KR102225377B1 - Object Transfer Apparatus - Google Patents

Abstract

An object transport device according to an embodiment of the present invention includes an object assembly, a first transport unit, and a second transport unit. In the object assembly, a plurality of objects are stacked on the support member, the first transfer unit transfers the support member and the object assembly in a first direction, and the second transfer unit transfers the support member and the object assembly in a second direction. The first transfer unit transfers the support member and the object assembly in a first direction to a first position, and the second transfer unit sequentially transfers the support member and the object assembly in the first position by a predetermined distance in the second direction. Here, the plurality of objects are objects whose thickness is not constant or whose thickness can be varied according to stacking.

Description

Object Transfer Apparatus}

The present invention relates to a conveying device, and more particularly, to an object conveying device capable of effectively transporting an object whose thickness is not constant or may vary depending on the stacking (積層).

When an object of a predetermined size is stacked, such as a sponge of a predetermined size, whose thickness is not constant, or whose thickness can vary depending on the stacking, the object located above can maintain a constant thickness, but The placed object may have a reduced thickness due to the weight of the objects stacked on it. Due to this characteristic of the object, there is a problem that it is difficult for an articulated robot or the like to sequentially grasp a stacked object such as a sponge at a specific position and move to another specific place.

In addition, since an object such as a sponge is flexible, it is difficult to move from a specific place to another specific place using an automated equipment such as an articulated robot rather than an operator.

Therefore, there is a need for a transfer device to allow an automated equipment such as an articulated robot to easily grasp and move a stacked object such as a sponge in sequence.

Republic of Korea Patent Registration No. 1909861 (announcement date October 18, 2018)

It is an object of the present invention to easily grasp and move the object in which the object is stacked with automated equipment such as an articulated robot when an object of a predetermined size is stacked, such as an articulated robot, etc. It is to provide an object transport device for transporting the stacked object to a specific position so that it can be performed.

However, the object of the present invention is not limited to the above objects, and may be variously extended without departing from the spirit and scope of the present invention.

In order to achieve the object of the present invention, an object transport apparatus according to an embodiment of the present invention includes an object assembly, a first transport unit, and a second transport unit. In the object assembly, a plurality of objects are stacked on the support member, the first transfer unit transfers the support member and the object assembly in a first direction, and the second transfer unit transfers the support member and the object assembly in a second direction. The first transfer unit transfers the support member and the object assembly in a first direction to a first position, and the second transfer unit sequentially transfers the support member and the object assembly in the first position by a predetermined distance in the second direction. Here, the plurality of objects are objects whose thickness is not constant or whose thickness can be varied according to stacking.

According to an embodiment, the first transfer unit includes a first support member, in which a support member and an object assembly are disposed, and transfer the support member and the object assembly in a first direction. The second transfer unit includes a second support member that supports the support member and the object assembly, and transfers the support member and the object assembly in a second direction.

According to an embodiment, the object transfer device according to an embodiment of the present invention further includes a first position sensor unit. The first position sensor unit detects the first position and detects whether the support member and the object assembly are in the first position.

According to an embodiment, the object transport apparatus according to an embodiment of the present invention further includes a second position sensor unit. When the second transfer unit sequentially transfers the support member and the object assembly in the first position by a predetermined distance in the upward direction, the predetermined distance is to a position sensed by the second position sensor unit, and the predetermined distance is It is repeated sequentially until all of the plurality of objects are transferred.

According to an embodiment, when there is a plurality of object assemblies in which a plurality of objects are stacked on a support member, and the first support member transports a plurality of support members and a plurality of object assemblies, on the second support member When all the arranged object aggregates are transferred to a specific place by the automation equipment, the second support member moves to a position below the position of the supporting member in which the object assembly and the neighboring object assembly are disposed.

According to an embodiment, the object aggregate is arranged in a plurality of matrixes, and the plurality of matrix-arranged object aggregates are arranged in a case. After all the object aggregates in an arbitrary row are sequentially transferred, the object aggregates in the neighboring row are transferred in the first direction by the case being transferred in the first direction by the first transfer unit, and sequentially in the second direction by the second transfer unit. It is conveyed in the direction.

In order to achieve another object of the present invention, an object transport apparatus according to an embodiment of the present invention includes an object assembly, a first transport unit, and a second transport unit. In the object assembly, a plurality of objects are stacked, the first transfer unit transfers the object assembly in the left and right direction, and the second transfer unit transfers the object assembly in the vertical direction. The plurality of objects are objects whose thickness is not constant or that the thickness can be varied according to the stacking. When the second transfer unit moves upward, it moves sequentially by a predetermined distance, and the predetermined distance is determined by detection of the position sensor unit.

According to an embodiment, a rigid support member is disposed on the lowermost surface of the object assembly so that sagging or bending of the object assembly does not occur.

In the object transport apparatus according to an embodiment of the present invention, when an object of a predetermined size that has a non-uniform thickness or whose thickness can be varied depending on the stacking is stacked, the object on which the automation equipment such as an articulated robot is stacked is The stacked objects can be transferred to a specific position so that they can be easily gripped and moved in sequence.

By using the object transfer device according to an embodiment of the present invention, an automated equipment such as an articulated robot can move an object without an error, thereby reducing working time and improving product production efficiency.

However, the effects of the present invention are not limited to the above effects, and may be variously extended without departing from the spirit and scope of the present invention.

1 is a perspective view showing an object transfer device according to an embodiment of the present invention.
FIG. 2 is a diagram schematically showing an object assembly disposed in the object transport device of FIG. 1.
3 is a perspective view illustrating a first transfer unit of FIG. 1.
4 is a perspective view illustrating a second transfer unit of FIG. 1.
FIG. 5 is a diagram schematically illustrating that a second transfer unit of FIG. 4 moves an object assembly in a second direction.

Hereinafter, exemplary embodiments of the present invention will be described in more detail with reference to the accompanying drawings. In order not to obscure the gist of the present invention, a detailed description of the components of the present invention that can be clearly understood and easily reproduced by a person skilled in the art by the prior art will be omitted.

Hereinafter, an object transport device 10 according to an embodiment of the present invention will be described.

The object transfer device 10 according to an embodiment of the present invention includes an object 110 having a predetermined size that is elastic or whose thickness can be varied by an external element, or an object 110 having a predetermined size having an uneven thickness. In the case of being stacked, it is a device capable of transporting the stacked object 110 to a specific position so that the stacked object 110 can be easily grasped and moved sequentially by automated equipment such as an articulated robot. .

FIG. 1 is a perspective view showing an object transfer device according to an embodiment of the present invention, and FIG. 2 is a schematic view showing an object assembly disposed in the object transfer device of FIG. 1.

Referring to FIGS. 1 and 2, an object transport device 10 according to an embodiment of the present invention may include an object assembly 100, a first transport unit 200, and a second transport unit 300. Hereinafter, each component will be described in detail.

<Object Aggregate (100)>

The object 110 transported by the object transport device 10 according to an embodiment of the present invention may be an object having a predetermined size or having a variable thickness due to an external element, and an object having a non-uniform thickness. Can be For example, it may be a sponge of a predetermined size, a sound-absorbing material, a nonwoven fabric, or a product made of a fibrous material or a flexible synthetic resin material.

Therefore, when the object 110 is stacked, the object 110 positioned above can maintain a constant thickness, but the object 110 positioned below may have a reduced thickness due to the weight of the object 110 stacked thereon. In a state in which the thickness of the object 110 located below is reduced, the weight applied to the object 110 located below is gradually removed by sequentially removing the object 110 stacked on it, the reduced thickness of the object 110 is reduced. It takes a predetermined time to be restored to the state, so that the state that has not been restored to the original state may be maintained for a certain time. In this case, it may be difficult to grip a part of the object 110 on which automation equipment such as an articulated robot is stacked at a specific position. This means that it is difficult for the articulated robot to sequentially grasp one or more of the objects 110 to move to a specific place.

In addition, since the object 110 has a flexible characteristic, it may be difficult for an automated equipment such as an articulated robot other than an operator to move the object 110 from a specific place to another specific place.

The object transfer device 10 according to an exemplary embodiment of the present invention may be capable of easily grasping and moving some (one or more) of the objects 110 in which automation equipment such as an articulated robot is stacked.

The object assembly 100 includes a plurality of objects 110.

The object assembly 100 means that a plurality of objects 110 are stacked, and one object assembly 100 means that a plurality of objects 110 are stacked.

The plurality of object aggregates 100 may be horizontally arranged side by side (in turn).

Referring to FIG. 1, the object assembly 100 may be arranged in a plurality of matrices, and the object assembly 100 in which the plurality of matrices are arranged may be disposed in a case 130 to be described below.

Referring to FIG. 2, one object assembly 100 may be disposed on the support member 120. Specifically, a plurality of objects 110 may be stacked on the support member 120. However, according to an embodiment of the present invention, the support member 120 may not exist. The plurality of objects 110 may be stacked without the support member 120.

The support member 120 may be a plate having a predetermined size formed to stack the object assembly 100. If the object assembly 100 can be stacked, the size and shape of the support member 120 may be formed in various sizes and shapes.

The support member 120 may be formed to be rigid so that sagging or bending of the object assembly 100 does not occur, and is disposed on the lowermost surface of the object assembly 100.

Each of the plurality of object assemblies 100 may have a plurality of objects 110 vertically stacked on the support member 120.

The support member 120 and the object assembly 100 may be accommodated (arranged) in the case 130, and the case 130 may not exist according to an embodiment of the present invention.

The case 130 has one or more holes formed in the sidewall of the case 130, so that the second support member 330 of the second transfer unit 300 described below can penetrate, and the second support The member 330 may move in the vertical direction.

When the object aggregate 100 is arranged in a plurality of matrices, after all of the object aggregates 100 in an arbitrary column are sequentially transferred, the object aggregates 100 in the neighboring columns are transferred by the first transfer unit 200 described below. The case 130 may be transported in the first direction by being transported in the first direction, and may be sequentially transported in the second direction by a second transport unit described below. The operating principle of the first transfer unit 200 and the second transfer unit 300 will be described in detail below.

<First transfer unit 200>

3 is a perspective view illustrating a first transfer unit of FIG. 1.

Referring to FIG. 3, at least one object assembly 100 may be disposed on the first transfer unit 200 and transferred in a first direction.

The first transfer unit 200 may transfer the object assembly 100 in a first direction. Here, the first direction may be a left-right direction according to an embodiment of the present invention.

The first transfer unit 200 is not limited to a special transfer device, and various transfer devices may be used as long as the object assembly 100 can be transferred in the first direction.

According to an embodiment of the present invention, the first transfer unit 200 may include a first guide 210, a first motor (not shown), and a first belt (not shown). have.

The first transfer unit 200 may transfer the first guide 210 in a first direction using a first motor and a first belt.

According to an embodiment of the present invention, the first guide 210 may be an LM guide.

The first motor may be a servo motor, and various types of motors may be used as the first motor.

The first motor may be connected to the first belt to move the first guide 210.

The first belt may be one or more belts.

The first belt may be a rubber belt or a chain belt, and various types of belts may be used as the first belt.

The first belt connects the first guide 210 and the first motor, the first belt is moved by the driving of the first motor, and the first belt may move the first guide 210 in the first direction. Therefore, the first guide 210 may move in the left and right directions according to an embodiment of the present invention.

The first transfer unit 200 may be connected to the first position sensor unit 400 described below. Specifically, the first motor of the first transfer unit 200 may be electrically connected to the first position sensor unit 400.

The first motor of the first transfer unit 200 may receive a signal from the first position sensor unit 400. The first motor may be driven on-off by receiving a signal from the first position sensor unit 400.

The first transfer unit 200 may further include a first support member 230.

The first support member 230 may be disposed on the first guide 210. The first support member 230 may move in a first direction together with the first guide 210 by driving of the first motor.

One or more support members 120 and object assembly 100 may be disposed on the first support member 230, and the first support member 230 includes the at least one support member 120 and the object assembly 100. It can be transferred in the first direction.

The first support member 230 may be a plate having a predetermined size, may be a flat plate, and may be a plate including a bend, a step, or a hole according to an embodiment of the present invention.

When the support member 120 and the object assembly 100 are accommodated in the case 130, the first support member 230 may be a separate component distinguished from the case 130, and the case 130 and the It may be a bottom member of the case 130 that is not distinguished. Here, the bottom member refers to a member such as the bottom plate (bottom plate) of the case 130.

The operating principle of the first transfer unit 200 will be described as follows.

One object assembly 100 is disposed on the support member 120. Specifically, a plurality of objects 110 are stacked on the support member 120.

One or more support members 120 and object assembly 100 may be disposed on the first support member 230 of the first transfer unit 200.

First, an arrangement relationship between a plurality of object aggregates 100 (each of which is disposed on the support member 120, which is the same in the description of the operation principle below) will be described as an example.

The plurality of object aggregates 100 may include a first object assembly, a second object assembly, and a third object assembly. Here, the first object assembly is disposed at a position directly facing the second transfer unit 300 (hereinafter referred to as'first position'), and the second object assembly is a position adjacent to the first object assembly (Hereinafter referred to as'second position'), and the third object aggregate is arranged at a position adjacent to the second object aggregate (hereinafter referred to as'third position'). Here, the'first position', which is the'position directly facing the second transfer unit 300', means that the second support member 330 of the second transfer unit 300 moves the object assembly 100 upward (upward). It refers to a location that can be moved. In each object assembly 100, a plurality of objects 110 are stacked on a support member 120.

When the second support member 330 of the second transfer unit 300 sequentially moves the support member 120 disposed under the first object assembly by a predetermined distance in the upward direction, the automation equipment such as an articulated robot is the first. Some (one or more) of the objects 110 disposed above in the object assembly are sequentially gripped and moved to a specific place. Here, the predetermined distance refers to a position detected by the second position sensor unit 500, which will be described below, when moving in the upward direction. The predetermined distance is sequentially repeated until all of the plurality of objects 110 are transferred.

When the first object assembly disposed on the second support member 330 of the second transfer unit 300 is completely transferred to a specific place by the automation equipment, the second support member 330 of the second transfer unit 300 is lowered. Move in the (down) direction. The second support member 330 of the second transfer unit 300 moves to a position at and below the support member 120 disposed under the second object assembly.

The first transfer unit 200 moves the first support member 230. At this time, the distance that the first support member 230 moves is the position where the first object assembly was placed on the first support member 230 at the position where the second object assembly was placed (the second position) (the first position) It is the distance to. In other words, the first transfer unit 200 is the first support member 230 so that the second object assembly disposed on the first support member 230 moves to the position (the first position) where the first object assembly was disposed. ) To move.

When the first transfer unit 200 moves the first support member 230, the second object assembly is in the first position and the third object assembly is in the second position. In addition, the second support member 330 of the second transfer unit 300 is disposed under the support member 120 disposed under the second object assembly.

When the second support member 330 of the second transfer unit 300 sequentially moves the support member 120 disposed under the second object assembly by a predetermined distance in the upward direction, the automation equipment is placed above the second object assembly. Some (one or more) of the objects 110 are sequentially gripped and moved to a specific place. Here, the predetermined distance refers to a position detected by the second position sensor unit 500 when moving in the upward direction. The predetermined distance is sequentially repeated until all of the plurality of objects 110 are transferred.

When the second object assembly disposed on the second support member 330 of the second transfer unit 300 is completely transferred to a specific place by the automation equipment, the second support member 330 of the second transfer unit 300 is lowered. Move in the direction The second support member 330 of the second transfer unit 300 moves to a position where the support member 120 disposed under the third object assembly is located, and below it.

The first transfer unit 200 moves the first support member 230. At this time, the distance that the first support member 230 moves is the position where the third object assembly was placed on the first support member 230 (the second position) and the second object assembly was placed (the first position). It is the distance to. In other words, the first transfer unit 200 is the first support member 230 so that the third object assembly disposed on the first support member 230 moves to the position (the first position) where the second object assembly was disposed. ) To move.

When the first transfer unit 200 moves the first support member 230, the third object assembly is in the first position. In addition, the second support member 330 of the second transfer unit 300 is disposed under the support member 120 disposed under the third object assembly.

When the second support member 330 of the second transfer unit 300 sequentially moves the support member 120 disposed under the third object assembly in an upward direction by a predetermined distance, the automation equipment is placed above the third object assembly. Some (one or more) of the objects 110 are sequentially gripped and moved to a specific place. Here, the predetermined distance refers to a position detected by the second position sensor unit 500 when moving in the upward direction. The predetermined distance is sequentially repeated until all of the plurality of objects 110 are transferred.

In summary, the second support member 330 of the second transfer unit 300 moves the object assembly 100 (object assembly 100 in the first position) directly facing the second transfer unit 300 in an upward direction. It can be moved sequentially by a predetermined distance. In this case, an automated equipment such as an articulated robot may sequentially grasp some (one or more) of the objects 110 disposed above in the object assembly 100 and move them to a specific place. When the automation equipment transfers all of the object assembly 100 to a specific place, the second support member 330 of the second transfer unit 300 moves downward, and the first transfer unit 200 places the object assembly 100 The first supporting member 230 may be moved a predetermined distance in the first direction. As the first support member 230 moves in the first direction, the second support member 330 of the second transfer unit 300 can sequentially move the object assembly 100 of the next turn upward by a predetermined distance. , The automation equipment may sequentially grasp some (one or more) of the objects 110 disposed above in the object assembly 100 and move them to a specific place. The above process can be performed repeatedly.

The distance at which the first support member 230 of the first transfer unit 200 moves may be accurately controlled by the first position sensor unit 400 described below.

The first position sensor unit 400 may detect a position (first position) at which the second support member 330 of the second transfer unit 300 can move the object assembly 100 upward, and It can be detected whether the assembly 100 is in the first position.

After the object assembly 100 (the first object assembly 100 in the example above) is all transferred to a specific location by the operation of the second transfer unit 300 and the automation equipment, the next object assembly 100 (in the above example) When the second object assembly) moves in the first direction by the first transfer unit 200, the first position sensor unit 400 can detect the first position, and whether the second object assembly is in the first position. Can be detected.

The object assembly 100 disposed on the second support member 330 of the second transfer unit 300 is all transferred to a specific place by the automation equipment, so that the second support member 330 of the second transfer unit 300 is The first guide 210 is driven by the first motor of the first transfer unit 200 when moving downward and moving to the position where the support member 120 disposed under the next object assembly 100 is located. ) Moves in the first direction, and the first support member 230 disposed on the first guide 210 also moves. The object assembly 100 in the next turn disposed on the first support member 230 moves so that the second support member 330 of the second transfer unit 300 can move the object assembly 100 upward. When the position (first position) is reached, the first position sensor unit 400 may transmit a signal to the first motor of the first transfer unit 200. The driving of the first motor that has received the signal from the first position sensor unit 400 is stopped, so that the next object assembly 100 is disposed at the first position.

<Second transfer unit 300>

FIG. 4 is a perspective view illustrating a second transfer unit of FIG. 1, and FIG. 5 is a schematic view illustrating that the second transfer unit of FIG. 4 moves an object assembly in a second direction.

4 and 5, the second transfer unit 300 may transfer the object assembly 100 in the second direction. Here, the second direction may be an up-down direction according to an embodiment of the present invention.

The second transfer unit 300 is not limited to a special transfer device, and various transfer devices may be used as long as the object assembly 100 can be transferred in the second direction.

According to an embodiment of the present invention, the second transfer unit 300 may include a second guide 310 (Guide), a second motor (not shown), and a second belt (not shown). have.

The second transfer unit 300 may transfer the second guide 310 in a second direction using a second motor and a second belt.

According to an embodiment of the present invention, the second guide 310 may be an LM guide.

The second motor may be a servo motor, and various types of motors may be used as the second motor.

The second motor may be connected to the second belt to move the second guide 310.

The second belt may be one or more belts.

The second belt may be a rubber belt or a chain belt, and various types of belts may be used as the second belt.

The second belt connects the second guide 310 and the second motor, the second belt is moved by the driving of the second motor, and the second belt may move the second guide 310 in the second direction. Therefore, the second guide 310 may move in the vertical direction according to the embodiment of the present invention.

The second transfer unit 300 may be connected to the second position sensor unit 500. Specifically, the second motor of the second transfer unit 300 may be electrically connected to the second position sensor unit 500.

The second motor of the second transfer unit 300 may receive a signal from the second position sensor unit 500. The second motor may be driven on-off by receiving a signal from the second position sensor unit 500.

The second transfer unit 300 may further include a second support member 330.

The second support member 330 may be disposed on the second guide 310. The second support member 330 may move in the second direction together with the second guide 310 by driving the second motor.

The second support member 330 may support the support member 120 and the object assembly 100 to transport the support member 120 and the object assembly 100 in the second direction.

The second support member 330 may be cantilevered. One end of the second support member 330 is fixed to the second guide 310 and the other end is not supported. There may be one or more second support members 330.

The second support member 330 may be a plate of a predetermined size having a long length in one direction. The second support member 330 may be a plate including a bend, a step, or a hole according to an embodiment of the present invention. However, the second support member 330 is not limited to a plate shape, and may be formed in various shapes as long as the object assembly 100 can be moved upward.

The operation principle of the second transfer unit 300 will be described as follows.

The plurality of object aggregates 100 include a first object assembly, a second object assembly, and a third object assembly, and their arrangement relationship is the same as described for example in the first transfer unit 200.

When the second transfer unit 300 moves upward, the second transfer unit 300 may sequentially move by a predetermined distance. Here, the predetermined distance may be determined by detection of the second position sensor unit 500.

When the second support member 330 of the second transfer unit 300 sequentially moves the support member 120 disposed under the first object assembly by a predetermined distance in the upward direction, the automation equipment such as an articulated robot is the first. Some (one or more) of the objects 110 disposed above in the object assembly are sequentially gripped and moved to a specific place. Here, the predetermined distance refers to a position detected by the second position sensor unit 500 when moving in the upward direction. The predetermined distance is sequentially repeated until all of the plurality of objects 110 are transferred.

When the first object assembly disposed on the second support member 330 of the second transfer unit 300 is completely transferred to a specific place by the automation equipment, the second support member 330 of the second transfer unit 300 is lowered. Move in the direction The second support member 330 of the second transfer unit 300 moves to a position at and below the support member 120 disposed under the second object assembly.

When the first transfer unit 200 moves the second object assembly disposed on the first support member 230 to the position where the first object assembly was disposed (the first position), the second object assembly is moved to the first position. , The third object assembly is in the second position. At this time, the second support member 330 of the second transfer unit 300 is disposed under the support member 120 disposed under the second object assembly.

When the second support member 330 of the second transfer unit 300 sequentially moves the support member 120 disposed under the second object assembly by a predetermined distance in the upward direction, the automation equipment is placed above the second object assembly. Some (one or more) of the objects 110 are sequentially gripped and moved to a specific place. Here, the predetermined distance refers to a position detected by the second position sensor unit 500 when moving in the upward direction. The predetermined distance is sequentially repeated until all of the plurality of objects 110 are transferred.

When the second object assembly disposed on the second support member 330 of the second transfer unit 300 is completely transferred to a specific place by the automation equipment, the second support member 330 of the second transfer unit 300 is lowered. Move in the direction The second support member 330 of the second transfer unit 300 moves to a position where the support member 120 disposed under the third object assembly is located, and below it.

When the first transfer unit 200 moves the third object assembly disposed on the first support member 230 to the position where the second object assembly was disposed (the first position), the third object assembly is moved to the first position. There will be. At this time, the second support member 330 of the second transfer unit 300 is disposed under the support member 120 disposed under the third object assembly.

When the second support member 330 of the second transfer unit 300 sequentially moves the support member 120 disposed under the third object assembly in an upward direction by a predetermined distance, the automation equipment is placed above the third object assembly. Some (one or more) of the objects 110 are sequentially gripped and moved to a specific place. Here, the predetermined distance refers to a position detected by the second position sensor unit 500 when moving in the upward direction. The predetermined distance is sequentially repeated until all of the plurality of objects 110 are transferred.

In summary, the second support member 330 of the second transfer unit 300 moves the object assembly 100 (object assembly 100 in the first position) directly facing the second transfer unit 300 in an upward direction. It can be moved sequentially by a predetermined distance, and an automated equipment such as an articulated robot can sequentially grasp some (one or more) of the objects 110 disposed above in the object assembly 100 and move them to a specific place. . When the automation equipment transfers all the object assembly 100 to a specific place, the second support member 330 of the second transfer unit 300 may move downward. When the first transfer unit 200 transfers the object assembly 100 of the next turn to the first position, the second support member 330 of the second transfer unit 300 moves the object assembly 100 of the next turn upward. It may be moved sequentially by a predetermined distance, and the automation equipment may sequentially grasp some (one or more) of the objects 110 disposed above in the object assembly 100 and move them to a specific place. The above process can be performed repeatedly.

The predetermined distance that the second support member 330 of the second transfer unit 300 moves may be accurately determined (controlled) by detection of the second position sensor unit 500 described below.

The second position sensor unit 500 is a part of the object 110 disposed above in the object assembly 100 in which automation equipment such as an articulated robot is disposed on the second support member 330 of the second transfer unit 300 It is possible to detect a position to hold (one or more) (hereinafter referred to as a'holding position'), and check whether one or more objects 110 (hereinafter referred to as a'holding object') held by the automated equipment are in the gripping position. Can be detected.

After the object to be gripped in the gripping position is transferred to a specific place by the operation of the automated equipment, the next gripping object is moved in the second direction by the second support member 330 of the second transfer unit 300, the second 2 The position sensor unit 500 may detect the gripping position and detect whether the gripping object is in the gripping position. Here, the predetermined distance at which the next gripping object moves in the second direction (upward direction) by the second support member 330 of the second transfer unit 300 is to the gripping position sensed by the second position sensor unit 500. It's the street. The movement of the second support member 330 in the second direction (upward direction) is sequentially repeated until all the plurality of objects 110 of the object assembly 100 are transferred.

When the object to be gripped in the gripping position is transferred to a specific place by the operation of the automation equipment, the second motor of the second transfer unit 300 is driven so that the second guide 310 moves upward, and the second guide 310 The second support member 330 connected to is also moved. Here, the predetermined distance that the second support member 330 moves is a distance to the gripping position sensed by the second position sensor unit 500, as described above.

When the next gripping object disposed on the second support member 330 moves and reaches the gripping position, which is a position at which the automation equipment can transfer the gripping target to a specific place, the second position sensor unit 500 is 2 A signal may be transmitted to the second motor of the transfer unit 300. The driving of the second motor that has received the signal from the second position sensor unit 500 is stopped, so that the next gripping object is disposed at the gripping position.

An object 110 having a predetermined size, having elasticity or having a variable thickness due to an external element, an object 110 having an uneven thickness, and/or an object 110 having a flexible property are stacked In the case of (積層), even if the thickness of the object 110 located below decreases due to the weight of the object 110 stacked on the top, the second transfer unit 300 and the second position sensor unit 500 interlock so that the gripping object is constant. Can be placed in the gripping position. Therefore, an automated equipment such as an articulated robot can sequentially move the object to be gripped from the gripping position to a specific place without an error.

When the object assembly 100 disposed on the second support member 330 is completely transferred to a specific place by the automation equipment, the second motor of the second transfer unit 300 is driven so that the second guide 310 is lowered ( Down), and the second support member 330 connected to the second guide 310 also moves. The second support member 330 moves to a position where the support member 120 disposed under the object assembly 100 in the next turn is located, and below it.

<First position sensor unit 400>

The object transfer device 10 according to an embodiment of the present invention may further include a first position sensor unit 400.

The first position sensor unit 400 may be connected to the first transfer unit 200. Specifically, the first position sensor unit 400 may be electrically connected to the first motor of the first transfer unit 200.

The first position sensor unit 400 may transmit a signal to the first motor of the first transfer unit 200 to turn on-off the driving of the first motor.

The first position sensor unit 400 may be a contact sensor or a non-contact sensor, and may be a mechanical, electrical, magnetic, or optical sensor.

The first position sensor unit 400 may detect a position (first position) at which the second support member 330 of the second transfer unit 300 can move the object assembly 100 upward, and It can be detected whether the assembly 100 is in the first position.

According to an embodiment of the present invention, the first position sensor unit 400 may be disposed anywhere in the object transfer device 10 of the present invention, as long as it can detect whether the object assembly 100 is in the first position.

After the object assembly 100 (the first object assembly in the above example) has been completely transferred to a specific place by the operation of the second transfer unit 300 and the automation equipment, the next object assembly 100 (the second object assembly in the above example) When the assembly) moves in the first direction by the first transfer unit 200, the first position sensor unit 400 can detect the first position and detect whether the second object assembly is in the first position. I can.

The object assembly 100 disposed on the second support member 330 of the second transfer unit 300 is all transferred to a specific place by the automation equipment, so that the second support member 330 of the second transfer unit 300 is The first guide 210 is driven by the first motor of the first transfer unit 200 when moving downward and moving to the position where the support member 120 disposed under the next object assembly 100 is located. ) Moves in the first direction, and the first support member 230 disposed on the first guide 210 also moves. The next object assembly 100 disposed on the first support member 230 moves so that the second support member 330 of the second transfer unit 300 can move the object assembly 100 upward. When the position (first position) is reached, the first position sensor unit 400 may transmit a signal to the first motor of the first transfer unit 200. The driving of the first motor that has received the signal from the first position sensor unit 400 is stopped, so that the next object assembly 100 is disposed at the first position.

<Second position sensor unit 500>

The object transporting device 10 according to an embodiment of the present invention may further include a second position sensor unit 500.

The second position sensor unit 500 may be connected to the second transfer unit 300. Specifically, the second position sensor unit 500 may be electrically connected to the second motor of the second transfer unit 300.

The second position sensor unit 500 may transmit a signal to the second motor of the second transfer unit 300 to turn on-off the driving of the second motor.

The second position sensor unit 500 may be a contact sensor or a non-contact sensor, and may be a mechanical, electrical, magnetic, or optical sensor.

The second position sensor unit 500 detects the gripping position of the object assembly 100 disposed on the second support member 330 of the second transfer unit 300 by an automated equipment such as an articulated robot. It can be done, and it is possible to detect whether the object to be gripped is in the gripping position.

When the second support member 330 of the second transfer unit 300 is sequentially moved by a predetermined distance in the upward direction, the second position sensor unit 500 may detect the gripping position and determine the predetermined distance.

According to an embodiment of the present invention, the second position sensor unit 500 may be disposed anywhere in the object transport device 10 of the present invention as long as it can detect whether the object to be gripped in the object assembly 100 is in the gripping position. have.

After the object to be gripped in the gripping position is transferred to a specific place by the operation of the automated equipment, the next object to be gripped is moved upward by the second support member 330 of the second transfer unit 300, the second The position sensor unit 500 may detect the gripping position and detect whether the gripping object is in the gripping position. Here, the predetermined distance at which the next gripping object moves in the second direction (upward direction) by the second support member 330 of the second transfer unit 300 is to the gripping position sensed by the second position sensor unit 500. It's the street. The movement of the second support member 330 in the second direction (upward direction) is sequentially repeated until all the plurality of objects 110 of the object assembly 100 are transferred.

When the object to be gripped in the gripping position is transferred to a specific place by the operation of the automation equipment, the second motor of the second transfer unit 300 is driven so that the second guide 310 moves upward, and the second guide 310 The second support member 330 connected to is also moved. Here, the predetermined distance that the second support member 330 moves is a distance to the gripping position sensed by the second position sensor unit 500, as described above.

When the next gripping object disposed on the second support member 330 moves and reaches the gripping position, which is a position at which the automation equipment can transfer the gripping target to a specific place, the second position sensor unit 500 is 2 A signal may be transmitted to the second motor of the transfer unit 300. The driving of the second motor that has received the signal from the second position sensor unit 500 is stopped, so that the next gripping object is disposed at the gripping position.

When the object assembly 100 disposed on the second support member 330 is completely transferred to a specific place by the automation equipment, the second motor of the second transfer unit 300 is driven so that the second guide 310 is moved downward. And the second support member 330 connected to the second guide 310 is also moved. The second support member 330 moves to a position where the support member 120 disposed under the object assembly 100 in the next turn is located, and below it.

The object conveying device 10 according to an embodiment of the present invention includes an elastic object 110 having a predetermined size, an object 110 whose thickness can be varied by external elements, and an object 110 having an uneven thickness. ) And/or one or more object aggregates 100 in which objects 110 having a flexible property are stacked, and in the object assembly 100 using an automated equipment such as an articulated robot, etc. It is suitable when you need to move some to other specific places.

In the object transport device 10 according to the embodiment of the present invention, the second support member 330 of the second transport unit 300 is an object assembly by interlocking the first transport unit 200 and the first position sensor unit 400 The object assembly 100 can be accurately positioned at a position where the 100 can be moved upward, and the second transfer unit 300 and the second position sensor unit 500 interlock to each other, thereby Even if the thickness of the object 110 located below is reduced due to the weight of the stacked object 110, the object to be gripped may be uniformly disposed at the gripping position. Therefore, an automated equipment such as an articulated robot can sequentially move the object to be gripped from the gripping position to a specific place without an error.

Features, structures, effects, and the like described in the embodiments above are included in at least one embodiment of the present invention, and are not necessarily limited to only one embodiment. Furthermore, the features, structures, effects, and the like illustrated in each embodiment can be implemented by combining or modifying other embodiments by a person having ordinary knowledge in the field to which the embodiments belong. Therefore, contents related to such combinations and modifications should be construed as being included in the scope of the present invention.

In addition, although the embodiments have been described above, these are only examples and do not limit the present invention, and those of ordinary skill in the field to which the present invention pertains will not depart from the essential characteristics of the present embodiment. It will be appreciated that various modifications and applications that are not illustrated are possible. That is, each constituent element specifically shown in the embodiment can be modified and implemented. And differences related to these modifications and applications should be construed as being included in the scope of the present invention defined in the appended claims.

10: object transfer device 100: object assembly
110: object 120: support member
130: case 200: first transfer unit
210: first guide 230: first support member
300: second transfer unit 310: second guide
330: second support member 400: first position sensor unit
500: second position sensor unit

Claims (8)

An object assembly in which a plurality of objects are stacked on the support member;
A first transfer unit for transferring the support member and the object assembly in a first direction; And
Including; a second transfer unit for transferring the support member and the object assembly in a second direction,
The first transfer unit transfers the support member and the object assembly to a first position in the first direction, and the second transfer unit provides the support member and the object assembly at the first position in the second direction. It is transferred sequentially by distance,
The plurality of objects is an object having a non-uniform thickness or an object whose thickness can be varied according to stacking.
The first transfer unit includes a first support member, wherein the support member and the object assembly are disposed, and transfer the support member and the object assembly in the first direction,
The second transfer unit includes a second support member that supports the support member and the object assembly, and transfers the support member and the object assembly in the second direction,
A plurality of the object aggregates,
When the first support member transfers the plurality of support members and the plurality of object aggregates, when all the object aggregates disposed on the second support member are transferred to a specific place by the automation equipment, the second The support member moves to a position below the support member in which the object assembly and the neighboring object assembly are disposed. delete The method of claim 1,
The first position sensor unit; further includes,
The first position sensor unit detects the first position, and detects whether the support member and the object assembly are in the first position. The method of claim 1,
The second position sensor unit; further includes,
The predetermined distance is to a position sensed by the second position sensor unit when moving in the upward direction,
The predetermined distance is sequentially repeated until all the plurality of objects are transferred.
delete The method of claim 1,
The object aggregate is arranged in a plurality of matrices,
The plurality of matrix-arranged object aggregates are arranged in a case,
After all of the object aggregates in an arbitrary row are sequentially transferred, the object aggregates in neighboring rows are transferred in the first direction by the case being transferred in the first direction by the first transfer unit, and the second An object conveying device that is sequentially conveyed in the second direction by a conveying unit.
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