KR102170507B1 - Parts transfer system - Google Patents

Abstract

The present invention relates to a part transfer system. The part transfer system comprises: a member for a ceiling, arranged on a ceiling and having a rail unit; two supporting members arranged to cross the member for the ceiling and supporting the member for the ceiling; an electrically driven mover having one surface connected to the rail unit and the other surface coupled to the part transfer structure holding parts, and moving along the path of the rail unit; a part transfer structure holding the parts and transferring the held parts; and a control unit controlling operation of the electrically driven mover and the part transfer structure, wherein the parts are factory automation components and the control unit can control operation of the part transfer structure so as to realize aerial part transfer through being coupled with the electrically driven mover or ground part transfer through ground moving with respect to the part transfer structure while considering the weight and the number of the parts held in the part transfer structure. According to the present invention, parts can be automatically transferred to make efficient part transfer.

Description

Parts transfer system {PARTS TRANSFER SYSTEM}

The present application relates to a component conveying system. In particular, the present application relates to a component conveying system for conveying factory automation components.

Factory Automation (FA) is a production activity and production system from product ordering and design to product shipment from product order and design to machine, electricity, electronics, computer, communication, etc. It means an action for efficient management and control of the whole. The purpose of factory automation can be said to be to reduce cost, improve productivity, and improve quality.

The types, shapes, and weights of automation components used to manufacture products for such factory automation are very diverse.

In general, as a method of transporting automation parts in a warehouse (large warehouse) that stores and manages automation parts, there is a method by manpower, but this has an inefficient aspect.

In addition, as a method of transferring automation parts, there is a method of transferring using a conveyor belt, but in general, as the conveyor belt is installed on the ground, it overlaps with the user's movement line, causing inconvenience in moving the user. There is a problem that requires securing a large installation space.

The technology behind the present application is disclosed in Korean Patent Publication No. 10-1268944.

The present application is to solve the problems of the prior art described above, and an object of the present invention is to provide a parts transfer system capable of efficiently transferring the automated parts.

The present application is to solve the problems of the prior art described above, and a component capable of solving the problem of limiting the movement of the user and securing a wide installation space by overlapping the movement line of the user when transporting using a conventional conveyor belt It aims to provide a transfer system.

However, the technical problem to be achieved by the embodiment of the present application is not limited to the technical problems as described above, and other technical problems may exist.

As a technical means for achieving the above technical problem, the parts transfer system according to an embodiment of the present application, is disposed on the ceiling, the ceiling member having a rail portion; Two support members disposed so as to cross the ceiling member and supporting the ceiling member; An electric mover having one side connected to the rail part, the other side being combined with a part transfer structure accommodating a part, and moving along a path of the rail part; A component transfer structure for receiving a component and transferring the received component; And a control unit for controlling the operation of the electric mover and the parts transfer structure, wherein the parts are factory automation components, and the control unit includes a weight and number of parts accommodated in the parts transfer structure. , It is possible to control the operation of the parts transfer structure so that aerial parts transfer through coupling with the electric mover or ground parts transfer through ground movement with respect to the parts transfer structure.

The above-described problem solving means are merely exemplary and should not be construed as limiting the present application. In addition to the above-described exemplary embodiments, additional embodiments may exist in the drawings and detailed description of the invention.

According to the above-described problem solving means of the present application, by providing a parts transfer system that can selectively transfer the automated parts through the ground or the air (over the air), for example, the automated parts can be efficiently transferred in a large warehouse. In this way, storage, management, storage and delivery of parts can be performed more efficiently.

In addition, by providing a parts transfer system, the present application can electronically control each component of the parts transfer system to move the parts to the destination, which does not require manpower and can automatically transfer parts, enabling efficient parts transfer. have.

In addition, the present application provides a component transfer system, thereby solving the problem of limiting the movement of the user and securing a wide installation space by overlapping the movement line of the user during the transfer using a conventional conveyor belt.

However, the effect obtainable in the present application is not limited to the effects as described above, and other effects may exist.

1 is a block diagram showing a schematic configuration of a parts transfer system according to an embodiment of the present application.
2 is a view schematically showing the configuration of a component transfer system according to an embodiment of the present application.
3 is a view for explaining a weight adjustment member included in the parts transfer system according to an embodiment of the present application.
4 is a view schematically showing a side view of an electric mover included in the parts transfer system according to an embodiment of the present application.
5 is a view schematically showing a side view of a component transfer structure included in the component transfer system according to an embodiment of the present application.
6 is a view schematically showing a plan view of a component transfer structure included in the component transfer system according to an embodiment of the present application.
7 is a view for explaining a levitation member in the parts transport structure included in the parts transport system according to an embodiment of the present application.

Hereinafter, exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art may easily implement the present application. However, the present application may be implemented in various different forms and is not limited to the embodiments described herein. In addition, in the drawings, parts not related to the description are omitted in order to clearly describe the present application, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the present specification, when a part is said to be "connected" with another part, it is not only the case that it is "directly connected", but also "electrically connected" or "indirectly connected" with another element interposed therebetween. "Including the case.

Throughout this specification, when a member is positioned "on", "upper", "upper", "under", "lower", and "lower" of another member, this means that a member is located on another member. It includes not only the case where they are in contact but also the case where another member exists between the two members.

Throughout the specification of the present application, when a certain part "includes" a certain component, it means that other components may be further included rather than excluding other components unless specifically stated to the contrary.

1 is a block diagram showing a schematic configuration of a component transfer system 100 according to an embodiment of the present application. 2 is a view schematically showing the configuration of the parts transfer system 100 according to an embodiment of the present application. 3 is a view for explaining the weight adjustment member 50 included in the parts transfer system 100 according to an embodiment of the present application. 4 is a view schematically showing a side view of the electric mover 30 included in the parts transfer system 100 according to an embodiment of the present application. 5 is a view schematically showing a side view of the parts transfer structure 70 included in the parts transfer system 100 according to an embodiment of the present application. 6 is a view schematically showing a plan view of the parts transfer structure 70 included in the parts transfer system 100 according to an embodiment of the present application.

Hereinafter, the parts transfer system 100 according to an exemplary embodiment of the present disclosure will be referred to as the system 100 for convenience of description.

In addition, in the following description of the system 100, the 3 o'clock -9 o'clock direction will be referred to as the front-rear direction, and the 12 o'clock -6 o'clock direction will be referred to as the vertical direction. In addition, the 3 o'clock to 9 o'clock direction will be referred to as the front and rear direction and the 6 o'clock to 12 o'clock direction will be referred to as the left and right direction based on the drawing of FIG. 3. However, this direction setting is only an example to aid understanding of the present application, and is not limited thereto.

1 to 6, the system 100 may refer to a parts transfer system for transferring parts.

Here, the components may be factory automation components. That is, a component considered in the system 100 is a component for factory automation and may be differently referred to as a factory automation component, a factory automation mechanical component, or the like. Factory automation parts may include, for example, reducers (bevel reducers, planetary gear reducers, etc.), screw jacks, single axis robots, connecting shafts, couplings, ball screws, linear clamps, and other automation parts, but are not limited thereto. Various parts related to factory automation may be included.

The system 100 includes a ceiling member 10, a support member 20, an electric mover 30, a control unit 40, a weight adjustment member 50, a moving part receiving part 60, and a parts transfer structure ( 70) may be included.

The ceiling member 10 is disposed on the ceiling of a structure (eg, a building, a warehouse, etc.) and may have a rail portion 11. That is, the ceiling member 10 may include a rail part 11. The rail part 11 may be provided to be embedded in the ceiling member 10.

The support member 20 may be disposed to intersect with the ceiling member 10. The supporting member 20 is two supporting members supporting the ceiling member 10, and may include a first supporting member 21 and a second supporting member 22.

The ceiling member 10 and the support member 20 may be differently referred to as a ceiling duct, a support duct, and the like, for example. In one example of the present application, the ceiling member 10 is illustrated as having one and the support member 20 being two, but this is only an example to aid understanding of the present application, and is not limited thereto, and the ceiling member 10 ) And the number and arrangement structure of the support member 20 may be variously changed/applied.

The ceiling member 10 and the support member 20 may be made of a material such as iron or steel, for example, but are not limited thereto, and various materials may be applied.

The electric mover 30 has one side (s1) connected (combined) with the rail part 11, the other side (s2) may be combined with the parts transfer structure 70 accommodating the parts, and the rail part 11 It can be moved along the path.

The component transfer structure 70 may accommodate a component and transfer the received component. The component transfer structure 70 may accommodate at least one component. Here, the component may mean a factory automation component as described above. A more detailed description of the component transfer structure 70 will be described later.

The control unit 40 may control the operation of the electric mover 30 and the component transfer structure 70. The controller 40 may control the operation (overall operation) of the system 100. The controller 40 may control the operation of each component included in the system 100 (for example, a rail unit, an electric mover, a weight adjustment member, a component transfer structure, etc.).

The controller 40 may be provided to be included in a separate electronic control device such as a desktop PC, for example. That is, the operation of the system 100 (operation of the entire system) may be controlled by the control of the control unit 40 included in the electronic control device, for example.

In consideration of the weight and number of parts accommodated in the parts transport structure 70, the control unit 40 transports aerial parts through a combination of the electric mover 30 with respect to the parts transport structure 70 or transports ground parts through ground movement. In order to achieve this, it is possible to control the operation of the component transfer structure 70.

At this time, as viewed based on the drawing of FIG. 2, the term aerial part transfer means that the parts transfer structure 70 accommodating the part moves along the second path r2 and the third path r2. It can mean the transfer of parts. On the other hand, the above-ground part transfer may refer to a part transfer on the ground by moving the part transfer structure 970 accommodating the part along the first path r1.

According to this, the parts transport structure 70 may be a structure (object) capable of performing aerial parts transport through levitation and ground parts transport through ground movement.

Specifically, the control unit 40, irrespective of the number of parts accommodated in the parts transport structure 70, if the weight (total weight) of the received parts is less than or equal to a preset weight, the parts transport structure 70 so that the aerial parts are transported. You can perform control to levitate. In particular, regardless of the number of parts accommodated in the parts transport structure 70, if the weight of the received parts (total weight for all parts) is less than or equal to a preset weight, the control unit 40 controls the parts transport structure 70 for transporting aerial parts. ) Can be controlled to move along the second path r2 by levitation.

On the other hand, if the weight of the parts accommodated in the parts transport structure 70 exceeds a preset weight but the number of parts accommodated is one, the control unit 40 can control the parts transport structure 70 so that the above-ground parts are transferred. have. In particular, if the weight of the parts accommodated in the parts transport structure 70 exceeds a preset weight but the number of parts accommodated is one, the control unit 40 moves the parts transport structure 70 on the ground for transporting the parts on the ground. It can be controlled to move along the first path r1.

A description of the weight adjustment member 50 may be more easily understood with reference to FIGS. 2 and 3.

2 and 3, the weight adjustment member 50 is a first support member (the first support member (21, 22) of the two support members (21, 22) to adjust the total weight of the parts accommodated in the parts transfer structure (70) It can be provided in one area of 21).

The weight adjustment member 50 may include a gripping part 51 and a gripping support part 52. The gripping part 51 may grip the component. The gripping part 51 may be provided in a shape capable of gripping a component. The gripping support 52 may refer to a member that supports the gripping part 51. One end of the gripping support part 52 may be coupled to one region of the first support member 21, and the gripping part 51 may be coupled to the other end of the gripping support part 52. The gripping part 51 may be provided (coupled with the gripping support part) to be movable with respect to the lower surface of the gripping support part 52.

If the weight of the parts accommodated in the parts transport structure 70 exceeds a preset weight but the number of parts accommodated is plural, the control unit 40 transfers any one of the plurality of parts accommodated in the parts transport structure 70 to a part. It is possible to control the operation of the weight adjustment member 50 so as to move to the transfer structure 70 and other parts transfer structure 70 ′ disposed adjacent to the transfer structure 70.

That is, when the weight of the parts accommodated in the parts transfer structure 70 exceeds a preset weight, but the number of received parts is a plurality, the holding part 51 is a plurality of parts accommodated in the parts transfer structure 70 After gripping any one of the parts, the operation of the weight adjustment member 50 may be controlled to move the gripped part to the other parts transfer structure 70 ′ disposed adjacent to the parts transfer structure 70. .

At this time, the control unit 40 is a weight adjustment member so that the weight adjustment member 50 sequentially moves any one of the parts included in the parts transfer structure 70 to the other parts transfer structure 70'. The operation of 50 can be controlled. In addition, the control unit 40 controls the movement of the weight adjustment member 50 to move any one part in the parts transfer structure 70 to the other parts transfer structure 70 ′, the parts transfer structure 70 ), it may be repeated until the total weight of the plurality of parts accommodated in) meets the preset weight or less.

That is, the control unit 40 controls the operation of the weight adjustment member 50 when the weight of the parts accommodated in the parts transport structure 70 exceeds a preset weight but the number of parts accommodated is plural, and the parts transport structure 70 Any one of the plurality of parts included in may be moved to the other part transfer structure 70 one by one. At this time, the control unit 40, until the total weight of the parts accommodated in the parts transport structure 70 satisfies a preset weight or less, one part of the plurality of parts included in the parts transport structure 70 The operation of sequentially moving to the other parts transfer structure 70 may be repeatedly performed (performed multiple times).

Here, the measurement of the total weight of the parts accommodated in the part transfer structure 70 may be performed by the weight measurement sensor 76 in the part transfer structure 70.

According to this, when the weight of one part (single part) accommodated in the parts transfer structure 70 exceeds a preset weight, the controller 40 determines that there is a possibility of danger when transferring it by the aerial part transfer method. It is possible to control the operation of the parts transport structure 70 so as to be transported in a part transport method.

If there are a plurality of parts accommodated in the parts transport structure 70 but the total weight exceeds a preset weight, the control unit 40 is used when the total weight of the parts accommodated in the parts transport structure 70 meets the preset weight or less. It is possible to control the operation of the weight adjustment member 50 to move the parts in the parts transfer structure 70 to the other parts transfer structure 70' one by one. As the parts in the parts transfer structure 70 are moved one by one to the other parts transfer structure 70', when the total weight of the parts accommodated in the parts transfer structure 70 becomes less than or equal to the preset weight, the control unit 40 It is possible to control to move along the second path (r2) by levitation of the parts transport structure 70 that meets the total weight of less than the preset weight.

According to this, the control unit 40 may perform a control for levating the parts transport structure 70 only when the total weight of the parts accommodated in the parts transport structure 70 is less than or equal to a preset weight.

At this time, the total weight of the parts accommodated in the parts transfer structure 70, which is an object considered to be less than or equal to the preset weight, means that when something (such as a part) is accommodated in the parts transfer structure 70, the received object (parts ), as well as the load of the component transport structure 70 itself.

That is, the control unit 40 is the total weight of the parts transfer structure 70 in consideration of the weight of the parts transfer structure 70 itself and the weight of the parts accommodated in the parts transfer structure 70 (total weight of the parts accommodated in the parts transfer structure If the weight) is less than or equal to a preset weight, control for levating the parts transfer structure 70 to perform aerial parts transfer can be performed.

According to this, the system 100 does not control all the parts to be transported to be transported on the ground in transporting parts, but to transport at least one part that meets a preset weight or less by air. , When transferring parts, the user's movement on the ground may not be damaged, so that the inconvenience of the user's movement on the ground may be eliminated.

In addition, the system 100 performs parts transfer to the ground for parts (single parts) exceeding a preset weight, so that parts can be transferred more safely and user safety can be guaranteed.

For example, based on the drawings of FIGS. 2 and 3, the parts transport structure 70 may be located at a first point (P1 point) on the ground. The other component transfer structure 70' is a point located on the right side of the component transfer structure 70, for example, and may be located at a neighboring point (P1') adjacent to the first point (P1 point).

A second point (P2 point) may be located above (above) corresponding to the first point (P1 point) on the ground. In particular, the second point (P2 point) may be located on the rail part 11 in a direction perpendicular to the first point (P1 point) on the ground.

The control unit 40 may control the operation of the electric mover 30 and/or the rail unit 11 so that the electric mover 30 is located at the second point (P2 point) before performing part transfer. In addition, the control unit 40 may control the operation of the parts transfer structure 70 so that the parts transfer structure 70 is located at the first point (P1 point) before performing the transfer of the parts. Thereafter, the control unit 40 considers the weight and number of parts accommodated in the parts transport structure 70 located at the first point (P1 point), and as described above, the parts transport structure You can control the operation of (70).

Description of the component transfer structure 70 can be more easily understood with reference to FIGS. 5 and 6.

5 and 6, the component transfer structure 70 includes a receiving member 71, a coupling member 72, a levitation member 73, a wheel 74, a distance measurement sensor 75, and a weight measurement sensor. 76, an image sensor 77 and a unit-side pressure sensor 78 may be included.

The receiving member 71 may have a receiving space s3 in which a component is accommodated (loaded). The receiving member 71 may be provided in a trapezoidal shape having an upper side relatively wider than a lower side when viewed from the side. In other words, the side surface of the receiving member 71 may be provided with an oblique line.

As the receiving member 71 is provided in a trapezoidal shape as described above, the components accommodated in the receiving space s3 can be safely accommodated in the receiving space s3 without falling out of the receiving member 71. In addition, as the receiving member 71 is provided in a trapezoidal shape, the parts accommodated in the receiving space s3 will be described later, even by slightly inclining the receiving member 71 (that is, only by inclining it at a predetermined angle). It can be made to be delivered more easily to the transfer part receiving portion 60.

The coupling member 72 may be a member provided at the center of the receiving member 71 for coupling with the electric mover 30.

When the parts transfer structure 70 and the electric mover 30 are coupled, one surface s4 of the coupling member 72 of the parts transfer structure 70 and the other surface s2 of the electric mover 30 may contact each other. . The other surface s5 of the coupling member 72 may be coupled to the inner surface (especially, a central portion of the inner surface) of the receiving member 71.

The levitation member 73 is provided on the lower side of the receiving member 71, and may generate lift by discharging air to the lower side for levitation of the component transfer structure 70.

The levitation member 73 may be provided on the lower surface of the receiving member 71 along the circumference of the central portion (a) of the receiving member 71. For example, the levitation member 73 may be provided as a plurality of two, three, or four, but is not limited thereto, and the number of the levitation members 73 may be variously set.

In addition, a plurality of wheels 74 may be provided under the receiving member 71. That is, the component transfer structure 70 may include a plurality of wheels 74 provided under the receiving member 71 to enable ground movement. The wheel 74 may be a ball caster, but is not limited thereto.

The component transfer structure 70 includes a plurality of levitation members 73 and a plurality of wheels 74 provided under the receiving member 71. In other words, a plurality of wheels 74 and a plurality of levitation members 73 may be provided on the lower surface of the rim portion b of the receiving member 71.

The levitation member 73 may generate lift by discharging air so that the wheel 74 is spaced apart from the ground. Specifically, the levitation member 73 may discharge air to the lower side to generate lift. At this time, if the generated lift force is greater than the load of the component transfer structure 70, the component transfer structure 70 may be lifted. For example, the wheel 74 may be lifted to be spaced apart from the ground. The plurality of levitation members 73 may generate a lift that is greater than the load of the parts transport structure 70 in which parts of a predetermined weight or less are accommodated (loaded). In other words, the plurality of levitation members 73 may generate a lift force capable of transporting a part accommodated (loaded) below a preset weight through levitation. For reference, the load of the parts transfer structure 70 is not only the load of the parts transfer structure 70 itself, but also the load of the object to be accommodated when something (such as a part) is accommodated in the parts transfer structure 70 It may be a concept considered.

According to this, if the lifting force generated by the levitation member 73 is greater than the load of the parts transport structure 70, the parts transport structure 70 can be lifted, and accordingly, the second for coupling with the electric mover 30 It can be moved towards the point (P2 point). In addition, if the lift force by the levitation member 73 is less than the load acting on the parts transport structure 70, the parts transport structure 70 may not be lifted, and in this case, for example, the user 70) can be moved using the rolling motion of the wheel 74. For reference, the lifting force of the levitation member 73 may be set to be greater than or equal to the load of the component transfer structure 70.

A description of the levitation member 73 may be more easily understood with reference to FIG. 7.

7 is a view for explaining the levitation member 73 in the parts transport structure 70 included in the parts transport system 100 according to an embodiment of the present application.

Referring to FIG. 7, the levitation member 73 may include lift generating passage portions 7211, 7212, and 7213. The lift generating passage portion is a gas inlet 7211 formed on the outer surface of the levitation member 73 (a surface facing the outer side in the diagonal direction of the receiving member 71), and a gas outlet formed on the lower surface of the levitation member 73 It may include a gas movement passage (7213) communicating the gas inlet (7212) and the gas inlet (7211) and the gas outlet (7212).

In addition, although not shown in the drawings, a gas intake unit (not shown) for introducing gas into the gas inlet 7211 is provided in the gas inlet 7211 to inhale gas, and the inhaled gas is a gas movement passage 7213 ) And discharged through the gas discharge port 6121, and by being discharged through the gas discharge port 7212 as described above, the levitation member 73 may generate a lift force for lifting. The parts conveying structure 70 is lifted by the lifting force of the levitation member 73 to convey the received parts. For reference, the gas intake unit (not shown) may include a fan that sucks gas toward the gas intake port 7211, but is not limited thereto.

For the rotation of the fan, for example, the component transfer structure 70 may include a power supply unit (not shown) that supplies power to the fan. As power is supplied to the fan by the power supply unit (not shown), the component transfer structure 70 may levitate by generating lift.

The levitation member 73 may be formed at a predetermined interval while surrounding the circumferential direction of the receiving member 71 in the rim portion b of the receiving member 71. Accordingly, on the lower side of the receiving member 71, lift is generated at a plurality of points along the circumferential direction of the receiving member 71 (a point where the aerial floating member 73 is provided), so that the lifting of the parts transfer structure 70 is Can be done.

In addition, the levitation member 73 can discharge air not only to the lower side, but also to the inside. For example, the levitation member 73 may discharge air to the inside of the receiving member 71 in the diagonal direction. In addition, air discharged from the levitation member 73 to the inside may be discharged toward the upper side. That is, referring to FIG. 5, the levitation member 73 may discharge air toward the central portion (a) of the receiving member 71.

For inward air discharge, the levitation member 73 may include inner gas discharges 7215, 7216, 7217. The inner gas discharge unit includes a gas inlet 7211 formed on the outer surface of the levitation member 73, a gas outlet 7216 formed on the inner surface of the levitation member 73, and a gas inlet 7211 and a gas outlet 7216. ) May include a gas movement passage (7217) communicating.

In addition, although not shown in the drawing, the gas inlet 7215 is provided with a gas intake unit (not shown) for introducing gas to the gas inlet 7215 to inhale gas, and the inhaled gas is a gas movement passage 7217 ) And may be discharged through the gas outlet 7216. For reference, the gas suction unit (not shown) may include a fan or the like that sucks gas toward the gas suction port 7215, but is not limited thereto.

In addition, the component transport structure 70 may include a distance measurement sensor 75 that measures a distance between the wheel 74 and the ground.

As the distance between the wheel 74 and the ground increases due to the generation of lift by the levitation member 73, the control unit 40 determines that the distance measurement value measured by the distance measurement sensor 75 is equal to or greater than a preset distance value. On the back side (if abnormal), the wheel 74 can be controlled so that the wheel 74 moves upward. In addition, as the distance between the wheel 74 and the ground becomes closer, the control unit 40 controls the wheel 74 when the distance measurement value measured through the distance measurement sensor 75 is less than (less than) a preset distance value. It is possible to control the wheel 74 to restore the position (original position) before moving upward. In this case, the movement of the wheel 74 upward and for restoration may be performed through control of a position adjustment unit (not shown) to be described later.

When the wheel 74 is returned to its original position, the wheel 74 may be exposed to the outside, while when the wheel 74 is moved upward, it may be unexposed to the outside.

That is, when the distance (gap) between the wheel 74 and the ground increases, the wheel 74 is relatively moved upward (with respect to the lower surface of the receiving member) relative to the receiving member 71, and the wheel 74 If the gap between the and the ground decreases, the position can be restored.

As the load relative to the lift generated through the levitation member 73 increases, the distance between the parts transfer structure 70 may decrease or contact the ground. In this case, the lift force of the parts transfer structure 70 It can be judged that it is impossible to move through support through.

In this way, when the load of the parts transfer structure 70 increases compared to the preset weight, in consideration of the number of parts accommodated in the parts transfer structure 70, if the number of parts is one, the rolling of the wheel 74 against the ground It is possible to move the parts transport structure 70 by movement. On the other hand, if the number of parts is a plurality of parts, the weight adjustment member 50 until the total weight of the parts transfer structure 70 (the total weight in which the weight of the received parts and the weight of the parts transfer structure itself are considered) satisfies a preset weight or less. ) By performing weight control to allow the parts transport structure 70 to be moved by levitation.

When the distance between the wheel 74 measured by the distance measuring sensor 75 and the ground increases (increases above a preset distance value), the lift force of the wheel 74 in the part transport structure 70 is transferred to the part. As the load of the structure 70 is greater than the load of the component transport structure 70, it can be moved upward to further increase the distance between the wheel 74 and the ground. On the other hand, when the distance between the wheel 74 and the ground measured by the distance measurement sensor 75 decreases (if it decreases below a preset distance value), the wheel 74 is Since it is impossible to move by flotation, the position can be restored for the cloud movement (in preparation for the cloud movement).

Since the wheels 74 in the parts transfer structure 70 are used only when the parts transfer structure 70 performs ground parts transfer (that is, the use of wheels is unnecessary when transferring aerial parts), the ground (floor) By reducing the contact of the wheel 74 with respect to the wheel 74, it is possible to reduce the amount of foreign substances caught in the wheel 74, thereby increasing the life of the wheel 74.

In addition, although not shown in the drawings, the parts transfer structure 70 may include a direction change unit (not shown) for changing the direction of the parts transfer structure 70. According to the direction change unit (not shown), the component transfer structure 70 may be changed in direction so as to be able to move in various directions on the ground and/or in the sky, in addition to moving vertically from the ground.

Such a direction changer (not shown) may be provided on the side of the gas outlets 7212 and 7216 for discharging gas for generating lift from the levitation member 73, for example. The direction changer (not shown) may be provided in the form of controlling (adjusting) the direction of gas discharged from the gas outlets 7212 and 7216 of the levitation member 73. By controlling the operation of the direction change unit (not shown), the direction in which the component transfer structure 70 is moved may be changed.

In addition, although not shown in detail in the drawings, the component transfer structure 70 may include a cylinder for moving the wheel 74 up and down with respect to the receiving member 71 for vertical movement of the wheel 74.

In addition, the weight measurement sensor 76 in the component transfer structure 70 is provided inside the housing member 71 and can measure the weight of the components accommodated in the housing member 71. The image sensor 77 is provided in one area of the coupling member 72 in the component transfer structure 70 and may acquire an image of the accommodation space s3.

As mentioned above, in determining which transport method the parts transport structure 70 accommodating the parts is to be transported by the transport method of aerial parts and ground parts, the parts transport structure 70 You can take into account the weight and number of parts received. At this time, the measurement of the weight and the number of parts accommodated in the parts transfer structure 70 is an analysis of the weight measurement value measured through the weight measurement sensor 76 and image analysis of the image acquired through the image sensor 77 It can be done on the basis of. Here, in image analysis, various image analysis algorithms that are known or developed in the future may be applied.

Meanwhile, referring to FIGS. 1, 4 and 5, the electric mover 30 may include a magnetic force generating unit 31 and a pressure sensor 32. The component transfer structure 70 may also include a pressure sensor 78. At this time, the pressure sensor provided in the electric mover 30 may be referred to differently as the mover-side pressure sensor 32, and the pressure sensor provided in the component transfer structure 70 may be referred to differently as the structure-side pressure sensor 78. .

The magnetic force generating unit 31 may generate a magnetic force that acts on an attractive force with respect to the parts transfer structure 70 in contact with the other surface s2 of the electric mover 30.

The mover-side pressure sensor 32 may be provided on the other surface s2 of the electric mover 30 to be exposed to the outside. The mover-side pressure sensor 32 may measure a contact strength (contact strength, contact degree) with the coupling member 72 in contact with the other surface s2 of the electric mover 30. Expressed differently, the other surface s2 of the electric mover 30 may be provided with a mover-side pressure sensor 32 that measures the contact strength with the coupling member 72 (especially, the contact strength with one surface of the coupling member). .

The structure-side pressure sensor 78 may be provided on one surface s4 of the coupling member 72 to be exposed to the outside. The structure-side pressure sensor 78 may measure a contact strength (contact strength, contact degree) with the electric mover 30 in contact with one surface s4 of the coupling member 72. In other words, on one side s4 of the coupling member 72, a structure-side pressure sensor 78 for measuring the contact strength with the electric mover 30 (especially, the contact strength with the other side of the electric mover) may be provided. .

As mentioned above, if the weight of the parts accommodated in the parts transport structure 70 (this means the total weight considered together with the weight of the parts transport structure itself) is less than a preset weight, the controller 40 In order for the parts transfer structure 70 to follow the second path r2 and the third path r3 and perform aerial part transfer, the parts transfer structure 70 is controlled by the operation of the levitation member 73. You can perform control to levitate.

At this time, when controlling the levitation of the parts transfer structure 70, the control unit 40 makes one side (s4) of the coupling member 72 in the parts transfer structure 70 in contact with the other side (s2) of the electric mover 30. The operation of the levitation member 73 (or the operation of the direction change unit) can be controlled.

That is, the control unit 40 controls the parts transfer structure 70 to move by levitation along the second path r2 when controlling the levitation of the parts transfer structure 70 for transferring the aerial parts. One surface (s4) of 72) may be in contact with the other surface (s2) of the electric mover (30).

At this time, when the contact between one surface (s4) of the coupling member 72 and the other surface (s2) of the electric mover 30 satisfies a preset contact condition, the component transfer structure 70 and the electric mover 30 ) It is possible to control the magnetic force generating unit 31 to be turned on so that the coupling is achieved. When the magnetic force generating unit 31 is controlled to be on, a coupling between the electric mover 30 and the component transfer structure 70 may be made as an attractive force acts on the parts transfer structure 70.

Here, the preset contact condition is a condition in which both pressure measurement values measured through the mover-side pressure sensor 32 and the structure-side pressure sensor 78 represent (maintain) values equal to or greater than the preset pressure value for a preset time. Can mean

That is, the control unit 40, when the pressure measurement value measured by each of the mover side pressure sensor 32 and the structure side pressure sensor 78 is maintained at a value equal to or greater than a preset pressure value for a preset time, the electric mover 30 ) And the component transfer structure 70 (in particular, the coupling member) can be controlled to be turned on by determining that the contact is made stably (normally). Through this, it is possible to couple the parts transfer structure 70 to the electric mover 30.

Thereafter, when the magnetic force generating unit 31 is controlled to be on, the control unit 40 moves the electric mover 30 to which the parts transfer structure 70 is coupled to the target transfer point P3 along the path of the rail unit 11. Can be moved.

That is, when the magnetic force generating unit 31 is turned on and the parts transfer structure 70 is coupled with the electric mover 30, the control unit 40 drives the rail unit 11 to transfer the electric mover 30 to the target transfer point ( It can be moved to the third point (P3 point), which is P3). As the electric mover 30 is moved from the second point (P2 point) to the third point (P3 point) along the path of the rail unit 11 under the control of the controller 40, the electric mover 30 The component transfer structure 70 accommodating the component coupled with the component can also be moved together (with), and can be moved along the third path r3 in the air.

Here, the third point P3 is an electric mover 30 for moving the parts transfer structure 70 to a destination (transfer destination) when transferring the aerial parts in performing aerial parts transfer using the parts transfer structure 70. ) Can mean the point of arrival.

Thereafter, when the electric mover 30 reaches the target transfer point (P3 point), the control unit 40 supports two parts accommodated in the parts transfer structure 70 through motion control of the parts transfer structure 70. An aerial part may be transferred by transferring it to the transfer part receiving part 60 provided in one area of the second support member 22 among the members 20 (21, 22). The performance of the aerial part transfer may be completed by transferring the part accommodated in the part transfer structure 70 to the transfer part receiving part 60.

At this time, the transfer of the parts accommodated in the parts transfer structure 70 to the transfer parts receiving part 60, when the electric mover 30 reaches the target transfer point (P3 point), the control unit 40 is the coupling member ( It can be achieved by controlling the operation of the component transfer structure 70 so that the angle of the receiving member 71 is inclined based on 72).

In other words, when it is recognized that the electric mover 30 has reached the target transfer point (P3 point), the control unit 40 controls the receiving member to tilt the angle of the receiving member 71 relative to the coupling member 72 ( 71) angle can be controlled. To this end, although not shown in the drawings, the coupling member 72 may include an angle adjustment member (not shown) for adjusting the angle of the receiving member 71 relative to the coupling member 72 as an example. When controlling the angle of the receiving member 71 by tilting, the parts accommodated in the receiving space s3 of the receiving member 71 may be transferred to the transfer part receiving part 60.

The angle adjustment member (not shown) may adjust the angle of the accommodation member 71 so that the front end of the accommodation member 71 moves to a lower side relative to the rear end when viewed with reference to the drawing of FIG. 2. According to this, the receiving member 71 can be rotated clockwise by adjusting the angle when viewed from the side.

When it is determined that all the parts accommodated in the receiving space s3 have been transferred to the transfer part receiving unit 60, the control unit 40 controls to return to the state (original state) before tilting the angle of the receiving member 71 can do. In this case, whether or not all of the parts accommodated in the receiving space s3 have been transferred to the transfer part receiving part 60 may be made based on a weight measurement value measured through the weight measurement sensor 76.

The conveying part receiving part 60 may include an inlet member 61, an intermediate connection member 62 and an outlet member 63. The inlet member 61 may be provided to receive parts from the parts transfer structure 70 located in the air. The inlet member 61 is provided in one area of the second support member 22, and may be provided to protrude toward the rear side from the outer surface of the second support member 22, for example. The inlet member 61 may be provided below the electric mover 30 and at a predetermined distance from the lower surface of the component transfer structure 70 coupled thereto. The bottom surface of the inlet member 61 may be disposed inclined in an oblique line, and accordingly, the part received from the part transfer structure 70 by the inlet member 61 may be transferred to the intermediate connection member 62.

The intermediate connection member 62 connects between the inlet member 61 and the outlet member 63 and may be provided inside the second support member 22. The intermediate connection member 62 may be provided in a helical shape, for example, and accordingly, the component delivered from the inlet member 61 is moved downward along the helical path of the intermediate connection member 62, from which the outlet member 63 ) Can be delivered.

The exit member 63 is located close to the ground and is provided in one area of the second support member 22, and in particular, is provided to protrude from the outer surface of the second support member 22 toward the omnidirectional side. I can. The outlet member 63 may receive parts from the intermediate connecting member 62. The parts delivered to the exit member 63 may be packaged in another box or the like by a user (operator), for example, and the packaged box may be provided for sale.

According to the conveying part receiving part 60, the part conveyed from the sky by the part conveying structure 70 can be provided so that it may move easily from the sky to the ground where the user is located.

In addition, the transport component receiving portion 60 may include a shock absorbing member (not shown). The shock absorbing member (not shown) may be provided on at least a portion of the upper surface of the transfer part receiving part 60. The shock absorbing member (not shown) may mean a material such as a sponge as an example, but is not limited thereto, and various shock absorbing materials may be applied. Such a shock absorbing member (not shown) may be provided so that the parts transferred from above are moved to the ground through the transfer part receiving part 60 so that the parts are moved without damage. That is, the shock absorbing member (not shown) may prevent damage to the moving part in the transfer part receiving part 60.

The control unit 40 generates a lift force only for a period from the time when the magnetic force generation unit 31 is controlled to be on to the time when the transfer of the parts accommodated in the parts transfer structure 70 to the transfer parts receiving unit 60 is completed. It is possible to control the levitation member 73 to off so that it is not.

In other words, the control unit 40 may control the levitation member 73 to be turned on while moving the component transfer structure 70 along the second path r2. At this time, the control unit 40 controls the levitation member 73 to be turned on until the contact between one surface s4 of the coupling member 72 and the other surface s2 of the electric mover 30 satisfies a preset contact condition. can do.

Thereafter, when the contact between one surface s4 of the coupling member 72 and the other surface s2 of the electric mover 30 satisfies a preset contact condition and the magnetic force generator 31 is controlled to be on, the controller 40 It is possible to control the levitation member 73 to off while moving the part transfer structure 70 along the third path r3. At this time, the control unit 40 is the levitation member 73 until all the parts received in the parts transfer structure 70 are transferred to the transfer part receiving unit 60 (until the transfer of the parts to the transfer part receiving unit is completed). Can be controlled by off.

The control unit 40, while moving the parts transfer structure 70 along the third path r3, for example, the wheel 74 and the levitation member 73 relative to the lower surface of the receiving member 71 It is possible to control the wheel 74 and the levitation member 73 so as to move upwards than that. To this end, although not shown in the drawings, the system 100 is a position control unit (not shown) for adjusting the relative positions of the wheel 74 and the levitation member 73 relative to the lower surface of the receiving member 71 ) Can be included.

Since the electric mover 30 and the parts transfer structure 70 are coupled to each other by the attractive force generated from the magnetic force generation unit 31, the present application moves the parts transfer structure 70 along the third path r3. By controlling the levitation member 73 to be off, it is possible to reduce the power consumption of the parts conveying structure 70 (especially, consumption of power supplied to the fan in the levitation member to levitate the parts conveying structure).

When the transfer of the parts accommodated in the parts transfer structure 70 to the transfer parts receiving unit 60 is completed, the control unit 40 controls the levitation member 73 to be turned on again, and then the electric mover 30 The magnetic force generating unit 31 may be controlled to be off so that the parts transfer structure 70 in contact with the other surface s2 can be separated from the electric mover 30.

Thereafter, after the magnetic force generating unit 31 is controlled to be off, the control unit 40 may levitate the parts transfer structure 70 through operation control of the levitation member 73 and move it to a preset waiting point. .

In this case, the preset waiting point may mean a point at which the parts transfer structure waits for receiving the parts. As an example, the preset waiting point may mean a first point (P1 point) when no parts transfer structure is located at the first point (P1 point). As another example, when a part transfer structure is located at the first point (P1 point) and no parts transfer structure is located at a neighboring point (P1') adjacent thereto, the preset waiting point is the neighboring point. It may mean (P1' point).

Accordingly, in an example of the present application, for convenience of explanation, one or two parts transfer structures 70 and one electric mover 30 are illustrated, but are not limited thereto, and the parts transfer structure 70 and The number of electric movers 30 can be applied in various ways.

When a plurality of electric movers 30 are provided, the plurality of electric movers 30 may be disposed to be spaced apart from the rail part 11 at an interval. In addition, when a plurality of parts transfer structures 70 are provided, the plurality of parts transfer structures may be located at predetermined plurality of structure waiting points. Each of the plurality of parts transfer structures may be located at the predetermined plurality of structure waiting points. The plurality of structure waiting points may include a first point (P1 point), a neighboring point (P1' point), and the like.

Each of the plurality of parts transfer structures 70 performs aerial parts transfer through coupling with any one of the plurality of electric movers 30, that is, moves to the third path r3 for transferring aerial parts. can do.

When the parts transfer structure 70 completes the transfer of the parts to the transfer part receiving part 60 to move the parts transfer structure 70 to a preset waiting point, the plurality of preset waiting points Among (P1, P1',… ), an empty structure waiting point in which the parts transfer structure 70 is not located may be designated as a preset waiting point. Thereafter, the control unit 40 may levitate and move the parts transfer structure 70 to a designated predetermined waiting point.

At this time, referring to FIG. 2, the movement path of the parts transfer structure 70 when moving to a preset waiting point is the parts transfer structure 70 when the parts transfer structure 70 is coupled to the electric mover 30. It is lower than the altitude (h2) corresponding to the position of the lower surface of the part, but in a higher altitude range than the altitude (h1) corresponding to the position of the upper surface of the parts transport structure 70 when the parts transport structure 70 is located on the ground. It may be the path to which it belongs.

That is, when moving to a preset waiting point, the moving path of the parts transfer structure 70 may be the same as the fourth path r4, for example, which may be set to have an altitude higher than h1 and lower than h2.

Conventionally, as a method of transferring parts, there was a method of transferring using a conveyor belt, but in general, as the conveyor belt is installed on the ground, it overlaps the user's moving line and causes inconvenience in moving the user. In addition, in the prior art, in moving the means for transferring parts (parts transferring means) in one direction and then returning them to the original position, a conveyor belt (or rail) for transferring in one direction and a conveyor belt for returning Since (or rail) is provided separately, there is a problem that it is necessary to secure a wide installation space (the installation space is occupied), and it takes a long time to return to the original position for the parts conveying means.

On the other hand, in transferring parts from a wide parts management (storage) warehouse, etc., the system 100 is a parts transfer structure (only when the weight of a single part accommodated in the parts transfer structure 70 exceeds a preset weight). In all other cases (when the weight of the parts accommodated in the parts transfer structure is less than the preset weight), the parts transfer structure 70 is transferred to the sky (in the air). Can be done.

This system 100 can solve the problem that the user's moving line is restricted by a conveyor belt installed on the ground in the related art, and can efficiently utilize a space for transferring parts. In addition, the system 100 only needs a rail (i.e., a rail part) for transferring parts in one direction, and does not require a separate rail installation for returning a component transfer means (eg, a component transfer structure) (ie , Since it is possible to return to levitation along the fourth path), the installation space can be relatively reduced compared to the prior art, and the return time for the component transport structure can be effectively shortened.

The system 100 moves parts to the destination by electronic control of the rail part 11, the electric mover 30, the parts transfer structure 70, etc. in transferring parts from a wide parts management (storage) warehouse, etc. As it can be done, it does not require manpower and can automatically transfer parts, enabling efficient part transfer. The present system 100 may provide a faster and more efficient management in storing/managing and receiving/exiting automated parts in a warehouse or the like.

The system 100 can selectively carry out the transport of the received parts over the ground or in the air (in the air) in consideration of the weight and number of parts accommodated in the parts transfer structure 70, and through this, efficient automatic parts It can be provided so that the transfer takes place.

In addition, the system 100 can transport the parts by lifting the parts transport structure 70 by lifting force, so that the user (operator) does not exert a large amount of force in moving (transferring) parts. In addition, since it is possible to reduce the contact of the wheel 74 to the floor so that foreign matter is trapped in the wheel 74, it is possible to facilitate the transfer of parts and increase the life of the wheel 74. have.

The foregoing description of the present application is for illustrative purposes only, and those of ordinary skill in the art to which the present application pertains will be able to understand that it is possible to easily transform it into other specific forms without changing the technical spirit or essential features of the present application. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not limiting. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as being distributed may also be implemented in a combined form.

The scope of the present application is indicated by the claims to be described later rather than the detailed description, and all changes or modified forms derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present application.

100: parts transfer system
10: ceiling member
20: support member
30: electric mover
40: control unit
50: weight adjustment member
60: transfer part receiving part
70: part transfer structure

Claims (16)

As a parts conveying system,
A ceiling member disposed on the ceiling and having a rail portion;
Two support members disposed so as to cross the ceiling member and supporting the ceiling member;
An electric mover having one side connected to the rail part, the other side being combined with a part transfer structure accommodating a part, and moving along a path of the rail part;
A component transfer structure for receiving a component and transferring the received component; And
It includes a control unit for controlling the operation of the electric mover and the parts transfer structure,
The parts are factory automation components,
The control unit, in consideration of the weight and the number of parts accommodated in the parts transport structure, transports the parts to the parts transport structure so that aerial parts are transported through coupling with the electric mover or ground parts are transported through ground movement. To control the operation of the structure, parts transfer system. The method of claim 1,
The control unit,
Regardless of the number of parts accommodated in the parts transfer structure, if the weight of the received parts is less than or equal to a preset weight, control for levitation of the parts transfer structure so that the aerial parts transfer occurs,
If the weight of the parts accommodated in the parts conveying structure exceeds the preset weight, but the number of received parts is one, controlling the parts conveying structure so that the above-ground parts conveyance takes place. The method of claim 2,
Further comprising a weight adjustment member provided in one area of the first support member among the two support members to adjust the total weight of the parts accommodated in the parts transfer structure,
The control unit,
If the weight of the parts accommodated in the parts transfer structure exceeds the preset weight, but the number of parts accommodated is plural, one of the plurality of parts accommodated in the parts transfer structure is placed adjacent to the parts transfer structure. To control the operation of the weight adjustment member to move to the part transport structure, parts transport system. The method of claim 3,
The control unit,
The weight adjustment member controls the operation of moving any one part in the part transfer structure to the other part transfer structure, and the total weight of a plurality of parts accommodated in the part transfer structure is equal to or less than the preset weight. Parts conveying system that repeats until fulfilled. The method of claim 2,
The parts transfer structure,
A receiving member having a receiving space in which the parts are accommodated;
A coupling member provided at the center of the receiving member for coupling with the electric mover;
A levitation member provided under the receiving member and discharging air downward for levitation of the part transfer structure to generate a lift force;
A plurality of wheels provided on the lower side of the receiving member to enable ground movement; And
A distance measurement sensor that measures the distance between the wheel and the ground,
That includes, parts conveying system. The method of claim 5,
The control unit,
As the distance between the wheel and the ground increases due to the generation of the lift force, if the distance measurement value measured by the distance measurement sensor is equal to or greater than a preset distance value, the wheel is controlled to move upward,
When the distance measurement value is less than a preset distance value as the distance between the wheel and the ground becomes closer, the parts transfer system is controlled to be restored to a position before the wheel is moved upward. The method of claim 5,
The levitation member,
A plurality of pieces are provided along the circumference of the central portion of the receiving member on the lower surface of the receiving member,
The parts conveying system comprising a gas inlet formed on an outer surface, a gas outlet formed on a lower surface, and a gas movement passage communicating the gas inlet and the gas outlet. The method of claim 5,
The parts transfer structure,
A weight measurement sensor provided inside the receiving member and measuring the weight of a component accommodated in the receiving member; And
Further comprising an image sensor provided in one area of the coupling member and obtaining an image of the accommodation space,
The measurement of the weight and the number of parts accommodated in the parts transport structure is performed based on analysis of a weight measurement value measured through the weight measurement sensor and image analysis of an image obtained through the image sensor, respectively. Conveying system. The method of claim 5,
The electric mover includes a magnetic force generating unit for generating a magnetic force acting on an attractive force with respect to the parts transfer structure in contact with the other surface of the electric mover,
The control unit,
When controlling the levitation of the parts transfer structure, controlling the operation of the levitation member so that one surface of the coupling member in the parts transfer structure is in contact with the other surface of the electric mover,
When the contact between one surface of the coupling member and the other surface of the electric mover satisfies a preset contact condition, the magnetic force generating unit is controlled to be turned on so that the coupling between the parts transport structure and the electric mover is achieved. The method of claim 9,
On the other surface of the electric mover, a pressure sensor on the mover side for measuring the contact strength with the coupling member is provided,
On one surface of the coupling member, a pressure sensor on the side of the structure for measuring the contact strength with the electric mover is provided,
The preset contact condition is,
The two pressure measurement values measured by the mover-side pressure sensor and the structure-side pressure sensor are conditions indicating a value equal to or greater than a preset pressure value for a preset time. The method of claim 9,
The control unit,
When the magnetic force generating unit is controlled to be on, the electric mover to which the parts transfer structure is coupled is moved along the path of the rail unit to a target transfer point,
When the electric mover reaches the target transfer point, the parts accommodated in the parts transfer structure are accommodated in one area of the second support member among the two support members through motion control of the parts transfer structure. The part conveying system to perform the aerial part conveying by conveying to the part. The method of claim 11,
The transfer of the parts accommodated in the parts transfer structure to the transfer parts receiving part is made by controlling the operation of the parts transfer structure so that the angle of the receiving member is inclined with respect to the coupling member by the control unit. system. The method of claim 11,
The control unit,
Controlling the levitation member to be off so that no lift is generated for a period from the time when the magnetic force generating unit is controlled to on to the time when the transfer of the parts accommodated in the parts transfer structure to the transfer part receiving unit is completed. Phosphorus, parts conveying system. The method of claim 13,
The control unit,
When the transfer of the parts accommodated in the parts transfer structure to the transfer part receiving part is completed, the levitation member is turned on, and the parts transfer structure in contact with the other surface of the electric mover can be separated from the electric mover. To control the magnetic force generating unit off, parts transfer system. The method of claim 14,
The control unit,
After the magnetic force generating unit is controlled to off, the parts transfer system is to move the parts transfer structure to a predetermined waiting point by levitation through the operation control of the levitation member. The method of claim 15,
When moving to the preset waiting point, the movement path of the parts transfer structure is lower than an altitude corresponding to the position of the lower surface of the parts transfer structure when the parts transfer structure is coupled to the electric mover, and the parts transfer structure Is a path belonging to a higher altitude range than the altitude corresponding to the position of the upper surface of the parts conveying structure when in a state located on the ground.

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