <NUM>. The second guide rail <NUM> may be disposed long in the second direction and may guide the second robot <NUM> in the second direction. When the second direction is the left and right direction Y, the second guide rail <NUM> may be disposed long in the left and right direction Y.

The second guide rail <NUM> may be positioned in the gap G and allow the second robot <NUM> to be guided along the gap G in a second direction Y.

The height of the second guide rail <NUM> is lower than the height of the first guide rail <NUM>, and the second robot <NUM> may be guided on the second guide rail <NUM>. After being guided by the first guide rail <NUM>, the first robot <NUM> can be inserted into the second robot <NUM>, and the second robot <NUM> can be guided along the second guide rail <NUM> in the second direction Y.

As shown in <FIG>, the second guide rail <NUM> may include a pair of rails 49a and 49b spaced apart in a first direction. The second guide rail <NUM> may further include reinforcing bodies respectively connected to the pair of rails 49a and 49b.

The second guide rail <NUM> may be provided for each of a plurality of frame units FU.

A plurality of second guide rails <NUM> may be provided in the frame unit FU. The plurality of second guide rails <NUM> provided in the frame unit FU may be spaced apart in the third direction.

The second guide rails <NUM> may be provided in each of the storage spaces S2 and S3 in the frame unit FU, and a plurality of second guide rails <NUM> may be disposed in the single frame unit FU.

As shown in <FIG>, the plurality of second guide rails <NUM> comprise a second lower guide rail 49c connected to the first lower guide rail 48c and a second UPPER guide rail 49d connected to the first upper guide rail 48d.

The robot system may further include a lifting mechanism <NUM>, a pusher <NUM>, and a conveyor <NUM>.

The lifting mechanism <NUM> can lift the robot 10a. The robot 10a can be guided by the guide rail and moved to the lifting mechanism <NUM>, and the lifting mechanism <NUM> can lift the robot 10a guided by the guide rail.

The robot 10a can be moved by the lifting mechanism <NUM> to a height at which the item B on the robot 10a can be moved to the conveyor <NUM> by the pusher <NUM>, and this height can be the first height.

The robot 10a may be moved to a height capable of carrying the item B located in the lower space S2 or the upper space S3 by the lifting mechanism <NUM>.

The robot 10a can be moved to a height at which the second robot <NUM> can be guided to the first lower guide rail 48c in a state where the first robot <NUM> is seated on the second robot <NUM>, and this height can be a second height higher than the first height.

The robot 10a can be moved to a height at which the second robot <NUM> can be guided to the first upper guide rail 48d in a state where the first robot <NUM> is seated on the second robot <NUM>, and this height can be a third height higher than the second height.

The lifting mechanism <NUM> may be disposed inside the station body <NUM>. The lifting mechanism <NUM> may be disposed inside the outer case <NUM> together with the frame <NUM>. The Lifting mechanism <NUM> may be disposed next to frame <NUM>.

The lifting mechanism <NUM> can lift the robot 10a guided by the guide rail.

The lifting mechanism <NUM> may include a lifting body <NUM> on which the robot 10a is seated and a lifting driving source <NUM> which lifts the lifting body <NUM>.

The robot 10a may be in a state in which the first robot <NUM> is seated on the second robot <NUM> before carrying the item B, and the robot 10a can be raised to the height of the guide rail by the lifting mechanism <NUM>. and can move along the guide rail after being raised to the height of the guide rail, it.

The robot 10a can transfer the item B in a state where the first robot <NUM> is seated on the second robot <NUM>, and can be seated on the lifting mechanism <NUM>, particularly the lifting body <NUM> and, the lifting mechanism <NUM> can lift the first robot <NUM> and the second robot <NUM> together by lifting the second robot <NUM>.

The robot 10a may be moved from the guide rail to the lifting body <NUM> in a state where the first robot <NUM> is seated on the second robot <NUM>.

The lifting body <NUM> may comprise a lifting plate 71a on which the robot 10a is seated, and a stopper 71b built on the lifting plate 71a. The lifting body <NUM> may further comprise a mounter 71c built on the lifting plate 71a.

The lifting plate 71a may be positioned approximately horizontally.

The stopper 71b may restrict the robot 10a, especially the second robot <NUM>, so that the robot 10a placed on the lifting plate 71a. The robot 10a can not move excessively.

The mounter 71c may be a pusher mounter for mounting the pusher <NUM>.

The lifting driving source <NUM> may lower the lifting body <NUM> to a first height. The first height may be lower than the height of the upper surface of the conveyor <NUM>. The first height is a height at which the height of the object <NUM> transported by the robot 10a seated on the lifting body <NUM> coincides with the upper surface of the conveyor <NUM> in the horizontal direction, or can be a height slightly higher than the upper surface of the conveyor <NUM>.

The lifting driving source <NUM> may raise the lifting body <NUM> to a second height or a third height. The second height or the third height may be the same as the height of the guide rail, in particular, the second guide rail <NUM>. The robot 10a, in particular, the second robot <NUM> can move from the lifting body <NUM> to the second guide rail <NUM>, or from the second guide rail <NUM> to the lifting body <NUM> in the second direction.

The lifting driving source <NUM> may include a driving source such as a motor or a cylinder, and a power transmission member such as a gear or a linear guide capable of transmitting power of the driving source to the lifting body. The lifting drive source <NUM> is not limited to a motor or a cylinder, as long as it is configured to elevate the lifting body <NUM>, and is applicable to all of them.

The second robot <NUM> enters the second lower guide rail 49c from the lifting mechanism <NUM> and can be guided to the second lower guide rail 49c, and the first robot <NUM> is moved to the first lower guide rail 48c, the first robot (<NUM>) enters the first lower guide rail 48c from the front or rear of the first lower guide rail 48c, and can be guided to the first lower guide rai 48c.

The second robot <NUM> enters the second upper guide rail 49d from the lifting mechanism <NUM> and can be guided to the second upper guide rail 49d, and the first robot <NUM> is moved to the first upper guide 48d, the first robot (<NUM>) enters the first upper guide rail 48d from the front or rear of the first upper guide rail 48d, and can be guided to the first upper guide rai 48d.

The lifting mechanism <NUM> may be a robot lifter or a second lifter that is received inside the outer case <NUM> and lifts the second robot <NUM> on which the first robot <NUM> is seated.

The pusher <NUM> may push the item B placed on the object <NUM>. The pusher <NUM> may push the item B on the robot 10a.

The pusher <NUM> may push the article B on the robot 10a onto the conveyor <NUM> when the robot 10a is placed on the lifting body <NUM>.

The pusher <NUM> may be disposed inside the station body <NUM>. The pusher <NUM> may be disposed inside the outer case <NUM> together with the frame <NUM>. The pusher <NUM> may be disposed next to the frame <NUM>.

The pusher <NUM> may include a pushing body <NUM> disposed to move in a first direction and a pusher driving source <NUM> to move the pushing body <NUM> in the first direction. The pusher driving source <NUM> may advance and retreat the pushing body <NUM> in the forward and backward direction X at the rear of the pushing body <NUM>.

The pushing body <NUM> is advanced upward of the object <NUM> placed on the robot 10a to push the item B onto the conveyor <NUM>.

After the pushing body <NUM> pushes the item B onto the conveyor <NUM>, the pushing body <NUM> may be retracted to a position where the object <NUM> is not caught in the vertical direction Z.

An example of the pusher <NUM> may be lifted together with the lifting body <NUM>. The pusher <NUM> can be connected to the lifting body <NUM> and can be lifted together with the lifting body <NUM>, and when the lifting body <NUM> is lowered to the first height, the article B can be push to the conveyor <NUM>.

An example of the pusher driving source <NUM> may be mounted on the lifting body <NUM>. In this case, the pusher driving source <NUM> may be mounted on the mounter 71c of the lifting body <NUM>.

Other example of the pusher driving source <NUM> may not be mechanically connected to the lifting body <NUM>. In this case, the pusher driving source <NUM> may be mounted on a pusher mounter (not shown) fixed to the station body <NUM>. The pusher <NUM> does not move up and down together with the lifting body <NUM> and can push the item B onto the conveyor <NUM> while the height is fixed.

When the lifting body <NUM> is lowered to the first height, the pusher driving source <NUM> can move the pushing body <NUM> toward the upper side of the object <NUM> and can push the article B onto the conveyor <NUM>.

The pusher driving source <NUM> may push the item B onto the conveyor <NUM> and then retract the pushing body <NUM> from the upper side of the object <NUM>.

The conveyor <NUM> can transfer the item B pushed by the pusher <NUM> to the exit <NUM> of the station body <NUM>, and the item B transferred to the exit <NUM> can be moved to the delivery robot <NUM>.

The conveyor <NUM> may transfer the item B in the first direction. The conveyor <NUM> may be positioned behind exit <NUM> in the front and rear direction X. The conveyor <NUM> may be disposed between the lifting body <NUM> lowered to the first height and the outlet <NUM>. The conveyor <NUM> may be disposed long in the front and rear direction X, and may transport the item B in the front and rear direction X.

<FIG> is a view when a plurality of frames is combined.

<FIG> is a diagram showing an example when a plurality of frame units (FU) is arranged and combined in a row in the left and right direction X.

As shown in <FIG>, guide rails <NUM> and <NUM> may be disposed in each of the plurality of frame units FU, and the guide rail disposed in any one of the plurality of frame units FU is can be connected to the guide rail in an adjacent frame unit via a fastening member 49f.

For example, the second guide rail <NUM> of the left front frame LF and the second guide rail <NUM> of the right front frame RF may be connected to extend in the second direction.

Fastening portions 49e can be formed in the second guide rail <NUM> of the left front frame LF and the second guide rail <NUM> of the right front frame RF, respectively, and the second guide rail <NUM> of the left front frame LF and the second guide rail <NUM> of the right front frame RF are coupled to each other with fastening members 49f such as screws or bolts.

The second guide rail <NUM> of the left front frame LF and the second guide rail <NUM> of the right front frame RF may each have a round fastening portion 49e bent downward.

The fastening portion 49e may be formed at an end of the second guide rail <NUM> in the longitudinal direction.

The fastening portion 49e of the second guide rail <NUM> provided on the left front frame LF and the fastening part 49e of the second guide rail <NUM> provided on the right front frame RF are mutually connected in the second direction. They may face each other, and fastening members 49f such as screws or bolts may fasten adjacent fastening portions 49e. When the fastening portion 49e is fastened with the fastening member 49f, the plurality of second guide rails <NUM> arranged in a row in the second direction can be maintained horizontally.

The robot system can expand the number of frame units (FU) to three, four, etc. by sequentially arranging a plurality of frame units (FU) in a line and fastening adjacent frame units (FU) by means of a fastening member (49f). and the frame unit FU can be extended by a necessary number.

<FIG> is a perspective view when the robot according to the present embodiment is moved to a robot charger.

The robot system may comprise a robot charger <NUM> that charges at least one of the first robot <NUM> and the second robot <NUM>.

The robot charger <NUM> may be disposed in the outer case <NUM> or in the frame <NUM>.

Depending on the charging method, the robot charger <NUM> may be a contact charger or a non-contact charger.

An example of the robot charger <NUM> is to charge the robot 10a in a contact charging method in which the charging terminal <NUM> provided in the robot 10a can come in contact with the supply terminal <NUM> provided in the robot charger <NUM>.

Another example of the robot charger <NUM> may charge the robot 10a in a non-contact charging method that supplies power based on magnetic field induction.

Depending on the number of robot chargers <NUM>, the robot charger <NUM> may be a single charger or a dual charger.

An example of the robot charger <NUM> may be a robot charger arranged to charge one of the second robots <NUM> among the first robots <NUM>.

In the robot system, the robot charger <NUM> may charge the second robot <NUM> and the second robot <NUM> may charge the first robot <NUM>. In this case, the robot charger <NUM> may be disposed on the movement path of the second robot <NUM>. The second robot <NUM> may be provided with a charging terminal <NUM>, and the second robot <NUM> may be moved to the robot charger <NUM> and charged.

Another example of the robot charger <NUM> may comprise a first robot charger disposed in the station body <NUM> to charge the first robot <NUM>, and a second robot charger disposed in the station body <NUM> to charge the second robot <NUM>. In this case, the first robot charger may be disposed on the movement path of the first robot <NUM>, and the second robot charger may be disposed on the movement path of the second robot <NUM>.

When the robot system further comprise the first robot charger and the second robot charger, the first robot <NUM> and the second robot <NUM> may be charged independently.

<FIG> is a perspective view of a first robot according to this embodiment, <FIG> is a perspective view showing the inside of a first robot according to this embodiment, <FIG> is a plan view of a first robot according to this embodiment, <FIG> is a plan view showing the inside of a first robot according to this embodiment, <FIG> is a perspective view of a first robot according to this embodiment, <FIG> is a front view of a first robot according to this embodiment.

The first robot <NUM> may comprise a lifter <NUM>, a first robot body <NUM> on which the lifter <NUM> is disposed, an in-wheel motor <NUM> disposed on the first robot body <NUM>, and a proximity sensor <NUM> disposed at <NUM> and a first battery <NUM> disposed at the first robot body <NUM>.

The lifter <NUM> may comprise a lift plate <NUM> that moves up and down.

The lift plate <NUM> may come into contact with the object <NUM> and lift the object <NUM>.

The lifter <NUM> may comprise a guide plate <NUM> coupled to the lift plate <NUM>, a lift bush <NUM> disposed on the guide plate <NUM>, and an actuator <NUM> disposed on the first robot body <NUM>. The actuator <NUM> can lift the lift bush <NUM> up and down.

The guide plate <NUM> may be coupled to the lift plate <NUM> and may move up and down together with the lift plate <NUM>.

The lift bush <NUM> may be coupled to the guide plate <NUM> by a fastening member such as a screw, and may be moved up and down together with the guide plate <NUM>.

The actuator <NUM> may be a driving unit that lifts the lift plate <NUM>.

The actuator <NUM> may comprise a drive shaft <NUM> connected to the lift bush <NUM>. The driving shaft <NUM> may be disposed long in the vertical direction Z.

The driving shaft <NUM> may be a lift screw jack that lifts the lift bush <NUM>.

A screw may be formed on an outer circumference of the drive shaft <NUM>, and the lift bush <NUM> may be guided along the outer circumference of the drive shaft <NUM> in a vertical direction Z. A male screw portion may be formed on an outer circumference of the drive shaft <NUM>, and a female screw portion may be formed on an inner circumference of the lift bush <NUM>.

The drive shaft <NUM> may pass through the guide plate <NUM>.

The actuator <NUM> may comprise a gearbox <NUM> connected to the lower part of the drive shaft <NUM>, a motor <NUM> connected to the gearbox <NUM>, and a lower cover <NUM> accommodating the gearbox <NUM> and the motor <NUM>.

When the motor <NUM> is driven, the rotational motion of the motor <NUM> is transmitted to the drive shaft <NUM> through the gear box <NUM> to rotate the drive shaft <NUM>, and the lift bush <NUM> can convert the rotational motion of the linear motion and lift the guide plate <NUM>, the lift plate <NUM> connected to the guide plate <NUM> in the vertical direction Z.

The first robot body <NUM> may form the exterior of the first robot <NUM>.

A space may be formed inside the first robot body <NUM>, and the guide plate <NUM> and the battery <NUM> may be accommodated in the space.

The first robot body <NUM> may comprise a lower body <NUM>, a side body <NUM>, and a top body <NUM>. The space may be formed by the lower body <NUM>, the side body <NUM>, and the top body <NUM>.

The lower body <NUM> may be coupled to the lower cover <NUM>.

The side body <NUM> may extend vertically from the lower body <NUM>.

The top cover <NUM> may extend horizontally from the side body <NUM>. An opening <NUM> may be formed in the top cover <NUM>.

The lifter <NUM> may comprise a lifting body <NUM> connected to the guide plate <NUM>.

The lifter <NUM> may further comprise a lift guide bush <NUM>. The lift guide bush <NUM> may be connected to the elevating body <NUM> and may be elevated along the guide shaft <NUM> formed on the second robot body <NUM>. The lift guide bush <NUM> may lift and guide the guide plate <NUM> while moving up and down along the guide axis <NUM>.

A plurality of lift guide bushes <NUM> and guide shafts <NUM> may be provided. Each of the plurality of lift guide bushes <NUM> and the plurality of guide shafts <NUM> may be spaced apart in the front and rear direction X and the left and right direction Y.

The in-wheel motors <NUM> may be provided on both left and right sides of the first robot body <NUM>, respectively. The in-wheel motor <NUM> may comprise a drive motor <NUM> mounted on the side body <NUM> of the first robot body <NUM> and a wheel <NUM> connected the rotation shaft of the drive motor <NUM> and rotated by the drive motor <NUM>.

The proximity sensor <NUM> may be disposed on the side body <NUM> of the first robot body <NUM>.

An example of proximity sensor <NUM> may be an infrared proximity sensor.

The first battery <NUM> may be disposed in a space formed inside the first robot body <NUM> and may be protected by the first robot body <NUM>.

The first battery <NUM> may be electrically connected to the charging terminal <NUM> of the first robot <NUM> (see <FIG>).

The first robot <NUM> may comprise a magnet <NUM> installed on the bottom of the first robot body <NUM>.

The magnet <NUM> may be disposed on the lower body <NUM> of the first robot body <NUM>. The magnet <NUM> may be disposed on the upper surface of the lower body <NUM> or disposed on the lower surface of the lower body <NUM>.

The first robot <NUM> may further comprise a first control box <NUM>.

The first control box <NUM> may be accommodated in a space formed inside the first robot body <NUM>.

The first control box <NUM> may be spaced apart from the battery <NUM>. The first control box <NUM> and the battery <NUM> may be spaced apart in the front and rear direction X and the guide plate <NUM> of the lifter <NUM> is interposed therebetween.

The first control box <NUM> may comprise a control unit or a control PCB(hereinafter, referred to as a control PCB) for controlling the first robot <NUM>. The control PCB may be connected to the proximity sensor <NUM> and the battery <NUM>, and can control the driving motor <NUM> according to a signal value from the proximity sensor <NUM>.

The first robot <NUM> may further comprise an auxiliary wheel <NUM> and a guide roller <NUM>.

The auxiliary wheel <NUM> may be rotatably disposed on the first robot body <NUM>.

The auxiliary wheel <NUM> may rotate about a horizontal axis 57a provided to the first robot body <NUM>. The auxiliary wheel <NUM> may be spaced apart from the driving motor <NUM> in a first direction.

The guide roller <NUM> may be rotatably disposed on the first robot body <NUM>.

The guide roller <NUM> may be rotatably disposed around a vertical axis 58a provided to the first robot body <NUM>.

When the guide roller <NUM> is disposed on the vertical axis 58a, a portion of the guide roller <NUM> can be accommodated in the recess 522a formed in the side body <NUM> of the first robot body <NUM>, and the remainder of the guide roller <NUM> may be exposed to the outside of the first robot body <NUM>.

The guide roller <NUM> may roll along the first guide rail <NUM> or the second robot <NUM> when the first robot <NUM> moves, and may help the first robot <NUM> move smoothly.

A plurality of guide rollers <NUM> may be provided. The plurality of guide rollers <NUM> may be disposed at each of the four corners, and may minimize resistance generated when the first robot <NUM> rubs against the first guide rail <NUM> or the second robot <NUM>. When the first robot <NUM> enters the second robot <NUM>, the left and right balance of the first robot <NUM> can be adjusted to help the second robot <NUM> enter easily.

<FIG> is a perspective view when the first robot is separated from the second robot according to the present embodiment, <FIG> is a plan view showing a second robot according to this embodiment, <FIG> is a front view showing the inside of the second robot according to the present embodiment, <FIG> is a cross-sectional view when the first robot is seated on the second robot according to the present embodiment.

The second robot <NUM> may comprise a seating body <NUM> on which the first robot <NUM> is seated.

A first robot accommodating space S4 in which at least a portion of the first robot <NUM> may be accommodated is formed in the seating body <NUM>.

The seating body <NUM> may comprise a lower body <NUM> on which the first robot <NUM> is seated, and a guide sidewall <NUM> bent vertically in the lower body <NUM>.

The guide sidewall <NUM> may guide the first robot <NUM> so that the first robot <NUM> is accurately seated horizontally when the first robot <NUM> is moved to the first robot accommodating space S4.

The guide sidewall <NUM> may include an introduction portion into which the first robot <NUM> enters, and the introduction portion may be a gradient portion or an extension portion into which the first robot <NUM> is naturally pushed.

As shown in <FIG>, a pair of seating bodies <NUM> may be provided to the second robot <NUM>. Each of the pair of seating bodies 61a and 61b may be long in the front and rear direction X. The pair of seating bodies 61a and 61b may be spaced apart in the left and right directions Y.

A wheel accommodating portion <NUM> may be formed in the seating body <NUM> to which a portion of the wheel <NUM> of the first robot <NUM> is inserted and caught. An example of the wheel accommodating portion <NUM> may be a slit or groove formed long in the left and right direction Y of the seating body <NUM>. The wheel accommodating part <NUM> may be a stopping jaw of the wheel <NUM> when the first robot <NUM> is stopped.

An auxiliary wheel accommodating portion <NUM> may be formed in the seating body <NUM> to which a portion of the auxiliary wheel <NUM> of the first robot <NUM> is inserted and caught. An example of the auxiliary wheel accommodating portion <NUM> may be a slit or groove formed long in the left and right direction Y of the seating body <NUM>. The auxiliary wheel accommodating portion <NUM> may be spaced apart from the wheel accommodating portion <NUM> in the front and rear direction X. The auxiliary wheel accommodating portion <NUM> may be a stopping jaw of the auxiliary wheel <NUM> when the first robot <NUM> is stopped.

The seating body <NUM> may be a first robot coupling body to which the first robot <NUM> is detachably coupled.

The second robot <NUM> may comprise a second robot body <NUM> on which a seating body <NUM> is disposed.

The second robot body <NUM> may form the exterior of the second robot <NUM>.

The second robot body <NUM> may comprise a lower body <NUM> and a pair of side bodies <NUM> and <NUM>.

A drive unit accommodating space S5 in which the drive unit (that is, the actuator <NUM>) of the lifter <NUM> is accommodated may be formed in the second robot <NUM>.

The driver accommodating space S5 may be formed on the upper side of the lower body <NUM>. The drive unit accommodating space S5 may be formed between the pair of seating bodies <NUM>.

Each of the pair of side bodies <NUM> and <NUM> may be formed long in the front and rear direction X. The pair of side bodies <NUM> and <NUM> may be spaced apart in the left and right directions Y.

The second robot <NUM> may comprise a wheel <NUM> disposed to be rotated on the second robot body <NUM>, a motor <NUM> for rotating the wheel <NUM>, a battery <NUM> disposed on the second robot body <NUM>, and a proximity sensor <NUM> disposed on the second robot body <NUM>.

The wheel <NUM> may be a driving wheel for driving the second robot <NUM>.

The motor <NUM> may include a rotation shaft that rotates the wheel <NUM>.

The wheel <NUM> and the motor <NUM> may constitute an in-wheel motor.

The second battery <NUM> may be disposed inside the second robot body <NUM>. The charge capacity of the second battery <NUM> may be greater than the charge capacity of the first battery <NUM>. The size of the second battery <NUM> may be larger than the size of the first battery <NUM>.

A plurality of proximity sensors <NUM> may be provided in the second robot body <NUM>. The plurality of proximity sensors <NUM> may comprise an inner proximity sensor 66a that senses the first robot <NUM> and an outer proximity sensor 66b disposed on the second robot body <NUM>.

The inner proximity sensor 66a may be disposed facing the first robot accommodating space S4. When the first robot <NUM> is inserted into the first robot accommodating space S4, the inner proximity sensor 66a may detect the first robot <NUM>. An example of the inner proximity sensor 66a may be an infrared proximity sensor.

A plurality of inner proximity sensors 66a may be provided in the moving direction of the first robot <NUM>.

The outer proximity sensor 66b may be disposed on an outer surface of the robot body <NUM>. An example of the outer proximity sensor 66b may be an infrared proximity sensor.

The second robot <NUM> may control the motor <NUM> according to the sensing value of the outer proximity sensor 66b.

The second robot (A) may further comprise an auxiliary wheel <NUM> disposed on the second robot body <NUM>.

The auxiliary wheel <NUM> may be disposed to be spaced apart from the wheel <NUM>. The wheel <NUM> may be disposed on one side of the left and right sides of the second robot body <NUM>, and the auxiliary wheel <NUM> may be disposed on the other side of the left and right sides of the second robot body <NUM>. The auxiliary wheel <NUM> may be rotated about a horizontal axis 67a.

The second robot <NUM> may further comprise a guide roller <NUM> disposed on the seating body <NUM> and rolling along the station body <NUM>.

The guide roller <NUM> may be rotatably disposed around a vertical axis disposed on the seating body <NUM>.

The guide roller <NUM> may roll along the second guide rail <NUM> when the second robot <NUM> moves, and may help the second robot <NUM> move smoothly.

The second robot <NUM> may further comprise a hall sensor HS for sensing the magnet <NUM>.

The second robot <NUM> may sense the proximity or position of the first robot <NUM> according to the sensing value of the hall sensor HS. When the Hall sensor HS senses the magnet <NUM>, the first robot <NUM> may be decelerated or stopped.

The first robot <NUM> may be decelerated or stopped according to a sensing value of the inner proximity sensor 66a or the hall sensor HS. For example, when the inner proximity sensor 66a senses the first robot <NUM>, the first robot <NUM> can decelerate. When the hall sensor HS senses the magnet <NUM>, the first robot <NUM> can stop.

As shown in <FIG>, a charging terminal <NUM> can be disposed in the first robot <NUM> and a supply terminal <NUM> to which the charging terminal <NUM> may come into contact can be disposed in the second robot <NUM>.

The charging terminal <NUM> of the first robot <NUM> may be mounted on the elevating body <NUM>, and the charging terminal <NUM> of the first robot <NUM> may moves up and down together with the guide plate <NUM> of the lifter <NUM>.

The supply terminal <NUM> may be electrically connected to the second battery <NUM>. The supply terminal <NUM> may come into contact with the charging terminal <NUM> when the charging terminal <NUM> of the first robot <NUM> descends.

Hereinafter, the operation of the robot system configured as described above will be described.

<FIG> is a view when the second robot moves the first robot to near of the object according to the present embodiment, <FIG> is a view when the first robot shown in <FIG> moves to the lower side of the object, <FIG> is a view when the first robot shown in <FIG> returns to the second robot after lifting the object.

An example in which the item B accommodated in the upper space S3 of the station body <NUM> is moved to the outlet <NUM> of the station body <NUM> will be described.

First, the lifting mechanism <NUM> may lift the lifting body <NUM> to the height of the second upper guide rail 49d(ie, the third height), and the second robot <NUM> may be lifted together with the first robot <NUM>.

If the lifting body <NUM> finishes rising to the height of the second upper guide rail 49d, the lifting mechanism <NUM> can complete the lifting of the lifting body <NUM>, and the second robot <NUM> moves the second upper guide rail 49d in the second direction.

The first robot <NUM> can move in the second direction together with the second robot <NUM>, and if the second robot <NUM> is positioned at a position corresponding to the first upper guide rail 48d, as shown in <FIG>, the moving of the second robot <NUM> can be completed, and the second robot <NUM> stops.

If the second robot <NUM> is stopped, the first robot <NUM> can be separated from the second robot <NUM>, and as shown in <FIG>, and can be moved to the first upper guide rail 48d in the first direction.

The first robot <NUM> may move to a lower position of the object <NUM> and may stop when the movement to the lower position of the object <NUM> is completed.

After the first robot <NUM> stops, the first robot <NUM> can control the lift <NUM> in the lifting mode, and the lifting plate <NUM> passes through the opening <NUM> of the frame <NUM> and comes into contact with the object <NUM> and the object <NUM> can be raised.

If the lifting of the object <NUM> is completed, the first robot <NUM> may move in the first direction along the first upper guide rail 48d in a state in which the object <NUM> is raised, as shown in <FIG>, the first robot <NUM> can be inserted into the second robot <NUM> and can be combined with the second robot <NUM>.

When the first robot <NUM> is completely coupled to the second robot <NUM>, the first robot <NUM> may be stopped, and if the first robot <NUM> is stopped, the second robot <NUM> can move along the second upper guide rail 49d in the second direction, and can be seated on the lifting body <NUM>.

If the second robot <NUM> is completely seated on the lifting body <NUM>, the second robot <NUM> can be stopped and the movement of the second robot <NUM> can be completed.

If the movement of the second robot <NUM> is completed, the lifting mechanism <NUM> can lower the lifting body <NUM>, and in a state in which the first robot <NUM> is coupled with the second robot <NUM>, the first robot <NUM> can descend together with the second robot <NUM>.

The lifting mechanism <NUM> can lower the lifting body <NUM> to a height (ie, a first height) at which the item B on the first robot <NUM> can be moved to the conveyor <NUM>, and if the lifting body When the <NUM> is completely lowered to the first height, the lifting mechanism <NUM> may stop lowering the lifting body <NUM>.

If the lifting body <NUM> is stopped, the pusher <NUM> may advance and retract the pushing body <NUM>, and the item B placed on the object <NUM> is pushed to conveyor <NUM> by the pushing body <NUM>.

The conveyor <NUM> may transport the item B to the exit <NUM> of the station body <NUM>, and the item transported to the exit <NUM> may be transferred to the delivery robot <NUM> (see <FIG>).

The robot system can operate to move the item B accommodated in the lower space S2 of the station body <NUM> to the outlet <NUM> of the station body <NUM>, and the lifting mechanism <NUM> can lift the lifting body <NUM> to the height of the second lower guide rail 49c (ie, the second height), and the second robot <NUM> placed on the lifting body <NUM> can be lifted together with the first robot <NUM>.

If the lifting body <NUM> finishes rising to the height of the second lower guide rail 49c, the lifting mechanism <NUM> can complete the lifting of the lifting body <NUM>, and the second robot <NUM> moves along the second lower guide rail 49c in the second direction.

The movement of the second robot <NUM> and the movement of the first robot <NUM> may be the same as when the item B accommodated in the upper space S3 is transported. Hereinafter, detailed descriptions thereof will be omitted to avoid repeat.

The first robot <NUM> may transport the item B accommodated in the lower space S2 to the upper side of the second robot <NUM>, and the second robot <NUM> can be moved to the lifting body <NUM> of the lifting mechanism <NUM>.

The operation of the lifting mechanism <NUM>, the pusher <NUM>, and the conveyor <NUM> may be the same as when the item B accommodated in the upper space S3 is transported. Hereinafter, detailed description thereof will be omitted to avoid repeat.

The item B stored in the lower space S2 can be transported to the exit <NUM> of the station body <NUM>, and the item transported to the exit <NUM> can be transferred to the delivery robot <NUM>.

The robot system is not limited to the above embodiment, and one storage space S2 may be formed in the frame unit FU. In this case, the robot system does not include a lifting mechanism <NUM>. When the item B on the robot 10a guided by the second guide rail <NUM> is moved forward of the pusher <NUM>, the pusher <NUM> may push the item B forward.

The robot system is not limited to the above embodiment, and the conveyor <NUM> is not accommodated inside the outer case <NUM>, and the pusher <NUM> can move the item B on the robot 10a to the delivery robot <NUM>.

According to this embodiment, the robot system comprises a first robot moving in a first direction along a first guide rail and a second robot moving in a second direction along a second guide rail, and since the first robot moves a lower side of a object, a storage space formed in the station body can be maximumly utilized, and item accommodated in the storage space can be maximized.

In addition, since the first robot carries the object, various types of items can be stored and transported.

In addition, since the first robot is guided on the first guide rail and the second robot is guided on the second guide rail having a lower height than a height of the first guide rail, the first robot guided by the first guide rail can stably enter in the second robot, and the first robot seated on the second robot can move stably to the first guide rail.

In addition, there is no need to connect a separate cable for supplying power to the first robot or the second robot, and malfunction of the first robot and the second robot due to the cable can be minimized.

In addition, since the second robot on which the first robot is seated can be lifted by the lifting mechanism, the structure of the robot system is simpler than when the first robot and the second robot are respectively lifted.

In addition, since the item can be moved to the conveyor by the pusher and the conveyor can transfer the item to the exit of the station body, the item can be transferred to the exit of the station body with high reliability.

In addition, the hall sensor of the second robot can sense the magnet of the first robot, and the position of the first robot can be sensed more accurately with a simple structure of the hall sensor and the magnet.

In addition, since the first robot can be charged by the second robot, the structure of the station body is simpler than when chargers for the first and second robots are respectively installed in the station body.

In addition, since the wheels of the first robot are caught and restrained in the wheel accommodating portion formed in the seating body of the second robot, the stability of the first robot is high against shaking caused by movement or lifting of the second robot.

In addition, the first robot can stably enter the first guide rail or the second robot by the guide rollers installed in the first robot, and the left and right balance of the first robot can be adjusted.

The above-disclosed subject matter is to be considered illustrative, and not restrictive, and the appended claims are intended to cover all such modifications, enhancements, and other implementations, which fall within the scope of the present disclosure.

Thus, the implementation of the present disclosure is to be considered illustrative, and not restrictive.

Claim 1:
A robot system comprising:
a station body(<NUM>) on which an object(<NUM>) is placed;
a first robot(<NUM>) having a lifter(<NUM>) that lifts the object(<NUM>) placed on the station body(<NUM>) and disposed to move in a first direction on the station body(<NUM>);
and a second robot(<NUM>) disposed on the station body(<NUM>) to move in a second direction different from the first direction and having a seating body(<NUM>) on which the first robot(<NUM>) is seated.