KR100690019B1 - Automatic cargo transportation device using a monorail - Google Patents

Abstract

An unmanned cargo conveying apparatus using a monorail is provided to convey cargos in any working environment and stably convey heavy cargos. An unmanned cargo conveying apparatus using a monorail(20) includes a traveling unit, a first position sensor, a control section, a loading section elevating unit, and a loading section. The traveling unit is supported by the monorail. The first position sensor is installed on the monorail to detect the traveling position of the traveling unit. The control section controls the traveling unit on the basis of a detection signal of the first position sensor. The loading section elevating unit is provided in the traveling unit. The loading section is connected to the loading section elevating unit to be moved up and down. The loading section moves a cargo box up and down.

Description

Automatic Cargo Transportation Device Using a Monorail}

1 is a schematic configuration diagram illustrating a path and an operating state as an example of an overall installation of a monorail in an unmanned cargo transport apparatus using a monorail according to the present invention;

2 is an operation explanatory diagram for showing a state in which the unmanned cargo transport device is located at each point in a state where the monorail according to the present invention is installed over the first floor and the second floor,

Figure 3 is a side configuration diagram of the unmanned cargo transport apparatus 100a stopped on the second floor in Figure 2,

4 is a side view in the same position and state as in FIG. 3;

5 is a side configuration diagram of the unmanned cargo transport apparatus 100c running on the curved rail in FIG.

FIG. 6 is a plan view illustrating the unmanned cargo transport device 100c shown in FIG. 5.

<Description of the symbols for the main parts of the drawings>

12 housing, 16 first position sensor,

19: wire section, 20: rail,

20a: first rail, 20b: second rail,

22: sliding electrode, 22a: first sliding electrode,

22b: second sliding electrode, 24: driving wheel,

24a: first drive wheel, 24b: second drive wheel,

26: drive motor, 26a: first drive motor,

26b: second drive motor, 34: second position sensor,

50a: first connecting portion, 50b: second connecting portion,

60a, 60b, 60c, 60d: side guide wheels,

65a, 65b, 65c, 65d: vertical guide wheel, 70: driving link portion,

99: cargo box, 100: unmanned cargo transport device,

100a: unmanned cargo carrier located on the second floor,

100b: unmanned cargo transport device located on the first floor,

100c: unmanned freight transporter driving a curved rail,

200: winding motor, 210a: first winding wheel,

210b: second winding wheel, 210c: third winding wheel,

210d: fourth winding wheel, 230: reducer,

240: winding shaft, 240a: first winding shaft,

240b: second winding shaft, 250: wire,

300: loading part.

The present invention relates to an unmanned freight transport apparatus using a monorail, and more particularly, to an unmanned freight transport apparatus using a monorail that can automatically transport a cargo box along a monorail installed in place.

In general, conveyors are installed and operated three-dimensionally in factories, large industrial facilities, power plants, buildings, warehouses, hospitals, libraries, etc. for logistics, document delivery, parts supply and assembly. By the way, such a cargo transport device is provided with a separate cargo stacker, used to manually load or discharge the cargo. In other words, the conventional freight transport device has all the functions of moving from the designated departure station to the destination station irrespective of the cargo.

By the way, in the case of such a conventional freight transport device, the cargo to be transported is not a case of documents, medicines or small parts, but in the case of heavy materials, the risk of a lot of labor and safety accidents was followed in loading and unloading the cargo.

In particular, in the case of monorails installed along the ceiling or walls, an additional device is needed to lift cargo loaded on the floor to the position of the monorail. In addition, if the cargo is to be unloaded, a device for transporting the cargo from the position of the monorail to the floor is also required. This means that a separate lifting device is needed between the position of the monorail and the load position of the cargo.

Accordingly, the present invention has been made to solve the above problems, the first object of the present invention is possible to run and control even in a three-dimensionally installed rail (horizontal curve, straight curve rail or three-dimensional rail). And, to provide an unmanned cargo transport apparatus using a monorail that can be transported stably even if the cargo is heavy.

A second object of the present invention is to provide an unmanned cargo transport apparatus using a monorail capable of lifting and moving cargo from the floor on which the cargo box is loaded to the position of the monorail, and then placing the cargo back to the floor after the movement. It is.

Other objects, specific advantages and novel features of the invention will become more apparent from the following detailed description and the preferred embodiments described in conjunction with the accompanying drawings.

In the description of the reference numerals in the drawings which relate to an embodiment of the present invention, members starting with the same Arabic numeral refer to the same member or a series of the same members (for example, the sliding electrode 22 and the first sliding electrode 22a). , The second sliding electrode 22b is the same member or the same member installed in plurality. Objects of the present invention as described above, the driving means for driving supported by the monorail 20;

A first position sensor 16 installed on the monorail 20 for sensing a traveling position of the traveling means;

A control unit controlling the driving means based on the detection signal of the first position sensor 16;

A loading unit lifting means provided in the traveling means; And

It can be achieved by an unmanned cargo transport device using a monorail, characterized in that consisting of; loading unit 300 is connected to the lifting unit lifting means can be lifted up and down, and lifting the cargo box (99).

The driving means includes two pairs of driving wheels 24a and 24b in close contact with the monorail 20;

Four driving motors 26a and 26b for independently driving the four driving wheels 24a and 24b;

And a plurality of sliding electrodes 22 for supplying power to the driving motors 26a and 26b from the wire part 16 provided on one side of the monorail 20.

In addition, the driving means includes a pair of first drive motors 24a and a pair of first drive motors 26a for driving the first drive wheels 24a, respectively, and the first drive motor 26a from the wire portion 16. First traveling means composed of a first sliding electrode 22a for supplying power to the furnace;

For supplying power from the pair of second drive wheels 24b, the pair of second drive motors 26b for driving the second drive wheels 24b, and the wire portion 16 to the second drive motor 26b, respectively. Second traveling means consisting of a second sliding electrode 22b; And

It is preferable that the driving link portion 70 is configured to freely connect the first traveling means and the second traveling means to each other.

In addition, the sliding electrodes 22a and 22b are respectively

Most preferably, it consists of two sliding electrodes for direct current | flow, three sliding electrodes for three-phase alternating current, and one sliding electrode for grounding.

And four pairs of vertical guide wheels 65a, 65b, 65c, and 65d which are elastically supported in a close opposite direction to bring the driving wheels 24a and 24b into close contact with the monorail 20; And

More preferably, four pairs of side guide wheels 60a, 60b, 60c, and 60d are installed in a direction perpendicular to the driving wheels 24a and 24b to support the driving means on both sides.

In addition, it is most preferable that the traveling means further includes a second position sensor 34 to detect the deceleration starting position of the traveling means.

And, the monorail 20 is composed of two rails symmetrical with each other, the longitudinal cross section of each rail is preferably c-shaped.

In addition, the loading unit lifting means, the winding motor 200 is mounted to the traveling means;

A reducer 230 connected to the winding motor 200;

A pair of winding shafts 240 connected to the reducer 230 by tooth bites;

Winding reel 210 provided at the end of each winding shaft 240;

One end is connected to the winding reel 210, the other end is a wire 250 connected to the loading unit 300; may be configured.

In addition, the pair of take-up shaft 240 is most preferably configured to be toothed so as to rotate in opposite directions to each other.

The invention will now be described in detail with reference to the accompanying drawings, in which preferred embodiments are shown.

1 is a schematic configuration diagram for explaining a path and an operating state as an example of the overall installation of the monorail 20 of the unmanned cargo transport apparatus using the monorail according to the present invention. As shown in FIG. 1, the monorail 20 may be installed in a factory, a large industrial facility, a power plant, a building, a warehouse, a hospital, a library, or the like, and may extend to a desired place. That is, not only can be vertically connected from the basement to the rooftop but also horizontally. For reference, in FIG. 1, the mark “person” means that the unmanned freight transport apparatus 100 may load or unload cargo. Such cargo may be logistics, document delivery, supply of parts or supply of assembled parts.

In particular, when loading the cargo in the unmanned cargo transport apparatus 100, the load is lowered by loading the load 300 to the cargo placed on the floor to lift the cargo. Then, the cargo is put down to the floor from the unmanned cargo transport apparatus 100 at the designated place.

2 is an operation explanatory diagram for showing a state where the unmanned cargo transport apparatus 100 is located at each point in a state in which the monorail 20 according to the present invention is installed on the first floor and the second floor. In FIG. 2, the monorail 20 is vertically connected over the first and second floors, and the connection part is treated with a smooth curve. And, "100a" is an unmanned cargo transport device located on the second floor, "100c" is an unmanned cargo transport device running a curved rail to descend from the second floor to the first floor, or to go up from the first floor to the second floor, " 100b "is an unmanned cargo carrier located on the ground floor. That is, in Figure 2 "100a", "100b", "100c" is the same unmanned cargo transport device 100 that differs only in position. Although the monorail 20 shown in FIG. 2 is installed vertically, the monorail 20 shown in FIG. 2 may also be applied horizontally.

Hereinafter will be described in detail with respect to the internal configuration of the monorail 20 and the unmanned cargo transport device 100 placed in each position. 3 is a side configuration diagram of the unmanned cargo transport apparatus 100a stopped on the second floor in FIG. 2, and FIG. 4 is a side view in the same position and state as in FIG. 3. As shown in Fig. 3 and Fig. 4, first, a peripheral configuration fixed in relation to the monorail 20 will be described.

The monorail 20 is provided with a pair of mirror symmetrical shape below the wire portion 19 and the longitudinal cross section is provided to face the "c" shape. An interior space formed by a pair of monorails 20 is a traveling device of the unmanned cargo transport apparatus 100.

The wire part 19 is provided along the monorail 20, and various power lines, signal lines, ground lines, and the like are wired along the rails 20. The wires in the wire portion 19 are exposed along the rail 20 to maintain a constant electrical connection with the sliding electrodes 22. Therefore, the power transmission and the control signal transmission is possible while the traveling device is driving.

The first position sensor 16 is installed at an outer region of the monorail 20, and a plurality of first position sensors 16 are installed at regular intervals along the longitudinal direction of the monorail 20. The first position sensor 16 is fixed to the housing 12 and used to determine the position of the traveling device. For this purpose, each position sensor 16 is given a unique identification number. The first position sensor 16 may be any one of an optical sensor, a magnetic sensor, and an electromagnetic sensor. In this embodiment, the first sensor 16 uses an electromagnetic sensor that senses the approach of a metal part of the traveling device.

The internal configuration of the unmanned cargo transport apparatus 100 according to the present invention is a traveling device that is engaged with the monorail 20 to perform driving, located in the lower portion of the traveling device, the housing 12 for loading or unloading cargo, and lifting up and down. It is composed of a connecting portion 50 for connecting the traveling device and the housing (12).

A pair of monorails 20a and 20b are positioned around the traveling device, a sliding electrode 22 is provided at an upper portion thereof, and a connection portion 50 is provided at a lower portion thereof. The traveling device is stably in close contact with the monorail and generates a rotational force to manage matters such as driving and stopping of the unmanned cargo transport device 100. In particular, in order to smoothly run the curved monorail 20 (see FIGS. 5 and 6 described later), the inside of the traveling device is largely divided into two parts, which are freely rotatably connected by the intermediate link part 70. It is. To this end, the driving wheel 24, the side guide wheel 60, the driving motor 26 and the control unit is provided in pairs inside the traveling device.

The pair of first driving wheels 24a and the pair of second driving wheels 24b are located inside each of the monorails 20a and 20b, and in particular, are in close contact with the inner upper surfaces of the respective monorails 20a and 20b. To move the vehicle. A pair of vertical guide wheels 65a and 65b are provided before and after each of the first drive wheels 24a to closely contact the pair of first drive wheels 24a to the inner upper surfaces of the monorails 20a and 20b. . That is, one driving device is provided with four driving wheels 24 and eight vertical guide wheels 65. The vertical guide wheel 65 is in close contact with the inner lower surface of each of the monorail (20a, 20b) by the elastic force of the spring while the idle rotation. That is, the driving wheels 24a and 24b are in close contact with the inner upper surfaces of the monorails 20a and 20b by the elastic reaction force in which the vertical guide wheel 65 is in close contact with the inner bottoms of the monorails 20a and 20b. In order to transmit stable elastic reaction force to each of the driving wheels 24a and 24b, a pair of vertical guide wheels 65 are provided before and after the driving direction of each of the driving wheels 24a and 24b.

Since the side guide wheels 60 are provided for each vertical guide wheel 65, a total of eight are provided in one traveling device. Side guide wheels (60a, 60b, 60c, 60d) are installed in a direction perpendicular to the vertical guide wheel 65, in close contact with the vertical side of the monorail (20a, 20b) rotates idle. Through such idle rotation, the traveling device can travel while being always positioned in the center without biasing the left and right sides of the monorails 20a and 20b.

The pair of first drive motors 26a and the pair of second drive motors 26b are independently provided in the traveling device, respectively, and are connected to the first and second drive wheels 24a and 24b to provide rotational force. Generate. That is, the first and second drive motors 26a and 26b are composed of a stepping motor or a servo motor, and can be independently controlled, and the capacity is 60W. Therefore, even in the curved monorail 20, the stable driving can be made by varying the rotational speed of the inner driving wheel 24 and the outer driving wheel 24.

The first and second sliding electrodes 22a and 22b are for maintaining an electrical connection even when the traveling device is moved. Each of the first and second sliding electrodes 22a and 22b includes two electrodes for direct current (24 V), three electrodes for three phase alternating current (220 V), And one ground electrode and a control signal electrode. That is, the first sliding electrode 22a is provided at the first half of the traveling device, and serves as an electric power source for the first driving motor 26a. The second sliding electrode 22b is provided at the second half of the traveling device, and is provided at the second. It becomes an electric power source of the drive motor 26b. In addition, the sliding electrode 22 is provided with a spring device (not numbered) at the bottom in order to absorb the vibration or shock while running.

One end of the first and second connection parts 50a and 50b may be connected to the traveling device and may travel integrally, and the other end may be connected to the housing 12 and the loading part and the loading part lifting device. Each connection part 50 is equipped with a thrust bearing etc. for smooth running in a curved rail part.

The housing 12 is a cover for protecting various sensors, conveyor belt devices, etc., the upper part of which is connected to the traveling device through the first and second connecting parts 50a and 50b, and the lower part of the housing part is provided with a lifting device. Appliances and electrical devices (eg controls) are incorporated.

The second position sensor 34 is installed above the housing 12. This second position sensor 34 is used to determine the position to decelerate the speed of the unmanned cargo transport device 100 at high speed (up to 69 m / min) while moving with the unmanned cargo transport device 100. The second position sensor 34 may be any one of an optical sensor, a magnetic sensor, and an electromagnetic sensor, and in this embodiment, the same as the first position sensor 16 is used.

The winding motor 200 is provided inside the housing 12 and may be a motor capable of forward and reverse rotation, a servo motor, a stepping motor, and the like. The winding motor 200 is a member that generates a rotational force for winding the wire 250. Therefore, the winding motor 200 may be provided with one large capacity or may be installed for each winding wheel 210.

The reducer 230 has an input side connected to a winding motor 200 and an output side connected to first and second winding shafts 240a and 240b. The reducer 230 is a member for reducing the rotational speed of the take-up motor 200, for example, a belt driving method, a reduction gear method, a harmonic drive method may be adopted, but is limited thereto. However, anything that can cause deceleration can be replaced.

The first winding shaft 240a is connected to one end of the first winding wheel 210a, and the other end of the first winding shaft 240a is rotatably integrated. The first winding wheel 240a is provided in the horizontal direction of the housing 12 and is connected to the reducer 230 in an intermediate region to receive a rotational force.

A second winding wheel 210b is connected to one end of the second winding shaft 240b and a fourth winding wheel 210d is connected to the other end thereof so that the second winding shaft 240b is integrally rotatable. The second winding wheel 240b is provided in the horizontal direction of the housing 12 and is connected to the reducer 230 in the intermediate region to receive the rotational force. In addition, the second winding shaft 240b is parallel to the first winding shaft 240a and spaced apart by a predetermined interval.

Rotation directions of the first and second winding shafts 240a and 240b are opposite directions. To this end, an idle gear (not shown) is further provided between the reducer 230 and the first winding shaft 240a, or an idle gear (not shown) is further provided between the reducer 230 and the second winding shaft 240b. It is provided. That is, by adding one idle gear, the rotation directions of the first and second winding shafts 240a and 240b are opposite to each other. That is, when the first winding shaft 240a rotates clockwise, the second winding shaft 240b rotates counterclockwise, and when the first winding shaft 240a rotates counterclockwise, the second winding shaft 240b is configured to rotate clockwise. This is to pull up and down four wires simultaneously.

Winding wheel 210 is provided with four inside the housing 12, is configured to be connected to each of the winding shaft 240 can be rotated. The winding wheel 210 is connected to the wire 250 and secures a sufficient space for winding the wire 250.

In this embodiment, four wires are used, and each wire 250 is connected as follows. That is, one end of the wire 250 is connected to the winding wheel 210, the other end is connected to the loading unit (300). Thus, when raising or lowering the cargo box 99, four rows of wires 250 are configured to be wound or unwound at the same length and speed.

Loading unit 300 may be of various shapes to handle the cargo box 99, the wire 250 is fixed to each corner area of the upper, the cargo box 99 may be selectively fixed to the lower. As an example of fixing the cargo box 99 to the lower portion, it may be a basket type with an open side, or may be fixed to the upper surface of the cargo box 99 by vacuum adsorption (in this case, separate pneumatic wiring Is configured together). In addition, a method of manufacturing a dedicated cargo box 99 made of plastic or metal, and lifting it by a hook or an electromagnet may also be adopted.

FIG. 5 is a side configuration diagram of the unmanned cargo transport device 100c driving on the curved rail 20 in FIG. 2, and FIG. 6 is a plan view of the unmanned cargo transport device 100c shown in FIG. 5. As shown in FIGS. 5 and 6, regardless of the shape of the monorail 20, the driving wheel 24 is in close contact with the monorail 20 due to the side guide wheel 60 and the vertical guide wheel 65. The link unit 70 causes the inside of the traveling device to rotate relative to the curvature of the rail 20. Even in this case, since the wire parts 19 are in close contact with the first and second sliding electrodes 22a and 22b, the power supply and the signal transmission can be made stable.

Hereinafter, with reference to the accompanying drawings with respect to the operation of the unmanned cargo transport apparatus using a monorail having the configuration as described above will be described.

First, a freight box 99 is supplied from a separate freight box 99 transfer device. Then, the winding motor 200 rotates forward and rotates the first and second winding shafts 240a and 240b through the reducer 230. As the first and second winding shafts 240a and 240b rotate, the wire 250 wound around the winding wheel 210 is released. As a result, the mounting portion 300 is lowered to a predetermined position.

When the cargo box 99 is loaded on the lowered loading part 300, the GUNCH motor 200 reversely rotates to rotate the first and second winding shafts 240a and 240b through the reducer 230. The wire 250, which has been released in accordance with the reverse rotation of the first and second winding shafts 240a and 240b, is wound around the winding wheel 210, whereby the loading part 300 is raised together with the cargo box 99 to form a housing. It comes in close contact with (12). Through this process, the loading process of the cargo box 99 is completed.

Then, the traveling device starts traveling to the designated destination. At this time, the travel command may be directly input by the operator to the travel device (the key exposed on the outer surface of the housing) (for example, move to the second floor room 217). At this time, since the central controller (not shown) designates and stores serial numbers for the plurality of first position sensors 16, the traveling device may be moved by the interval unit of the first position sensors 16.

The traveling device rotates the first and second drive motors 26a and 26b based on a pre-programmed travel command. Due to the rotation of the first and second drive motors 26a and 26b, the first and second drive wheels 24a and 24b rotate and the traveling device starts running due to the frictional force with the inside of the monorail 20.

Even if there is a curved rail while driving, the driving device is stably driven by the side guide wheel 60, the vertical guide wheel 65, and the intermediate link part 70. Power required for driving and DC power required for various controls are received through the sliding electrode 22.

If the vicinity of the specified specific position is approached, the second position sensor 34 in the traveling device detects this. For this purpose, the detection mark must be installed in front of a specific location. Based on the detection signal of the second position sensor 34, the controller (for example, the CPU) decelerates the driving motor 26 of the traveling device from high speed to low speed. Thus, the traveling device enters the preparation phase for stopping.

When the traveling device arrives at the specified specific position, the first position sensor 16 attached to the housing 12 detects this and transmits it to the traveling device and the central controller (not shown). Thus, the central controller can know that the traveling device has arrived at the designated place, and the traveling device completely raises the drive motor 26 based on the received signal. Through this process, the driving device can be moved to a specific place.

After the movement is completed, the operation proceeds in the reverse direction of the loading order of the cargo box 99 described above to unload the loaded cargo box 99.

Although the present invention has been described with reference to one traveling device on the monorail 20, the monorail can have a plurality of rails in a complicated connection relationship (i.e., merged and divided), and the plurality of traveling devices are such rails. It can travel in accordance with the control signal on the.

Therefore, according to one embodiment of the present invention as described above, even in the three-dimensionally installed rail (horizontal curve, straight curve rail or three-dimensional rail formed) can run and control, even when the cargo is heavy Can be transferred to. Therefore, it is compatible with installation and operation in any installation environment and is not significantly influenced by the type or weight of cargo carried.

In addition, it is essential for factory automation because the cargo can be lifted and moved from the floor where the cargo box is loaded to the position of the monorail (for example, the ceiling), and the cargo can be automatically lowered to the floor after moving. .

Although the present invention has been described in connection with the above-mentioned preferred embodiments, it will be readily apparent to those skilled in the art that various other modifications and variations can be made without departing from the spirit and scope of the invention. It is obvious that all modifications fall within the scope of the appended claims.

Claims (9)

Traveling means supported by the monorail 20 to travel; A first position sensor (16) installed on the monorail (20) for detecting a travel position of the travel means; A control unit controlling the driving means based on the detection signal of the first position sensor 16; A loading unit lifting means provided in the traveling means; And Unloading cargo transport apparatus using a monorail, characterized in that consisting of; loading unit 300 is connected to the lifting unit lifting means can be lifted up and down, lifting the cargo box (99). The method of claim 1, wherein the driving means, Two pairs of driving wheels 24a and 24b in close contact with the monorail 20; Four driving motors 26a and 26b for independently driving the four driving wheels 24a and 24b; Unmanned cargo using a monorail, characterized in that consisting of; a plurality of sliding electrodes 22 for supplying power to the drive motors (26a, 26b) from the wire portion 16 provided on one side of the monorail (20) Conveying device. The method of claim 2, wherein the driving means, Power is supplied from the pair of first drive wheels 24a, the pair of first drive motors 26a for driving the first drive wheels 24a, and the wire portion 16 to the first drive motor 26a. First traveling means consisting of a first sliding electrode 22a for supplying; Power is supplied from the pair of second drive wheels 24b, the pair of second drive motors 26b to drive the second drive wheels 24b, and the wire part 16 to the second drive motor 26b. Second traveling means consisting of a second sliding electrode 22b for supplying; And Unmanned cargo transport apparatus using a monorail, characterized in that consisting of a traveling link unit 70 for freely connecting the first traveling means and the second traveling means mutually. 4. The sliding electrodes 22a and 22b, respectively, An unmanned cargo transport apparatus using a monorail, comprising two sliding electrodes for direct current, three sliding electrodes for three-phase alternating current, and one sliding electrode for grounding. The method of claim 1, Four pairs of vertical guide wheels 65a, 65b, 65c, and 65d which are elastically supported in the opposite direction to closely contact the driving wheels 24a and 24b to the monorail 20; And Four pairs of side guide wheels (60a, 60b, 60c, 60d) are installed in a direction perpendicular to the driving wheels (24a, 24b) to support the traveling means on both sides; and further comprising a monorail Unmanned Cargo Transport. 2. The unmanned cargo transport apparatus according to claim 1, wherein the traveling means further comprises a second position sensor (34) for detecting a deceleration starting position of the traveling means. According to claim 1, wherein the monorail 20 is composed of two rails symmetrical with each other, the longitudinal cross-section of each rail is unmanned cargo transport apparatus using a monorail, characterized in that the c-shaped. According to claim 1, wherein the loading unit lifting means, A winding motor 200 mounted to the traveling means; A reducer 230 connected to the winding motor 200; A pair of winding shafts 240 connected to the speed reducer 230 by teeth; Winding reels 210 provided at ends of the winding shafts 240; One end is connected to the take-up reel 210, the other end wire 250 is connected to the loading unit 300; unmanned cargo transport apparatus using a monorail, characterized in that consisting of. The unmanned cargo transport apparatus of claim 8, wherein the pair of winding shafts (240) have toothed bites configured to rotate in opposite directions.

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