KR101875554B1 - Pallet feeding device and article automation system using the same - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pallet supply device that can automatically store and supply a pallet, and a logistics automation system using the same. The pallet supplying apparatus according to the present invention is provided on a moving rail for receiving a pallet from an article classification, a gripper for gripping a pallet seated on a moving rail, A pallet is received from the sorting section through the moving rail section, and the palette received through the moving rail section is held by being lifted up and down through the vertical moving section while gripping the pallet through the gripper, The gripper is released from gripping and supplied to the goods transport robot.

Description

[0001] PALLET TRANSMISSION DEVICE AND TRANSMISSION AUTOMATION SYSTEM USING THE SAME [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a pallet supply device, and more particularly, to a pallet supply device that can automatically store and supply a pallet, and a logistics automation system using the same.

The physical distribution center refers to a logistics facility that is installed between the supplier and the consumer in the process of distribution of the products in which there are a plurality of suppliers and consumers, thereby promoting the efficiency of delivery.

Logistics centers are set up to integrate, plan, and streamline the distribution process. For example, in the past, a factory sent a product directly to a delivery center. However, in order to streamline the transportation in accordance with the efficiency of transportation, realization of economies of scale, and globalization of the delivery area, a logistics center is installed in a strategic logistics area and a distribution type is provided .

The duties to be performed in the logistics center should be various tasks such as goods receipt and delivery, movement or storage in the logistics center, processing for sending the goods, and transportation between the logistics centers. Therefore, there was a problem that a large number of personnel needed to operate the logistics center.

Korean Utility Model Publication No. 20-2010-0008158 (Aug. 16, 2010)

Accordingly, it is an object of the present invention to provide a pallet supply device that can automate the storage and supply of the logistics in the logistics center, and a logistics automation system using the same.

The pallet supplying apparatus according to the present invention includes a moving rail for receiving a pallet from an article classification, a gripper provided on an upper portion of the moving rail for gripping the pallet seated on the moving rail, A pallet for receiving the pallet from the sorting part through the moving rail part and holding the palette received through the moving rail part through the gripper; And a supply controller for controlling the supply of the gripper to the goods transportation robot by releasing gripping of the gripper in a state where the gripper is kept in the state of being raised or lowered via the up / down moving part.

The pallet supply device according to the present invention is characterized in that the moving rail portion includes a pair of first frames arranged to face each other and adapted to receive the transportation robot, A conveyor belt formed between the pair of first frames and supported by the pair of first frames to receive the pallet from the pallet and to place the pallet on the gripper; And a sensor unit configured to detect a position of the pallet formed adjacent to the conveyor belt and transmitted by the conveyor belt.

The pallet supply device according to the present invention is characterized in that the moving rail portion is formed on the inner surface of the pair of first frames so as to face each other and guides the movement of the goods transportation robot, And a stopper that restricts movement of the transportation robot that has been formed along the guide portion.

In the pallet supplying apparatus according to the present invention, the sensor unit may include a PSD sensor.

In the pallet supplying apparatus according to the present invention, the sensor unit may include a first sensor unit formed at the foremost end of the conveyor belt in the direction of the article sorting belt, for detecting whether or not the pallet is delivered from the article sorting unit, And a second sensor unit formed at the rear of the first sensor unit of the first sensor unit and detecting a position of the pallet, which is detected by the first sensor unit and moved by the conveyor belt, in the gripper.

In the pallet supply apparatus according to the present invention, the gripper includes first and second grippers respectively provided on upper surfaces of the pair of first frames, and the first and second grippers are disposed on the upper side of the conveyor belt And the palette is located at a predetermined position.

The first and second grippers may include at least one support pole formed to be perpendicular to an upper surface of the movable rail portion, a support pawl coupled to the support pole, A gripper body coupled to the horizontal axis of the gripper body and horizontally moving along the horizontal axis, a gripper body coupled to the connection portion, the gripper body having a horizontal axis formed in a direction perpendicular to the pallet, And a photosensor for recognizing the position of the gripper. The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings, in which: FIG.

The pallet supply device according to the present invention is characterized in that the up and down moving part is formed on each of the first and second grippers and includes a pair of storage support pawls forming a space for storing the pallet, A wire connected to the gripper body of the first and second grippers to raise or lower the gripper body, a motor for winding or unwinding the wire, And an inch worm for raising or lowering the gripper body.

In the pallet supplying apparatus according to the present invention, the moving rail section includes a third sensor section for recognizing the height of the gripper, and the up-and-down moving section includes a fourth sensor section for measuring a distance from the pallet, The number and position of the pallets are recognized through the third and fourth sensor units.

An automatic goods distribution system according to the present invention comprises an article sorting table formed so that a pallet on which an article is loaded is movable, a moving rail part receiving a pallet from the article sorting, A gripper for gripping the pallet mounted on the gripper, a gripper for gripping the pallet, a gripper for moving the gripper up and down to store the pallet, And a supply controller for controlling the pallet to be supplied to the goods transportation robot by releasing the gripping of the gripper in a state where the pallet is lifted through the up and down moving part while holding the pallet through the gripper, And a pallet supply device including the pallet supply device.

The present invention provides a system for automatically moving a pallet, comprising a moving rail for receiving pallets from the pallet, a gripper for gripping the pallet seated on the moving rail, The pallet is received from the pallet through the moving rail unit. The palette received through the moving rail unit is gripped through the gripper, And a supply control unit for controlling the supply of the gripper to the goods transportation robot by releasing gripping of the gripper in a state where the gripper is lifted up through the up / Or the pallet from the pallet supply device It characterized in that it comprises a supply logistics robotreul receive a month.

An automatic goods distribution system according to the present invention comprises an article sorting table formed so that a pallet on which an article is loaded is movable, a moving rail part receiving a pallet from the article sorting, A gripper for gripping the pallet mounted on the gripper, a gripper for gripping the pallet, a gripper for moving the gripper up and down to store the pallet, And a supply controller for controlling the pallet to be supplied to the goods transportation robot by releasing the gripping of the gripper in a state where the pallet is lifted through the up and down moving part while holding the pallet through the gripper, A pallet supply device including a pallet, It characterized by including logistics robotreul supplying receive or deliver the goods from the pallet or the pallet classification for supply.

The pallet supply device according to the present invention includes a moving rail part for receiving a pallet from an article classification, a gripper for holding a pallet by holding a pallet seated on the moving rail part, a vertical moving part for raising or lowering the gripper, And a supply control section for operating the gripper and the up-and-down moving section so as to stack and store the pallets transferred from the article sorting section or to supply the stacked pallets to the logistics transportation robot to automate the storage and supply of the logistics in the distribution center can do.

1 is a block diagram showing a configuration of a logistics automation system according to an embodiment of the present invention.
FIG. 2 is a schematic view showing a process of storing a pallet of a logistics automation system according to an embodiment of the present invention from an article sorting table to a pallet supplying apparatus.
FIG. 3 is a schematic diagram illustrating a process of supplying pallets of a palletizing automation system according to an embodiment of the present invention from a pallet supply device to a logistics transportation robot.
4 is a perspective view illustrating a pallet supply apparatus according to an embodiment of the present invention.
5 is a front view showing a pallet supply apparatus according to an embodiment of the present invention.
6 is an enlarged view of a portion A in Fig.
7 is a view illustrating a state in which the gripper grips the pallet in the pallet supplying apparatus according to the embodiment of the present invention.
8 is a view showing a vertical movement unit of the pallet supply apparatus according to the embodiment of the present invention.
FIG. 9 is a perspective view illustrating a state in which the pallet supplying apparatus is docked in the pallet transporting robot according to the embodiment of the present invention.
10 is a perspective view of a logistics transportation robot according to an embodiment of the present invention.
11 is a flowchart showing a pallet supplying method using a pallet supplying apparatus according to an embodiment of the present invention.

In the following description, only parts necessary for understanding the embodiments of the present invention will be described, and the description of other parts will be omitted so as not to obscure the gist of the present invention.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary meanings and the inventor is not limited to the meaning of the terms in order to describe his invention in the best way. It should be interpreted as meaning and concept consistent with the technical idea of the present invention. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely preferred embodiments of the present invention, and are not intended to represent all of the technical ideas of the present invention, so that various equivalents And variations are possible.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing a configuration of a logistics automation system according to an embodiment of the present invention.

The article sorting table 200 is configured to sort the articles placed on the pallet, and sort the articles on the pallets on which the articles are loaded, and move the pallets on which the articles are not stacked to both ends.

The pallet is a flat pedestal used to unload, store and transport cargo in a certain quantity unit. Such a pallet is formed in such a form that a space is formed between the upper plate and the lower plate so that the fork formed in the forklift can be pushed in.

The article sorting table 200 is configured to sort the articles placed on the pallet, and sort the articles on the pallets on which the articles are loaded, and move the pallets on which the articles are not stacked to both ends.

Here, the article sorting table 200 can supply the pallets moved to both ends to the pallet supplying device 300 or the goods transporting robot 400.

Such an article sorting table 200 may include a plurality of supports 210 and a sorting table. Here, the floats may be formed on the upper part of the support 210 in the longitudinal direction, and may include a plurality of swiveling rods arranged perpendicular to the longitudinal direction so that the pallets can move in the longitudinal direction.

In addition, the article sorting table 200 may include a sorting conveyor belt 220 for receiving or supplying the pallets to the pallet supply device 200 or the goods transport robot 400 on both sides thereof.

The pallet supply device 300 can receive the pallet from the goods sorting belt 200 via the sorting conveyor belt 220. [

When the pallet is moved from the sorting conveyor belt 220, the pallet supplying device 300 receives the pallet through the conveyor belt 15 provided adjacent to the sorting conveyor belt 220.

The conveyor belt (15) receiving the pallet transports the pallet into the pallet supply device (300).

The pallet supply device 300 can store the pallet in a state in which the pallet is gripped and lifted when the pallet delivered from the goods sorting belt 200 is located inside.

When the pallet supplying apparatus 300 receives another pallet from the log sorting bed 200 in a state where the pallet is stored, the pallet holding apparatus 300 descends the pallet and stacks the pallet on another pallet.

The pallet supply device 300 is configured to release gripping of the pallet that has been gripped, and to descend to grip another pallet, thereby holding a plurality of pallets.

Further, the pallet supply device 300 can supply the pallet that is stored to the goods transportation robot 400.

That is, when the pallet supplying device 300 enters the space formed in the lower part of the pallet storing the pallet and the docking is completed, the pallet being held is lowered and placed on the upper part of the pallet transporting robot 400 .

At this time, the pallet supply device 300 receives a request for the number of pallets to be supplied to the goods transportation robot 400 before descending.

Then, the pallet supply device 300 releases the pallet gripped by the lowering and releases the pallet, and then raises the pallet holding the pallet located at the lowermost position of the remaining pallets except for the requested number of pallets.

When the pallet transporting robot 400 receives the pallet from the pallet supplying device 300, it can release the docking and move to a predetermined place.

Further, the logistics transportation robot 400 can transport the pallet on which the articles are loaded to the article sorting table 200 and supply the pallets.

Hereinafter, the process of storing or supplying the pallet in the logistics automation system according to the embodiment of the present invention will be described in more detail.

FIG. 2 is a schematic view showing a process of storing a pallet of a logistics automation system according to an embodiment of the present invention from an article sorting table to a pallet supplying apparatus, FIG. 3 is a view showing a pallet of a pallet supplying system of a logistics automation system according to an embodiment of the present invention Fig. 2 is a schematic diagram showing a process of supplying the robot from the apparatus to the logistics transportation robot.

Referring to FIGS. 2 and 3, the process of storing the pallets in the logistics automation system 100 will now be described. When the pallet is delivered from the pallet supply device 300, And lifts the pallet in the gripped state. Here, the pallet that is transmitted from the article sorting table 200 is positioned below the pallet that is raised by the conveyor belt 15 while being held by the pallet supplying apparatus 300.

When the pallet supply device 300 is positioned below the pallet held by the pallet 200, the pallet 300 is lifted and placed on the upper part of the pallet conveyed from the pallet 200 .

At this time, the pallet supply device 300 may store the pallet in a state of being positioned on the upper part of the conveyor belt 15, or may hold the pallet in a state of holding the pallet at the lowermost position.

The pallet supplying apparatus 300 descends the pallet held by the pallet supplying robot 300 when the pallet supplying apparatus 300 enters the inside of the pallet supplying robot 300 and docks the pallet supplying robot 300, ).

Next, the pallet supplying apparatus 300 raises the pallet, which is located at the lowermost part of the remaining pallets except for the number of pallets requested by the goods transportation robot 400, in a state of holding the pallet again.

Then, the logistics transportation robot 400 releases the docking and moves to a desired position.

Hereinafter, a pallet supplying apparatus according to an embodiment of the present invention will be described in more detail.

FIG. 4 is a perspective view showing a pallet supplying apparatus according to an embodiment of the present invention, FIG. 5 is a front view showing a pallet supplying apparatus according to an embodiment of the present invention, FIG. 6 is an enlarged view FIG. 7 is a view showing a state in which the gripper grips the pallet in the pallet supplying apparatus according to the embodiment of the present invention, and FIG. 8 is a view showing the up and down moving unit of the pallet supplying apparatus according to the embodiment of the present invention.

4 to 8, the pallet supplying apparatus 300 according to the embodiment of the present invention includes a moving rail part 10, a gripper 20, a vertical moving part 30, and a supply control part 40 .

The movable rail part 10 can receive the pallet from the goods classification. The moving rail part 10 may include a pair of the first frame 11, the second frame 17, the conveyor belt 15 and the sensor part 16.

The pair of first frames 11 may be formed as a pair of frames facing each other. Accordingly, a space for accommodating the logistics transportation robot can be formed between the pair of first frames 11.

The second frame 17 may form one side by connecting the first frames 11 with each other.

That is, a pair of the first frame 11 and the second frame 17 may be formed in a 'C' shape, and one opened side may serve as a passage for the goods transportation robot.

On the other hand, a plurality of moving members 12 may be included in the lower surface of each of the pair of first frames 11 so as to be movable. Here, the pair of first frames 11 may include a support member 13 formed to be able to move up and down on the lower surface. The supporting member 13 is moved upward from the moving member 12 to make the pair of first frames 11 and the second frame 17 movable by the moving member 12, And can be supported in a state in which it is not movable.

The moving rail part 10 may further include a guide part 14 formed to face the inner side surfaces of the pair of first frames 11 so as to guide movement of the transportation robot 400. The guide portion 14 includes a plurality of guide pawls 14a protruding from the inner surface of the pair of first frames 11 and a guide bar 14b formed on the plurality of guide pawls 14a . A spring 14c may be formed between the guide bar 14b and the inner surface of the pair of first frames 11. In this case, the guide pawl 14a may be configured to be inserted into the side surfaces of the pair of first frames 11 when external pressure is applied thereto. That is, the guide portion 14 can guide the goods transport robot 400 to enter the inside of the pair of first frames 11 for docking.

The moving rail part 10 may further include a stopper 18 formed on the inner surface of the second frame 17 and restricting movement of the transportation robot moving along the guide part 14. [ The stopper 18 is disposed on the inner side of the second frame 17 at a position opposite to the direction in which the goods transportation robot 400 comes in the front of the goods transportation robot 400 entering the pair of first frames 11 As shown in Fig. Here, the stopper 18 may be formed in the same configuration as the guide portion 14.

The conveyor belt 15 is formed between the pair of first frames 11 and is supported by the pair of first frames 11 to move the pallet transferred from the article classification. That is, when the pallet is received from the conveyor belt 15, the pallet can be moved to the gripper 20.

The sensor unit 16 may sense the position of the pallet transmitted by the conveyor belt 15. [ Here, the sensor unit 16 may include a PSD sensor.

The sensor unit 16 may include a first sensor unit 16a and a second sensor unit 16b. Here, the first sensor portion 16a is formed at the forefront of the conveyor belt 15 in the direction of the article sorting belt, and can detect the supply / non-delivery of the pallet from the article sorting. That is, when the pallet is supplied from the article classification unit, the first sensor unit 16a can sense the pallet supply status first. The second sensor portion 16b is formed on the rear side of the first sensor portion 16a of the conveyor belt 15 so that the second sensor portion 16b can be detected by the first sensor portion 16a, Can be detected at the point where the gripper 20 is located. Here, the second sensor portion 16b may be attached to the gripper 20.

The gripper 20 can grip and store a pallet that is seated on the movable rail part 20. [ The gripper 20 includes a first gripper 21 and a second gripper 22.

Here, the first and second grippers 21 and 22 may be formed on the upper surface of the pair of first frames 11, respectively. The first and second grippers 21 and 22 can grip the pallet located at the top of the conveyor belt 15. [

The first and second grippers 21 and 22 may include a support pawl 28, a gripper body 24, a connecting portion 25, a grip portion 26, and a photosensor 27, respectively.

The support pawls 28 may be formed to be perpendicular to the upper surface of the movable rail portion 10. Here, a plurality of support pawls 28 may be coupled to the gripper body 24 so as to move up and down with the gripper body 24 interposed therebetween.

The gripper body 24 may be coupled to the support pawl 28 so as to be raised and lowered and may have a horizontal axis formed in a direction perpendicular to the support pawls 28.

The gripper body 24 is configured to be raised or lowered about the support pawl 28 by the up-and-down moving part 30.

Further, the gripper body 24 can horizontally move the connection portion 25 coupled to the horizontal axis. Here, the gripper body 24 can horizontally move the connecting portion 25 through the linear actuator.

The connection portion 25 is coupled to the horizontal axis of the gripper body 24 and can horizontally move along the horizontal axis of the gripper body 24. [ The connecting portion 25 connects the grip portion 26 with the gripper body 24 and horizontally moves the grip portion 26 forward or backward in the pallet direction.

The grip portion 26 is engaged with the connection portion 25 and can move forward or backward in the pellet direction in accordance with the horizontal movement of the connection portion 25 to grasp the palette or release the grip.

Here, the grip portion 26 may include a guide hole 26a. That is, the guide hole 26a may be formed to have a curvature perpendicular to the horizontal axis of the gripper body 24. At this time, as the connection portion 25 moves along the horizontal axis and moves along the guide hole 26a, the horizontal movement of the connection portion 25 is switched to the vertical movement, so that the grip portion 26 advances Or can be reversed as shown in FIG. 8 (b).

That is, the gripper 20 may have a cam structure through the gripper body 24, the connecting portion 25, and the grip portion 26.

The gripper 20 may also include a photosensor 27 to recognize the position of the gripper 26. In other words, the photosensor 27 can detect the forward or backward state of the gripper 26.

The gripper 20 may also include a moving pole 23 that engages the gripper body 24. The moving pawl 23 is connected to the wire 33a of the up and down moving part 30 so that the gripper 20 can be moved up or down by the up and down moving part 30. [

The up-and-down moving part 30 can raise or lower the gripper 20. The up and down moving part 30 may include a pair of holding support pawls 31, a connecting bar 32 and an inch worm 33.

The pair of storage support pawls 31 may be formed on the upper portions of the first and second grippers 21 and 22 in parallel with the support pawls 31 and may form a space for storing the pallets.

Here, the pair of holding support pawls 31 may each have a space for accommodating the wire 33a at the center thereof.

The connecting bar 32 is formed by connecting the upper portions of the pair of holding support pawls 31. That is, the connecting bar 32 may form a space for disposing the inch worm 33.

Inch worm 33 may be provided at the center of the connecting bar 32 and connected to the moving pawls 28 provided on the gripper body 24 of the first and second grippers 21 and 22, A wire 33a for raising or lowering the wire 24, and a motor 33b for winding or unwinding the wire 33a.

The motor 33b and the wire 33a are formed in the same number as the first and second grippers 21 and 22 so as to move the first and second grippers 21 and 22, And the pair of motors 33b and 33a can operate at the same speed.

In addition, although not shown, the inch worm 33 may include an ultrasonic sensor provided at the uppermost portion to measure the distance from the pallet. Here, the ultrasonic sensor is configured to determine the position and the position of the gripper 20 together with the position of the gripper 20 recognized through the PSD sensor provided at the lower end of the gripper 26 of each of the first and second grippers 21 and 22 .

The supply control unit 40 operates the moving rail part 10, the gripper 20 and the up and down moving part 30 to stack and store the pallets transferred from the article sorting part or supply the stacked pallets to the goods transportation robot Can be controlled.

That is, the supply control unit 40 receives the pallet from the sorting unit through the moving rail part 10 and receives the pallet received through the moving rail part 10 through the gripper 20, 30, or is released from gripping of the gripper in a state of being lowered and supplied to the logistics transportation robot.

9 is a perspective view illustrating a state in which the pallet supplying device is docked in the pallet transporting robot according to the embodiment of the present invention.

Referring to Figs. 4 to 9, the logistics transportation robot 400 may be docked to the movable rail part 10. Fig.

When the logistics transportation robot 400 is docked, the supply control unit 40 can request the number of pallets to be supplied to the goods transportation robot 400. When the supply controller 40 receives a request for the number of pallets, the supply controller 40 can detect the quantity of the pallets. If the supply control unit 40 holds the pallet more than the requested number of pallets, the supply control unit 40 requests whether the pallet can be supplied to the goods transportation robot 400.

Here, if the pallet is not held by the requested number of pallets, the supply control unit 40 requests pallet return to the goods sorting table or the goods transportation robot 400, .

The supply control unit 40 supplies the pallet to the goods transportation robot 400 if the pallet is available for the goods transportation robot 400. If the pallet supply is not possible by the goods transportation robot 400, You can retry to supply the pallet.

Hereinafter, the logistics transportation robot according to the embodiment of the present invention will be described in detail.

10 is a perspective view of a logistics transportation robot according to an embodiment of the present invention.

Referring to FIG. 10, the logistics transportation robot 400 according to the embodiment of the present invention includes a robot body 410, a lifting unit 420, a conveyor unit 430, and a robot control unit.

The robot main body 410 may include a moving member 411 for moving and a driving motor for driving the moving member 411.

The robot main body 410 may be formed in the form of a rectangular parallelepiped having an internal space. A driving motor for driving the moving member 411 and the moving member 411, a driving motor, a lifting unit 420, And a robot control unit for controlling the conveyor unit 430. The robot main body 410 according to the embodiment of the present invention is formed in the form of a rectangular parallelepiped, but is not limited thereto.

The lifting unit 420 includes a pair of lifting and lowering frames 421 provided on at least one side of the upper surface of the robot body 410 and a pair of lifting and lowering frames 421 and 422 respectively formed on upper surfaces of the pair of lifting and lowering frames 421, As shown in Fig.

The pair of lifting frames 421 may be configured to be lifted or lowered by a plurality of frames cross-coupled with a plurality of axes. The elevating frame 421 according to the present invention is configured such that a plurality of frames are arranged in a rectangular shape and are raised or lowered. However, the elevating frame 421 is formed in various shapes such as being arranged in an 'X' .

The seat portion 422 may be formed on the upper surface of the pair of the lift frames 421 and may be raised or lowered by the lift frame 421 and the pallet may be seated on the upper surface. Here, the distance between the seating portions 422 formed in the pair of lifting frames 421 is formed to be smaller than the size of the pallet, so that the pallet can be seated.

The conveyor part 430 is provided in the space between the lifting parts 420 and can receive and move the pallet from the lifting part. That is, the conveyor part 430 may be provided between the pair of lifting frames 421.

The conveyor portion 430 may be positioned below the lifting portion 420 with the pallet on the upper surface of the lifting portion 420. At this time, when the lifting unit 420 descends while the pallet is seated, the pallet is seated on the conveyor unit 430. When the pallet is received from the lifting unit 420, the conveyor unit 430 can move the pallet and transfer the pallet to the sorting table or the pallet supplying apparatus.

Further, the logistics transportation robot 400 may further include a guide roller 440 corresponding to the guide portion (14 of FIG. 4) of the above-described pallet supply device.

The guide roller 440 may contact the guide portion to guide the goods transport robot 400 into the pallet supply device.

In addition, the logistics transportation robot 400 may further include a sensing unit 450 for sensing completion of docking with the pallet supplying device. The sensing unit 450 can sense the completion of the talking by measuring the distance to the pallet supplying device.

Hereinafter, a pallet supplying method using a pallet supplying apparatus according to an embodiment of the present invention will be described.

11 is a flowchart showing a pallet supplying method using a pallet supplying apparatus according to an embodiment of the present invention.

Referring to FIG. 11, in step S10, the pallet supply device may request the number of pallets to be supplied to the goods transport robot.

Next, in step S20, when the number of pallets is requested, the pallet supply device can detect the quantity of the pallets.

Next, in step S30, when the pallet supplying apparatus holds pallets more than the requested number of pallets, the pallet supplying apparatus requests whether the pallet can be supplied to the goods transporting robot (S50).

In step S30, if the pallet supply device does not hold the pallets as many as the requested number of pallets, the pallet supply device requests the pallets to be returned to the goods sorting table or the goods transportation robot (S40) (S50).

In step S50, the pallet supplying apparatus supplies the pallet to the goods transporting robot in a state where the pallet can be supplied by the goods transporting robot (S70). If the pallet supply is not possible by the goods transporting robot, The pallet can be supplied (S70).

It should be noted that the embodiments disclosed in the drawings are merely examples of specific examples for the purpose of understanding, and are not intended to limit the scope of the present invention. It will be apparent to those skilled in the art that other modifications based on the technical idea of the present invention are possible in addition to the embodiments disclosed herein.

10: Moving rail part 11: A pair of first frames
12, 411: Movable member 13: Support member
14: guide portion 14a: guide pole
14b: guide bar 14a: spring
15: Conveyor belt 16: Sensor part
16a: first sensor unit 16b: second sensor unit
17: second frame 18: stopper
20: gripper 21: first gripper
22: second gripper 23: moving pole
24: gripper body 25:
26: grip portion 26a: guide hole
27: photo sensor 28: support pole
30: Up and down moving part 31: Holding support pole
32: Connection bar 33: inch worm
33a: wire 33b: drive motor
100: Logistics automation system 200:
210: support frame 220: sorting conveyor belt
300: Pallet supply device 400: Logistics transportation robot
410: robot body 420: lifting part
421: lifting frame 422:
430: Conveyor portion

Claims (12)

A movable rail section for receiving a pallet from an article classification;
A gripper provided on the moving rail to grip the pallet seated on the moving rail;
A vertical moving part provided on the gripper for storing the pallet by raising or lowering the gripper;
Wherein the pallet is received through the moving rail unit and is moved up through the up / down moving unit while gripping the pallet received through the moving rail unit by the gripper, A supply controller for releasing the grip of the robot and controlling the supply of the robot to the goods transportation robot; Lt; / RTI >
The moving rail portion
A pair of first frames arranged to face each other and formed with a space for accommodating the goods transportation robot;
A second frame connecting the pair of first frames to form one side surface;
A conveyor belt formed between the pair of first frames and supported by the pair of first frames, the conveyor belt receiving the pallet from the article classification and positioning the pallet on the gripper;
A sensor unit formed adjacent to the conveyor belt and sensing a position of the pallet conveyed by the conveyor belt; Lt; / RTI >
The gripper
First and second grippers respectively provided on upper surfaces of the pair of first frames and gripping the pallet positioned on the conveyor belt; Lt; / RTI >
Wherein the first and second grippers comprise:
At least one support pole formed perpendicular to an upper surface of the movable rail;
A gripper body coupled to the support pawl so as to be able to move up and down, and having a horizontal axis formed in a direction perpendicular to the support pawl;
A connecting portion coupled to the horizontal axis of the gripper body and horizontally moving along the horizontal axis;
A grip unit coupled to the connection unit and configured to move forward or backward in the pallet direction according to the horizontal movement of the connection unit to grip or release the pallet;
A photosensor for recognizing the position of the gripper;
The pallet supply device comprising: delete The method according to claim 1,
The moving rail portion
A guiding part formed on an inner surface of the pair of first frames so as to face each other and guiding movement of the transportation robot;
A stopper formed on an inner surface of the second frame and restricting movement of the transportation robot moved along the guide portion;
Wherein the pallet supply device further comprises: The method of claim 3,
Wherein the sensor unit includes a PSD sensor. 5. The method of claim 4,
The sensor unit includes:
A first sensor unit formed at the foremost end of the conveyor belt in the direction of the article sorting belt and detecting whether the pallet is delivered from the article sorting unit;
A second sensor unit formed at the rear of the first sensor unit of the conveyor belt for detecting a position of the pallet detected by the first sensor unit and moved by the conveyor belt in the gripper;
The pallet supply device comprising: delete delete The method according to claim 1,
The up-
A pair of holding support pawls formed on each of the first and second grippers and defining a space for storing the pallet;
A connecting bar connecting upper portions of the pair of storage support pawls;
A wire that is provided at a central portion of the connecting bar and is connected to the gripper body of the first and second grippers to raise or lower the gripper body and a motor that winds or unwraps the wire to raise or lower the gripper body, Inch worm to descend;
The pallet supply device comprising: 9. The method of claim 8,
Wherein the moving rail portion includes a third sensor portion for recognizing the height of the gripper,
Wherein the up-and-down moving unit includes a fourth sensor unit for measuring a distance to the pallet,
Wherein the supply control unit recognizes the number and position of the pallets through the third and fourth sensor units. An article sorting table formed so that a pallet on which the articles are loaded is movable;
A gripper for gripping the pallet mounted on the movable rail part, a gripper provided on the gripper for raising or lowering the gripper, The pallet is received from the pallet through the moving rail unit, and the palette received through the moving rail unit is held by the gripper while being moved through the vertical moving unit And a supply control unit for controlling the gripping of the gripper to be released from the gripper in a state of being raised or lowered to be supplied to the goods transporting robot; Lt; / RTI >
The moving rail portion
A pair of first frames arranged to face each other and formed with a space for accommodating the goods transportation robot;
A second frame connecting the pair of first frames to form one side surface;
A conveyor belt formed between the pair of first frames and supported by the pair of first frames, the conveyor belt receiving the pallet from the article classification and positioning the pallet on the gripper;
A sensor unit formed adjacent to the conveyor belt and sensing a position of the pallet conveyed by the conveyor belt; Lt; / RTI >
The gripper
First and second grippers respectively provided on upper surfaces of the pair of first frames and gripping the pallet positioned on the conveyor belt; Lt; / RTI >
Wherein the first and second grippers comprise:
At least one support pole formed perpendicular to an upper surface of the movable rail;
A gripper body coupled to the support pawl so as to be able to move up and down, and having a horizontal axis formed in a direction perpendicular to the support pawl;
A connecting portion coupled to the horizontal axis of the gripper body and horizontally moving along the horizontal axis;
A grip unit coupled to the connection unit and configured to move forward or backward in the pallet direction according to the horizontal movement of the connection unit to grip or release the pallet;
A photosensor for recognizing the position of the gripper;
And a control unit for controlling the operation of the vehicle. A gripper for gripping the pallet mounted on the moving rail part, a gripper provided on an upper part of the gripper for raising or lowering the gripper, A pallet for receiving the pallet from the pallet through the moving rail unit and holding the palette received through the moving rail unit through the gripper, And a supply control unit for controlling the gripping of the gripper to be released from gripping and feeding it to the goods transport robot,
A transportation robot formed to be movable and adapted to receive or supply the pallet from the pallet supply device or the pallet; / RTI >
The moving rail portion
A pair of first frames arranged to face each other and formed with a space for accommodating the goods transportation robot;
A second frame connecting the pair of first frames to form one side surface;
A conveyor belt formed between the pair of first frames and supported by the pair of first frames, the conveyor belt receiving the pallet from the article classification and positioning the pallet on the gripper;
A sensor unit formed adjacent to the conveyor belt and sensing a position of the pallet conveyed by the conveyor belt; Lt; / RTI >
The gripper
First and second grippers respectively provided on upper surfaces of the pair of first frames and gripping the pallet positioned on the conveyor belt; Lt; / RTI >
Wherein the first and second grippers comprise:
At least one support pole formed perpendicular to an upper surface of the movable rail;
A gripper body coupled to the support pawl so as to be able to move up and down, and having a horizontal axis formed in a direction perpendicular to the support pawl;
A connecting portion coupled to the horizontal axis of the gripper body and horizontally moving along the horizontal axis;
A grip unit coupled to the connection unit and configured to move forward or backward in the pallet direction according to the horizontal movement of the connection unit to grip or release the pallet;
A photosensor for recognizing the position of the gripper;
And a control unit for controlling the operation of the vehicle. An article sorting table formed so that a pallet on which the articles are loaded is movable;
A gripper for gripping the pallet mounted on the movable rail part, a gripper provided on the gripper for raising or lowering the gripper, The pallet is received from the pallet through the moving rail unit, and the palette received through the moving rail unit is held by the gripper while being moved through the vertical moving unit And a supply control unit for controlling the gripping of the gripper to be released from the gripper in a state of being raised or lowered to be supplied to the goods transporting robot;
A transportation robot formed to be movable and adapted to receive or supply the pallet from the pallet supply device or the pallet; Lt; / RTI >
The moving rail portion
A pair of first frames arranged to face each other and formed with a space for accommodating the goods transportation robot;
A second frame connecting the pair of first frames to form one side surface;
A conveyor belt formed between the pair of first frames and supported by the pair of first frames, the conveyor belt receiving the pallet from the article classification and positioning the pallet on the gripper;
A sensor unit formed adjacent to the conveyor belt and sensing a position of the pallet conveyed by the conveyor belt; Lt; / RTI >
The gripper
First and second grippers respectively provided on upper surfaces of the pair of first frames and gripping the pallet positioned on the conveyor belt; Lt; / RTI >
Wherein the first and second grippers comprise:
At least one support pole formed perpendicular to an upper surface of the movable rail;
A gripper body coupled to the support pawl so as to be able to move up and down, and having a horizontal axis formed in a direction perpendicular to the support pawl;
A connecting portion coupled to the horizontal axis of the gripper body and horizontally moving along the horizontal axis;
A grip unit coupled to the connection unit and configured to move forward or backward in the pallet direction according to the horizontal movement of the connection unit to grip or release the pallet;
A photosensor for recognizing the position of the gripper;
And a control unit for controlling the operation of the vehicle.

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