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WO2024010253A1 - Robot de livraison sans pilote - Google Patents

Robot de livraison sans pilote Download PDF

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Publication number
WO2024010253A1
WO2024010253A1 PCT/KR2023/008677 KR2023008677W WO2024010253A1 WO 2024010253 A1 WO2024010253 A1 WO 2024010253A1 KR 2023008677 W KR2023008677 W KR 2023008677W WO 2024010253 A1 WO2024010253 A1 WO 2024010253A1
Authority
WO
WIPO (PCT)
Prior art keywords
frame
delivery robot
unmanned delivery
steering
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2023/008677
Other languages
English (en)
Korean (ko)
Inventor
최재원
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Watt Co Ltd
Original Assignee
Watt Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Watt Co Ltd filed Critical Watt Co Ltd
Priority to JP2025500372A priority Critical patent/JP2025521948A/ja
Publication of WO2024010253A1 publication Critical patent/WO2024010253A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
    • B62B3/04—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts

Definitions

  • the present invention relates to a delivery robot that delivers goods unmanned, and more specifically, to an unmanned robot that delivers a large amount of delivery boxes delivered to a building to each floor.
  • a separate station is provided to collect delivery boxes to be delivered to each household, and a technology to deliver delivery boxes from the station to each household through a delivery robot has been developed and is being piloted in apartment complexes.
  • the width of the delivery robot increases.
  • the delivery robot cannot ride together in an elevator with a narrow elevator door in a building, or it cannot ride with residents.
  • sharing a ride takes up a lot of space inside the elevator, causing inconvenience to residents, so a solution to this problem is needed.
  • the present invention was proposed to solve the above problems.
  • the wheel drive unit is located inside the delivery robot to reduce the width of the delivery robot, and when discharging goods, the drive unit is moved to both sides of the delivery robot body.
  • the purpose is to provide a new type of unmanned delivery robot that reduces the shock of goods falling to the ground when discharging them by allowing the goods to be discharged after moving them close to the ground.
  • An unmanned delivery robot includes a support frame; a loading portion supported by the support frame and connected to move up and down; first and second moving frames respectively connected to the support frame so as to be slidable in a first direction at a position below the loading unit to secure space for downward movement of the loading unit; At least one first electric wheel installed on the first moving frame; At least one second electric wheel installed on the second moving frame; a first steering unit that steers the first electric wheel; and a second steering unit that steers the second electric wheel independently of the first steering unit.
  • the first and second moving frames protrude from the inside of the support frame in the first direction by the first electric wheel and the second electric wheel, and the first and second moving frames protrude from the inside of the support frame in the first direction.
  • the steering directions of the first steering unit and the second steering unit are opposite to each other.
  • the first and second moving frames are first moved inside the support frame by the first electric wheel in a state in which the driving of the second electric wheel is restricted. It protrudes in the first direction, and when the first movable frame is further moved by the first electric wheel in the protruding state, the support frame moves in the first direction and the second movable frame is inside the support frame. This protrudes.
  • the protruding one of the first electric wheel and the second electric wheel is steered in the first direction, and the electric wheel installed in the other moving frame is steered in a direction at a set angle with the first direction.
  • the first steering unit when the first movable frame is protruded and the second movable frame is protruded, the first steering unit is steered in the first direction, and the second steering unit is steered in the first direction and It is steered in a second orthogonal direction.
  • the first and second steering units each include a steering motor; an outer ring unit installed on the first or second moving frame; a motor support portion formed on the outer ring portion and supporting the steering motor; A first pulley installed on the steering motor; a steering shaft connected to the electric wheel; a second pulley installed on one side of the steering shaft; an inner ring portion installed on the steering shaft and rotationally supported by the outer ring portion by a plurality of balls; a timing belt connecting the first pulley and the second pulley; and an adjuster that adjusts the tension of the fan belt by spacing the outer ring portion from the motor support portion.
  • the steering motor is located below the motor support.
  • the electric wheel includes an in-wheel motor; A wheel bracket installed on the inner ring portion; It includes a wheel support part installed on the wheel bracket and supporting the in-wheel motor.
  • a cable hole is formed in the inner ring portion and the wheel bracket.
  • the cable hole is formed over half or more of the inner ring circumference.
  • the electric wheel further includes a suspension, one side of which is installed on the wheel bracket and the other side of which is installed on the wheel support unit to relieve shock transmitted from the ground.
  • first and second power supply units for supplying power to the first and second electric wheels are installed in the first and second moving frames, respectively.
  • the power supply unit includes at least one of a battery, a steering module control unit, and a driving module control unit.
  • the first power supply unit is located below the first moving frame, and the second power supply unit is located below the second moving frame.
  • the support frame further includes a motor frame, and the motor frame includes a drive motor that provides a driving force to move the loading unit in the vertical direction, and the drive motor It includes a third pulley in which first and second V grooves are formed and a wire fixing part is formed between the first and second V grooves.
  • the third pulley includes a wire
  • the loading unit includes a pair of fourth and fifth pulleys rotatably symmetrically installed on one side, and the wire
  • the middle point is fixed to the wire fixing part, and both ends are connected to the motor frame through the pair of fourth pulleys and the pair of fifth pulleys, and the wire is connected to the motor frame as the third pulley rotates.
  • the loading part moves upward as its length decreases.
  • the first and second moving frames include first magnetic fixing parts on both sides, and the first magnetic fixing parts do not protrude while the first and second moving frames are traveling. It is attached to the support frame so as not to
  • the support frame includes a second magnetic fixing part
  • the second magnetic fixing unit magnetically fixes the loading unit so that downward movement is restricted when the loading unit is moved upward.
  • the first and second magnetic fixing units include at least one of an electromagnet and a zero electron holder
  • the loading unit includes at least one conveyor; and a weight sensor that measures the weight of the goods loaded on the top of the conveyor.
  • a plurality of conveyors are provided, and the plurality of conveyors are driven independently and driven in the same or opposite directions to adjust the spacing of goods.
  • the support frame includes a lidar frame, a lidar is installed on the lidar frame, and the lidar is an omnidirectional lidar.
  • the lidar frame is formed below the motor frame.
  • a plurality of cameras are installed in the support frame in the front and back directions and the left and right directions, respectively.
  • the driving part When transporting goods after loading them, the driving part is moved inside the main body of the delivery robot and the width of the delivery robot is reduced as it moves, achieving the effect of being able to move easily even in narrow spaces.
  • the motor provided in the steering part performs the process of steering the driving part when the delivery robot is running and moving the loading part up and down when receiving or discharging goods, which simplifies the structure and reduces costs. Achieve
  • the driving part when discharging goods, the driving part is moved to both sides of the delivery robot main body and the loading part is lowered, allowing the goods to be moved closer to the ground and discharged, thereby reducing the impact on the goods during discharge. can do.
  • Figure 1 is a perspective view showing an unmanned delivery robot according to an embodiment of the present invention.
  • Figure 2 is a perspective view showing the first and second moving frames protruding from the unmanned delivery robot according to an embodiment of the present invention.
  • Figure 3 is a perspective view of the side opposite to Figure 1.
  • Figure 4 is a diagram showing the front of an unmanned delivery robot according to an embodiment of the present invention.
  • Figure 5 is a diagram showing the rotation of the second electric wheel provided on the second moving frame in the unmanned delivery robot according to an embodiment of the present invention.
  • Figure 6 is a diagram showing the second moving frame being moved by the second electric wheel in the unmanned delivery robot according to an embodiment of the present invention.
  • Figure 7 is a diagram illustrating a state in which the support frame is further moved while the second moving frame is moved by the second electric wheel in the unmanned delivery robot according to an embodiment of the present invention.
  • Figure 8 is a diagram showing the second electric wheel aligned in the forward direction after the second moving frame and the support frame are moved by the second electric wheel in the unmanned delivery robot according to an embodiment of the present invention.
  • Figure 9 is a diagram showing an unmanned delivery robot driving a conveyor to discharge goods according to an embodiment of the present invention.
  • FIG. 10 is a diagram illustrating an unmanned delivery robot according to an embodiment of the present invention that drives a conveyor so that when part of the product comes into contact with the ground, it drives the electric wheel in the opposite direction of the conveyor to completely discharge the product.
  • Figure 11 is a diagram showing the steering unit and electric wheel of an unmanned delivery robot according to an embodiment of the present invention.
  • Figure 12 is a diagram showing the upper part of the steering unit and electric wheel of the unmanned delivery robot according to an embodiment of the present invention.
  • Figure 13 is a diagram showing a side view of the steering unit and electric wheel of an unmanned delivery robot according to an embodiment of the present invention.
  • Figure 14 is a diagram showing a drive motor and a third pulley provided in an unmanned delivery robot according to an embodiment of the present invention.
  • a and/or B includes all three cases: “A”, “B”, and “A and B”.
  • each layer (film), region, pattern or structure is “on” or “under” the substrate, each layer (film), region, pad or pattern.
  • the description of being formed includes all being formed directly or through another layer.
  • the standards for “top/top” or “bottom/bottom” are based on the figures shown in the drawings for convenience, and are only used to indicate the relative positional relationship between components for convenience, and are used to limit the positions of actual components. It should not be understood.
  • “B on top” simply indicates that B is shown on top of A in the drawing, unless otherwise stated or in cases where A must be placed on top of B due to the properties of A or B. In actual products, etc., B It may be located under A, or B and A may be placed side to side.
  • each layer (film), region, pattern, or structure in the drawings may be modified for clarity and convenience of explanation, and therefore does not entirely reflect the actual size.
  • the unmanned delivery robot includes a support frame 100, a loading unit 110, a first moving frame 130, a second moving frame 140, a first electric wheel, and a second electric wheel. , includes a first steering unit 220 and a second steering unit 220.
  • the support frame 100 is formed by combining a plurality of square steel pipes 101 made of steel in the horizontal and vertical directions to form a rectangular parallelepiped-shaped skeleton, and a space is formed inside it for the loading part 110, which will be described later, to move back and forth in the vertical direction. do.
  • the loading unit 110 is supported by the support frame 100 and is connected to move up and down.
  • the loading unit 110 includes at least one conveyor, and conveyor supports 170 are installed on both sides of the conveyor.
  • the conveyor includes a first conveyor 140, a second conveyor 150, and a third conveyor 160 between the conveyor support parts 170, and the first to third conveyors 140 to 160 are driven.
  • Each is independently driven by a motor 350 (not shown) and moves in the same or opposite direction to adjust the spacing between the plurality of articles 10 loaded on the first conveyor 140 to the third conveyor 160. It can be driven.
  • the first conveyor 140 to the third conveyor 160 includes a belt portion 200, a head pulley 180, and a tail pulley 190.
  • the first conveyor 140 to the third conveyor 160 may be equipped with a drive motor on the head pulley 180 or the tail pulley 190, and the drive motor is installed on the head pulley 180 or the tail pulley 190. It may be an in-wheel motor 410 (not shown). Through this, there is no need to provide a space in the loading unit 110 for installing a separate motor when driving the first conveyor 140 to the third conveyor 160, thereby achieving the effect of preventing the loading space from being reduced.
  • the first moving frame 130 and the second moving frame 140 are each connected to the support frame 100 to enable sliding movement.
  • a first steering unit 220 and a first electric wheel 230 are installed in the first moving frame 130, and a second steering part 220 and a second electric wheel 230 are installed in the second moving frame. .
  • the first steering unit 220 and the first electric wheel 230 installed on the first mobile frame 130 and the second steering unit 220 and the second electric wheel 230 installed on the second mobile frame 140 are Two of each may be provided, and may be independently steered four-wheel steering.
  • the first moving frame 130 and the second moving frame 140 move to both sides from the lower position of the loading unit 110 to secure space for the downward movement of the loading unit 110. do.
  • the first electric wheel installed on the first moving frame 130 and the second electric wheel installed on the second moving frame 140 are aligned in the second direction (X-axis direction), respectively, as shown in FIG. 4.
  • the first steering unit 220 moves the first electric wheel in the first direction (Y) as shown in FIG. steer in the axial direction.
  • the steered first electric wheel is driven to move the first moving frame 130 in the first direction.
  • the first electric wheel continues to move the first moving frame 130 in the first direction while the first moving frame 130 is fully protruding in the first direction, as shown in FIG.
  • the support frame 100 moves along the first movable frame 130, the second movable frame is exposed from the inside of the support frame 100 to the outside.
  • the second electric wheel installed on the second mobile frame 140 is not driven, and the second electric wheel installed on the second mobile frame 140 is not driven.
  • the loading unit 110 is lowered toward the ground and the conveyor is driven to move the goods in direction A as shown in FIG. 9.
  • the goods are discharged from the unmanned delivery robot.
  • Light items 10 can be easily discharged just by driving the conveyor, but in the case of heavy items, as shown in Figure 10, if the edge of the item 10 touches the ground while the item 10 is being discharged, the conveyor continues to operate. Therefore, even if the product is pushed out, a situation occurs where the product 10 slips on the conveyor and cannot be discharged.
  • the present invention is provided with a separate weight sensor in the loading unit 110, and when the product 10 placed on the conveyor is measured to be more than the set weight, the conveyor discharges the loaded product 10 ) When rotated to unload the first electric wheel 230 and the second electric wheel 230 are rotated opposite to the rotation direction of the conveyor (in FIG. 10, the conveyor is driven counterclockwise to discharge the product).
  • the support frame 100 can be moved in the direction opposite to the direction of product discharge (direction B) to control the product to be easily discharged.
  • the first moving frame 130 includes a rail portion 210 so as to be able to slide on the support frame 100 .
  • the steering unit 220 is installed on the first moving frame 130 and steers the electric wheel 230.
  • the steering unit 220 and the electric wheel 230 may be composed of two pieces as mentioned above, but according to the embodiment, the steering section 220 is composed of two pieces in the first moving frame 130.
  • only one electric wheel 230 may be provided, and one may be provided as a general wheel that does not generate its own rotational force.
  • the steering unit 220 includes a steering motor 240, an outer ring 250, a motor support 270, a first pulley 280, a second pulley 290, an inner ring 290, a fan belt 300, and tension. Includes an adjustment rod (310).
  • the steering motor 240 can measure the steering angle of the first electric wheel by sensing the rotation angle of the rotor shaft of the steering motor 240 through a steering angle sensor or encoder.
  • the steering motor 240 may be located below the motor support unit 270. As the steering motor 240 is located at the lower part of the first moving frame 130, when the unmanned delivery robot is moved to deliver goods, the height of the loading unit 110 is adjusted to the first moving frame 130 and the second moving frame 130. Since it only needs to be moved to the upper position of the frame 140, the effect of lowering the center of gravity of the unmanned delivery robot can be achieved.
  • the outer ring portion 250 is installed on the first moving frame 130.
  • the motor support portion 270 is formed on the outer ring portion 250 and supports the steering motor 240.
  • the tension adjustment rod 310 is installed between the motor support portion 270 and the outer ring portion 250.
  • the tension adjustment rod 310 adjusts the tension of the fan belt 300 by separating the outer ring portion 250 and the motor support portion 270.
  • the outer ring portion 250 includes a plurality of tensioners 320 that narrow the gap between the fan belt between the first pulley 280 and the second pulley 290.
  • the tensioner 320 achieves the effect of increasing the steering angle of the steering unit 220 by narrowing the gap between the fan belts.
  • the first pulley 280 is installed on the steering motor 240.
  • the steering shaft 260 is connected to the electric wheel 230 and transmits the rotational force of the steering motor 240 to change the steering direction of the electric wheel 230.
  • the second pulley 290 is installed on one side of the steering shaft 260.
  • the inner ring portion 290 is installed on the steering shaft 260 and is rotationally supported on the outer ring portion 250 by a plurality of balls (not shown).
  • the fan belt 300 connects the first pulley 280 and the second pulley 290 and transmits the rotational force of the steering motor 240 to the steering shaft 260.
  • the electric wheel includes an in-wheel motor wheel bracket 420, a wheel support 440, and a suspension 430.
  • the wheel bracket 420 is installed on the inner ring portion 290 and rotates together with the inner ring portion 290.
  • the wheel support unit 440 is installed on the wheel bracket 420 and supports the in-wheel motor 410.
  • a cable hole 330 is formed in the inner ring portion 290 and the wheel bracket 420 at the same location.
  • the cable hole 330 may be formed in more than half of the circumference of the inner ring portion 290, as shown in FIGS. 11 and 12.
  • the main cable 450 is a cable that supplies power to the in-wheel motor 410 from the power supply unit 400 and transmits control signals from the steering module control unit and the travel module control unit. This main cable 450 connects the power supply unit 400 and the in-wheel motor 410 through the cable hole 330.
  • the present invention achieves the effect of enabling steering up to 450 degrees by forming the cable hole 330 in the inner ring portion 290 in the circumferential direction as shown in FIG. 12 and forming it at least half of the inner ring circumference. do.
  • a suspension 430 which will be described later, is provided between the wheel bracket 420 and the wheel support portion 440, and the suspension 430 is coupled to the inside of the wheel bracket 420 and moves the wheel bracket 420 according to the contraction of the suspension line, which will be described later. It supports the electric wheel 230 while moving back and forth inside.
  • One side of the suspension 430 is installed on the wheel bracket 420, and the other side is installed on the wheel support portion 440, and serves to relieve shock transmitted from the ground.
  • the first moving frame 130 includes a power supply unit 400 for supplying power to the in-wheel motor 410.
  • the power supply unit 400 includes at least one of a battery, a steering module control unit, and a driving module control unit.
  • the driving module control unit controls the steering unit 220, and the driving module control unit controls the electric wheel 230.
  • the power supply unit 400 like the steering motor 240, is located at the lower part of the first moving frame 130, so that when the unmanned delivery robot moves to deliver goods, it first moves the height of the loading unit 110. Since the frame 130 and the second moving frame 140 only need to be moved to the upper positions, the effect of lowering the center of gravity of the unmanned delivery robot can be achieved.
  • the support frame 100 further includes a motor frame 340.
  • the motor frame 340 includes a drive motor 350 that provides driving force to move the loading unit 110 in the vertical direction.
  • the third pulley 360 is installed on the drive motor 350.
  • the third pulley 360 is installed together with the shaft of the drive motor 350.
  • the third pulley 360 has a first V groove 361 and a second V groove 362, and a wire fixing groove 363 between the first V groove 361 and the second V groove 362. is formed
  • the loading unit 110 includes a pair of fourth pulleys 380 and fifth pulleys 390 rotatably installed symmetrically on one side, as shown in FIGS. 4 and 5 .
  • the wire 490 is coupled to the wire fixing groove 363 at the midpoint between both ends, and is fixed by a fixing screw 364, and both ends are connected to a pair of fourth pulleys 380. ) and a pair of fifth pulleys 390 are connected to the motor frame 340.
  • the wire 490 is wound around the first V groove 361 and the second V groove 362, and its length decreases, causing the loading unit 110 to move upward.
  • the wire 490 can be fixed through a turnbuckle (not shown) when fixing both ends to the motor frame.
  • the wire 490 that lifts the loading unit 110 is provided as a single wire, and the middle point of the wire is fixed to the third pulley, so the loading unit 110 is unbalanced in the process of rising.
  • the effect of maintaining balance when the loading part is raised is achieved by loosening the fixing screw fixed in the wire fixing groove of the third pulley and adjusting the position of the middle point of the wire. do.
  • the unmanned delivery robot may have a first magnetic fixing unit 460 installed on the first moving frame 130.
  • the first magnetic fixing part 460 serves to prevent the first moving frame 130 from protruding while driving.
  • the magnetic fixing part may be magnetically attached to the square steel pipe 101.
  • the first magnetic fixing unit may be installed on the support frame 460, and a fixing frame (not shown) may be installed on the first moving frame 130 at a position corresponding to the installation position of the first magnetic fixing unit.
  • the fixed frame may be made of steel.
  • the support frame 100 includes a second magnetic fixing part 470 that electronically generates a locking magnetic force.
  • the second magnetic fixing unit 470 serves to limit downward movement of the loading unit 110 when it is moved upward.
  • the first magnetic fixing part 460 and the second magnetic fixing part 470 may include at least one of an electromagnet that generates magnetic force when energized and an electromagnet holder whose magnetic force is released when energized.
  • the support frame 100 includes a lidar frame 501.
  • LiDAR 500 is installed on the LiDAR frame 501.
  • LiDAR 500 may be an omnidirectional LiDAR 500 and can scan situations that occur during driving in all directions.
  • a plurality of cameras are installed in the support frame 100 in the front, rear, and left directions, respectively, so that situations occurring during driving can be captured in all directions.
  • the plurality of cameras includes a plurality of first cameras 510 that photograph the front and a second camera 520 that photographs the downward side.
  • the second camera 520 can capture images of the ground in real time and achieve the same effect as the around view monitoring system, which has recently been increasingly installed on vehicles.
  • the unmanned delivery robot includes an articulated robot arm 550.
  • the articulated robot arm 550 is installed on the upper part of the support frame 100 and plays the role of pressing the elevator button or the door button.
  • the articulated robot arm 550 is provided with a tip portion 540 at the end that can press an elevator button or automatic door switch, and a third camera 530 is installed at the tip portion.
  • the articulated robot arm 550 is controlled by a control module (not shown), and when an elevator button, etc. is photographed through the third camera 530, it is imaged, and the button is recognized in the image so that the button on the destination floor can be pressed. Controls the articulated robot arm (550).
  • the third camera 530 may photograph the delivered product 10 when the above-mentioned second camera 520 is broken or damaged and is inoperable.
  • control module can improve the accuracy with which the articulated robot arm 550 presses buttons through machine learning.
  • first conveyor 150 second conveyor
  • first pulley 281 second pulley
  • Inner ring portion 300 Timing belt
  • Power supply unit 410 In-wheel motor
  • first camera 520 second camera

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Handcart (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

La présente invention concerne un robot de livraison pour la livraison sans pilote d'articles et, plus spécifiquement, un robot conçu de telle sorte que des boîtes de livraison délivrées à un complexe d'appartement sont distribuées à des appartements respectifs, sans pilote. La présente invention permet d'obtenir un effet avantageux, caractérisé en ce que, lorsque des articles sont chargés et transférés, une partie d'entraînement est déplacée dans un cadre de support puis se déplace de telle sorte que, en réduisant la largeur du robot de livaison, celui-ci peut facilement se déplacer même dans un espace étroit.
PCT/KR2023/008677 2022-07-05 2023-06-22 Robot de livraison sans pilote Ceased WO2024010253A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2025500372A JP2025521948A (ja) 2022-07-05 2023-06-22 無人配達ロボット

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020220082598A KR102547863B1 (ko) 2022-07-05 2022-07-05 무인 배송 로봇
KR10-2022-0082598 2022-07-05

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WO2024010253A1 true WO2024010253A1 (fr) 2024-01-11

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PCT/KR2023/008677 Ceased WO2024010253A1 (fr) 2022-07-05 2023-06-22 Robot de livraison sans pilote

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JP (1) JP2025521948A (fr)
KR (1) KR102547863B1 (fr)
WO (1) WO2024010253A1 (fr)

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CN116654265B (zh) * 2023-08-02 2023-11-17 沈阳诺曼科技有限公司 一种民用快递载重无人机
KR102678409B1 (ko) * 2023-09-06 2024-06-27 주식회사 폴라리스쓰리디 딜리버리 로봇

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KR20220029168A (ko) * 2020-09-01 2022-03-08 한국기계연구원 모바일 로봇

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