KR102339212B1 - transfer robot for automatic warehouse - Google Patents

Abstract

The present invention relates to a transfer robot for an automatic warehouse and, more specifically, to a transfer robot for an automatic warehouse, which can move products loaded in multiple rows on shelves in the automatic warehouse including the shelves where products are loaded and the transfer robot for moving between the shelves and transferring the products, to provide more shelves in the same space, thereby increasing space utilization. To achieve the above purpose, the transfer robot for an automatic warehouse that moves along the travel paths formed between the shelves on which boxes are loaded and transfers the boxes comprises: a body having a box loading unit in which the boxes are accommodated; a loading arm for loading the boxes on the shelves or moving the boxes on the shelves to the box loading unit; and a traveling unit provided in a lower portion of the body to move along the traveling paths.

Description

Transfer robot for automatic warehouse {transfer robot for automatic warehouse}

The present invention relates to a transfer robot for an automatic warehouse, and more particularly, in an automatic warehouse comprising a transfer robot that moves between shelves on which goods are loaded and transfers goods, the transfer robot also moves objects loaded in multiple rows on shelves It relates to an automatic warehouse transfer robot that can increase space utilization by providing more shelves in the same space.

The rapid development of e-commerce and Internet shopping has not only brought unprecedented development opportunities to the logistics and warehousing industries, but also poses serious challenges to courier services. In the logistics and warehousing industry, the traditional manual sorting method involves a worker pushing a trolley equipped with form containers, corresponding to the form within the warehouse according to the form (eg, order). It is a matter of finding items that can be used one by one and putting them into a culture container corresponding to the form.

In this sorting method, since the worker has to walk a long distance, the labor intensity is large, the efficiency is low, and the error rate is relatively high.

Based on this, an automatic sorting system based on an intelligent transport robot has recently been developed. According to the demand and inventory information of the form, the robot moves the target rack containing the product corresponding to the form to the corresponding sorting station. After transporting, the operator at the sorting station sorts the goods according to the presentation and puts them in the designated containers.

When the sorting task is completed in this way, the robot returns the rack to the designated location, and the above-mentioned sorting method has improved both in terms of efficiency and accuracy compared to the artificial method in which a person sorts directly.

As an example of such an intelligent transport robot, there is a technology described in Korean Patent Application Laid-Open No. 10-2020-0016303 as shown in FIG. a driving device 101 installed to automatically travel to a preset position based on the received driving route; a body 102 installed above the traveling device 101; a receiving device (103) connected to the body and including a plurality of receiving positions that are separation layers stacked in a vertical direction, one separation layer receiving at least one target article (3); It is installed above the body 102, and based on the task received by the robot, grabs the first target article from the article storage device at the preset position and automatically puts it in the receiving position of the receiving device 103, and an article grabbing device (104) that grabs the second target item from the receiving position of the receiving device (103) at the preset position and automatically places it in the storage device.

However, the technology described in Korean Patent Application Laid-Open No. 10-2020-0016303 has the advantage of increasing accuracy and efficiency because the article 3 is selected through the robot, but the robot is placed between the shelf and the shelf on which the article 3 is loaded. It is necessary to allocate a space to move, and in particular, since the robot can collect only the first row of items among the items provided on the shelf, there is a problem in that the space utilization is not good.

In addition, the robot of the technology described in Korean Patent Application Laid-Open No. 10-2020-0016303 has a difficult problem in control because the receiving device operates only on one side, so it is necessary to adjust the robot in the direction in which the article is located.

Korean Patent Publication No. 10-2020-0016303 (published on Feb. 14, 2020)

The present invention has been devised to solve the above problems, and an object of the present invention is to move a box loaded on a shelf by using a transfer robot while moving along a traveling path formed between shelves provided in an automatic warehouse. The transfer robot has a box loading unit, and the box loading unit is provided with loading arms that can slide to both sides, so that all the boxes loaded on the shelves located on both sides of the transport path can be moved, so that the shelves are provided in two rows. It is to provide an automatic warehouse transfer robot that can increase the space utilization of the automatic warehouse.

Another object of the present invention is that the loading arm provided in the robot includes a fixed arm member fixed to the robot, a movable arm member having support bars rotatable to support both ends of the box at both ends, and the movable arm member and the fixed arm It consists of a plurality of relay arm members positioned between the members to move the movable arm members to both sides, so that boxes positioned on the shelf can be loaded or moved not only in one row but also in the second or multiple rows, so that one shelf It is to provide an automatic warehouse transfer robot that can load boxes in two or multiple rows to further increase the space utilization of the automatic warehouse.

The present invention for solving these problems;

In the automatic warehouse transport robot for transporting boxes by moving along a traveling path formed between shelves on which boxes are loaded, a body on which a box loading part on which the boxes are loaded is formed; It characterized in that it consists of a loading arm for moving the box to the box loading part, and a traveling part provided at the lower part of the body to move along the traveling path.

Here, the loading arm includes a fixed arm member fixedly installed on the body, a movable arm member supporting and moving the box, and a plurality of mounting arms provided between the stationary arm member and the movable arm member to move the movable arm member It is characterized in that it consists of a relay arm member.

And, the loading arm moves the boxes loaded in the first row as well as the first row of the shelf to the box loading part, or loads the boxes located in the box loading part not only in the first row of the shelf but also in the rear row of the shelf characterized in that

In this case, the loading arm moves the box loaded on a shelf located in both left and right directions with respect to the movement direction of the transfer robot to the box loading unit or loads the box located in the box loading unit onto the shelf do it with

Meanwhile, the fixed arm member, the movable arm member, and the relay arm member are all formed to have the same length, and the length thereof is formed to correspond to the width of the box loaded on the shelf.

Here, a support bar rotating inwardly is installed at both ends of the movable arm member in the longitudinal direction, and a support motor for rotating the support bar in both directions is installed on one side of the support bar.

And, the fixed arm member, the relay arm member, and the moving arm member are characterized in that the energizing portion for supplying power to the support motor is installed.

Here, the relay arm member may include a main relay arm member provided to be in contact with the fixed arm member, and an auxiliary relay arm member provided between the main relay arm member and the movable arm member.

At this time, the energizing portion includes a pair of first energizing bars installed along the longitudinal direction on one side of the fixed arm member, and penetrating both ends in the longitudinal direction so as to be in contact with the first energizing bar on one side of the main relay arm member. A pair of first conduction terminals installed, a pair of second conduction bars installed on the other side of the main relay arm member so as to be in contact with an end of the first conduction terminal along the longitudinal direction, and the auxiliary relay arm member A pair of second conducting terminals installed to penetrate through both ends in the longitudinal direction so as to be in contact with the second conducting bar on one side thereof, and the other side of the auxiliary relay arm member along the longitudinal direction to contact the ends of the second conducting terminals It characterized in that it consists of a pair of third conduction bars installed, and a third conduction terminal installed on one side of the movable arm member so as to be in contact with the third conduction bar at both ends in the longitudinal direction.

In addition, the main relay arm member has a main pinion gear installed at the front end and the rear end so as to protrude from both left and right sides, the pair of main pinion gears are connected by a main moving belt, and the main pinion is on one side of the fixed arm member A rack is installed along the longitudinal direction to correspond to the gear, and a rack is installed on one side of the auxiliary relay arm member along the longitudinal direction to correspond to the main pinion gear, so that the main relay arm member and the auxiliary relay arm member are moved to the left and right sides. characterized by moving.

Here, at the front and rear ends of the auxiliary relay arm member, the auxiliary pinion gear is installed to protrude from both left and right sides and located at a different height from the main pinion gear, the pair of auxiliary pinion gears are connected by an auxiliary moving belt, , A rack is installed on one side of the main relay arm member in a longitudinal direction to correspond to the auxiliary pinion gear, and a rack is installed on one side of the movable arm member along the longitudinal direction to correspond to the auxiliary pinion gear. It is characterized in that the movable arm member is moved to the left and right sides.

On the other hand, guide members are installed on both sides of the main relay arm member and one side of the auxiliary relay arm member along the longitudinal direction, and one side of the fixed arm member, the other side of the auxiliary relay arm member, and one side of the movable arm member It is characterized in that the guide roller, which is in contact with the upper and lower portions of the support jaws formed at the upper end and lower end of the guide member, is installed along the longitudinal direction.

Here, a guide groove is formed in the center of the guide roller in the width direction, and a guide protrusion inserted into the guide groove is formed in the center of the guide member in the width direction.

At this time, a moving belt unit for moving the relay arm member to the left and right is further installed on the lower inner surface of the fixed arm member, and the moving belt unit includes a plurality of pulleys installed on the lower inner surface of the fixed arm member and the pulleys. It characterized in that it consists of a rotating belt and a belt motor installed under the fixed arm member to rotate the pulley.

In addition, the driving unit is installed in the lower part of the body and consists of a main driving part that travels back and forth, and an auxiliary driving part installed in the lower part of the body so as to be able to go up and down to travel left and right, and when traveling back and forth, the auxiliary driving part It is characterized in that the auxiliary driving unit moves downward and the main driving unit is driven in a state in which the main driving unit is lifted upward when the vehicle is driven upward and left and right.

Here, the auxiliary traveling unit includes a lifting plate provided in the lower portion of the body so as to be able to ascend and descend, an auxiliary wheel installed in the lower portion of the lifting plate, and a lifting cylinder installed inside the body to raise and lower the lifting plate. characterized by being made.

According to the present invention of the above configuration, a box loaded on a shelf is moved using a transfer robot while moving along a traveling path formed between shelves provided in an automatic warehouse, wherein a box loading unit is formed in the transfer robot, and the The box loading section is provided with loading arms that can slide to both sides, so that all boxes loaded on the shelves located on both sides of the transfer path can be moved. It is to provide a transfer robot for warehouse.

Another object of the present invention is that the loading arm provided in the robot includes a fixed arm member fixed to the robot, a movable arm member having support bars rotatable to support both ends of the box at both ends, and the movable arm member and the fixed arm It consists of a plurality of relay arm members positioned between the members to move the movable arm members to both sides, so that boxes positioned on the shelf can be loaded or moved not only in one row but also in the second or multiple rows, so that one shelf The box can be loaded in two or multiple rows, which has the effect of further increasing the space utilization of the automatic warehouse.

1 is a perspective view of a conventional warehouse transfer robot.
2 is a plan conceptual view of a part of an automated warehouse applied to the transfer robot for an automated warehouse according to the present invention.
3 is a perspective view of an automatic warehouse transfer robot according to the present invention.
Figure 4 is a perspective view of the unfolded state of the loading arm of the automatic warehouse transfer robot according to the present invention.
5 is a side conceptual view of the automatic warehouse transfer robot according to the present invention.
Figure 6 is a conceptual diagram of the automatic warehouse transfer robot according to the present invention to take out the box located in the second row of the shelf.
Figure 7 (a) is a schematic plan view of the main traveling unit of the automatic warehouse transfer robot according to the present invention, (b) is a plan conceptual view showing the auxiliary traveling unit.
8 is a conceptual diagram of an automatic warehouse in which a transfer robot for an automatic warehouse according to the present invention is installed.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings. The same reference numerals are used for the same components in the drawings, and repeated descriptions of the same components are omitted. And, it should be understood that the present invention may be implemented in many different forms and is not limited to the described embodiments.

2 is a plan conceptual view of a part of an automatic warehouse applied to the transfer robot for an automatic warehouse according to the present invention, FIG. 3 is a perspective view of the transfer robot for an automatic warehouse according to the present invention, and FIG. 4 is a transfer robot for an automatic warehouse according to the present invention It is a perspective view of the unfolded state of the loading arm of the, Figure 5 is a side conceptual view of the transfer robot for automatic warehouse according to the present invention, Figure 6 is the automatic warehouse transfer robot according to the present invention to take out the box located in the second row of the shelf It is a conceptual diagram, (a) of Figure 7 is a plan conceptual view of the main traveling part of the automatic warehouse transfer robot according to the present invention, (b) is a plan conceptual view showing the auxiliary driving unit, Figure 8 is an automatic warehouse transfer according to the present invention It is a conceptual diagram of an automated warehouse where robots are installed.

The present invention relates to a transfer robot for an automatic warehouse, and as shown in FIGS. 2 to 7 , the configuration is a body 310 in which a box loading unit 320 in which a box 210 that can accommodate various items is loaded is formed. ) and a loading arm 400 for loading the box 210 on the shelf 200 or moving the box 210 of the shelf 200 to the box loading part 320 and the lower part of the body 310 It may be provided with a driving unit 500 that moves along the driving path 220 .

So, as shown in FIG. 2 , the transport robot 300 of the present invention transports the box 210 while moving along the traveling path 220 formed between the shelves 200 on which the box 210 is loaded. .

And, inside the automatic warehouse, the shelf 200 on which the box 210 in which the goods are accommodated is loaded may be installed at regular intervals. Since it is possible, by installing a pair of shelves 200 to be in contact with each other, space utilization is increased.

Here, the shelf 200 is formed in multiple stages so that the boxes 210 can be loaded in the longitudinal direction for each stage, and the boxes 210 can be loaded to form a plurality of rows also in the width direction, so that the space is limited. to make the most of the space inside the automatic warehouse with

On the other hand, the loading arm 400 constituting the transfer robot 300 includes a fixed arm member 410 that is fixedly installed on the body 310 and a movable arm member 430 that supports and moves the box 210 and A plurality of relay arm members 440 provided between the fixed arm member 410 and the movable arm member 430 to move the movable arm member 430 and a moving belt for moving the relay arm member 440 . It may be made of a part 420 .

Here, a support bar 436 to be described later may be installed at the front end and the rear end of the movable arm member 430 . The movable arm member 430 is positioned on both sides of the box 210 to provide the support bar 436 . Both sides of the raw box 210 are supported and moved from the transfer robot 300 to the lathe 200 or from the lathe 200 to the transfer robot 300 .

At this time, the fixed arm member 410 , the movable arm member 430 , and the relay arm member 440 are formed to have the same length, and their length may correspond to the width of the box 210 loaded on the shelf 200 . By forming, the width of the transport robot 300 of the present invention can be minimized to correspond to the size of the box 210, and thus the space between the shelves 200 can be minimized, thereby maximizing the space efficiency. .

Furthermore, by forming a plurality of relay arm members 440 constituting the loading arm 400 as well as the box 210 located in the first row of the shelf 200, as shown in FIG. 6 , the loading arm ( 400) can be extended, so that the box 210 located in the second row of the shelf 200 can also be stably moved.

Therefore, as shown in FIG. 2 , even if a pair of shelves 200 are positioned to be in contact with each other, it is possible to move from one side of the shelf 200 to the boxes 210 positioned in the second row, so that the limited space of the automatic warehouse can be efficiently used. can be used as

Of course, although not shown in the drawing, as described above, three or more relay arm members 440 constituting the loading arm 400 may be provided, so that the box 210 is loaded in multiple rows in the width direction as well as in two rows. can move up to , and thus the width of one shelf 200 can be made wider, thereby reducing the width of the running path 220 compared to the width of the shelf 200 , thereby securing a wider space for loading goods be able to do

In addition, the relay arm member 440 is a main relay arm member 450 provided to be in contact with the fixed arm member 410 and an auxiliary provided between the main relay arm member 450 and the movable arm member 430 . It may be formed of a relay arm member 460 .

Here, the main relay arm member 450 may be provided with a main pinion gear 456 so as to protrude left and right at the front end and the rear end, the pair of main pinion gear 456 is the main moving belt 455. They are connected to each other and rotate in the same direction at the same time.

At this time, on one side of the fixed arm member 410 facing one side of the main relay arm member 450, a rack 411 may be installed along the longitudinal direction to correspond to the main pinion gear 456, and , on one side of the auxiliary relay arm member 460 facing the other side of the main relay arm member 450, a rack 465 may be installed along the longitudinal direction to correspond to the main pinion gear 456. .

So, when the main relay arm member 450 is moved to one side by the above-described moving belt unit 420 , the main relay arm member 450 is moved by the rack 411 on one side of the fixed arm member 410 . The pinion gear 456 located at one end rotates and the pinion gear 456 at the other end rotates by the main moving belt 455 , and the pinion gear 456 is the auxiliary moving arm member 460 . The rack 465 is moved, and accordingly, the auxiliary relay arm member 460 protrudes toward the end of the main relay arm member 450 by moving in the same direction as the main relay arm member 450 .

In addition, auxiliary pinion gears 467 may be installed at the front and rear ends of the auxiliary relay arm member 460 to protrude from both left and right sides. The auxiliary pinion gear 467 has a different height from the main pinion gear 456 . The pair of auxiliary pinion gears 467 are connected to each other by an auxiliary moving belt 466 to rotate simultaneously in the same direction.

At this time, on one side of the main relay arm member 450 facing one side of the auxiliary relay arm member 460, a rack 457 may be installed along the longitudinal direction to correspond to the auxiliary pinion gear 467. And on one side of the movable arm member 430 facing the other side of the auxiliary relay arm member 460, a rack 433 may be installed along the longitudinal direction to correspond to the auxiliary pinion gear 467. .

Therefore, as described above, the main relay arm member 450 is moved by the moving belt unit 420 and the auxiliary relay arm member 460 is moved accordingly, one end of the auxiliary relay arm member 460 . The pinion gear 467 installed on the opposite side is rotated by the rack 457 installed on one side of the main relay arm member 450 facing, and the pinion gear 467 installed on the other end is rotated by the auxiliary moving belt 466 . As it rotates, the pinion gear 467 installed on the other end pushes the rack 433 installed on one side of the movable arm member 430 so that the movable arm member 430 is the main relay arm member 450 and It moves in the same direction as the auxiliary relay arm member 460 and protrudes toward the end of the auxiliary relay arm member 460 .

In addition, a support bar 436 rotating inward may be installed at both ends of the movable arm member 430 in the longitudinal direction, and one side of the support bar 436 is a support for rotating the support bar 436 in both directions. A motor 435 may be installed.

Therefore, after moving the movable arm member 430 to be located on both sides of the box 210 , the support bar 436 is rotated inwardly through the support motor 435 to support both ends of the box 210 . To move the box 210 by extending or expanding the loading arm 400 .

On the other hand, on one side of the fixed arm member 410, a pair of first energizing bars 414 may be installed along the longitudinal direction at a different height from the rack 411 and a guide roller 412 to be described later, On one side of the main relay arm member 450 facing the fixed arm member 410 , a pair of first conducting terminals 451 are penetrated at both ends in the longitudinal direction so as to be in contact with the first conducting bar 414 . can be installed.

Here, on the other side of the main relay arm member 450 , a pair of second conduction bars 452 along the longitudinal direction may be installed to be in contact with the end of the first conduction terminal 451 , and the main relay On one side of the auxiliary relay arm member 460 facing the arm member 450, a pair of second conducting terminals 468 are passed through at both ends in the longitudinal direction so as to be in contact with the second conducting bar 452. can

At this time, a pair of third conduction bars 469 along the longitudinal direction on the other side of the auxiliary relay arm member 460 may be installed to be in contact with the end of the second conduction terminal 468 , and the auxiliary relay A third conduction terminal 434 may be installed on one side of the movable arm member 430 facing the arm member 460 so as to be in contact with the third conduction bar 469 at both ends in the longitudinal direction.

Therefore, the relay arm member 440 and the movable arm member 430 are installed by the first, second, and third conducting bars 414, 452, 469 and the first, second, and third conducting terminals 451, 468, 434 made of a material having good electrical conductivity. Electric power is supplied to the support motor 435 that is used.

In addition, guide members 453,463 may be installed on both sides of the main relay arm member 450 and on one side of the auxiliary relay arm member 460 facing the movable arm member 430 in the longitudinal direction. Support jaws 454 and 464 are formed at the upper end and lower end of the guide member 453,463, respectively.

Here, one side of the fixed arm member 410 facing the main relay arm member 450 , the other side of the auxiliary relay arm member 460 facing the main relay arm member 450 , and the auxiliary relay arm member Guide rollers 412 , 461 , and 431 may be installed on one side of the movable arm member 430 facing the 460 in the longitudinal direction so that the upper and lower portions are in contact with the supporting jaws 454 and 464 .

At this time, guide grooves 413,462 and 432 are formed in the center of the guide rollers 412, 461, 431 in the width direction, and guide protrusions 454a and 464a inserted into the guide grooves 413,462, 432 are formed in the center of the support jaws 454 and 464 in the width direction. can be formed.

Thus, while the fixed arm member 410, the movable arm member 430, the main relay arm member 450 and the auxiliary relay arm member 460 constituting the loading arm 400 are supported in the vertical direction, the guide groove And by preventing the guide protrusion from being separated to the side, it not only slides stably in both directions, but also stably prevents the end from sagging downward even if the loading arm 400 is extended a certain distance.

On the other hand, the lower inner surface of the fixed arm member 410 is in contact with the lower surface of the main relay arm member 450, while supporting the main relay arm member 450 from below and moving left and right moving belt part 420 is further can be installed.

Here, the moving belt unit 420 includes a plurality of pulleys 422 installed on the lower inner surface of the fixed arm member 410 , and a moving belt 424 rotating by the pulleys 422 and the fixed arm member ( The belt motor 426 is installed at the lower portion of the 410 and rotates the pulley 422 in both directions.

At this time, although not shown in the drawings, protrusions or gear teeth are formed on the upper surface of the moving belt 424 and the lower surface of the main relay arm member 450 .

So, when the pulley 422 is rotated under the control of the belt motor 426 , the moving belt 424 rotated by the pulley 422 is moved, so that the upper portion of the moving belt 424 is The contacting main relay arm member 450 is moved in the direction in which the moving belt 424 moves.

In addition, the traveling part 500 installed in the lower part of the body 310 is installed in the lower part of the body 310 so as to be able to elevate and lower the main traveling part 510 and the lower part of the body 310 to travel back and forth. It may be provided with an auxiliary driving unit 520 that travels left and right.

Here, the main traveling part 510 includes a driving shaft 511 installed on one side in the longitudinal direction of the lower portion of the body 310 , and a driving wheel 512 installed on both sides of the driving shaft 511 and the driving shaft 511 . It may include a driven wheel 513 installed on both sides of the rear and a driving motor 516 installed on one lower side of the body 310 to rotate the driving shaft 511 .

In this case, the auxiliary driving unit 520 includes a lifting plate 521 provided to be able to ascend and descend on the lower portion of the body 310 , and an auxiliary wheel 523 and the auxiliary wheel installed on the lower portion of the lifting plate 521 . It may include an auxiliary traveling motor 524 for rotating the 523 and a lifting cylinder 516 installed inside the body 310 to raise and lower the lifting plate 521 .

Therefore, when the transport robot 300 of the present invention is driven back and forth, the auxiliary traveling unit 520 travels while moving upward, and when traveling left and right, the auxiliary traveling unit 520 moves downward. Thus, the main driving unit 510 is driven in a state in which it is lifted upward.

Meanwhile, a lifting guide 517 for guiding the vertical movement of the lifting plate 521 by vertically penetrating the edge of the lifting plate 521 may be further installed at one lower side of the body 310 , the lifting guide A spring (not shown) for elastically supporting the lifting plate 521 upward may be provided on the outside of the 517 .

Therefore, the lifting plate 521 can move stably without shaking when moving up and down.

Although preferred embodiments of the present invention have been described above, the scope of the present invention is not limited thereto, and the scope of the present invention extends to those substantially equivalent to the embodiments of the present invention. Various modifications are possible by those of ordinary skill in the art to which the invention pertains without departing from the scope of the invention.

The present invention relates to a transfer robot for an automatic warehouse, and more particularly, in an automatic warehouse comprising a transfer robot that moves between shelves on which goods are loaded and transfers goods, the transfer robot also moves objects loaded in multiple rows on shelves It relates to an automatic warehouse transfer robot that can increase space utilization by providing more shelves in the same space.

200: shelf 210: box
220: travel path 300: transport robot
310: body 320: box loading part
400: loading arm 410: fixed arm member
420: moving belt unit 430: moving arm member
440: relay arm member 450: main relay arm member
460: auxiliary relay arm member 500: traveling part
510: main driving unit 520: auxiliary driving unit

Claims (16)

In the automatic warehouse transfer robot that moves along the running path formed between the shelves on which the boxes are loaded and transports the boxes,
A body in which a box loading part on which the box is loaded is formed, a loading arm for loading the box on a shelf or moving a box of a shelf to the box loading part, and a driving provided in the lower part of the body to move along the traveling path made up of wealth,
The loading arm includes a fixed arm member fixedly installed on the body, a movable arm member supporting and moving the box, and a plurality of relay arms provided between the stationary arm member and the movable arm member to move the movable arm member is made in the absence of
The relay arm member includes a main relay arm member provided to be in contact with the fixed arm member, and an auxiliary relay arm member provided between the main relay arm member and the movable arm member,
The main relay arm member has a main pinion gear installed at the front end and the rear end so as to protrude to both left and right sides, the pair of main pinion gears are connected by a main moving belt, and one side of the fixed arm member is on the main pinion gear. A rack is installed along the longitudinal direction to correspond to it, and a rack is installed on one side of the auxiliary relay arm member along the longitudinal direction to correspond to the main pinion gear to move the main relay arm member and the auxiliary relay arm member to the left and right sides. ,
At the front and rear ends of the auxiliary relay arm member, auxiliary pinion gears are installed so as to protrude from both left and right sides and located at a different height from the main pinion gear, and the pair of auxiliary pinion gears are connected by an auxiliary moving belt, and the A rack is installed on one side of the main relay arm member along the longitudinal direction to correspond to the auxiliary pinion gear, and a rack is installed on one side of the movable arm member along the longitudinal direction to correspond to the auxiliary pinion gear, so that the movable arm Move the member left and right to both sides,
Guide members are installed on both sides of the main relay arm member and one side of the auxiliary relay arm member along the longitudinal direction, and on one side of the fixed arm member, the other side of the auxiliary relay arm member, and one side of the movable arm member. Guide rollers are installed along the longitudinal direction so that the upper and lower portions are in contact with the supporting jaws formed at the upper end and lower end of the guide member,
A moving belt part for moving the main relay arm member left and right is installed on the lower inner surface of the fixed arm member,
The driving part is installed in the lower part of the body and includes a main driving part that travels back and forth, and an auxiliary driving part installed in the lower part of the body so as to be able to ascend and descend and run left and right. When traveling in a moved state and traveling left and right, the auxiliary driving unit moves to the lower part and the main driving unit moves in a state where the main driving unit is lifted upward.
delete According to claim 1,
The loading arm moves the boxes loaded in the first row as well as the first row of the shelf to the box loading part, or loads the boxes located in the box loading part not only in the first row of the shelf but also in the rear row of the shelf Automatic warehouse transfer robot.
4. The method of claim 3,
The loading arm moves the box loaded on a shelf positioned in both left and right directions with respect to the moving direction of the transfer robot to the box loading part or loading the box positioned in the box loading part onto the shelf Transport robots for automated warehouses.
According to claim 1,
The fixed arm member, the movable arm member and the relay arm member are all formed to have the same length, and the length of the automatic warehouse transfer robot, characterized in that it is formed to correspond to the width of the box loaded on the shelf.
6. The method of claim 5,
A support bar rotating inwardly is installed at both ends of the movable arm member in the longitudinal direction, and a support motor for rotating the support bar in both directions is installed on one side of the support bar.
7. The method of claim 6,
The automatic warehouse transfer robot, characterized in that the fixed arm member, the relay arm member and the moving arm member are provided with a energizing unit for supplying power to the support motor.
delete 8. The method of claim 7,
The energizing portion includes a pair of first energizing bars installed along the longitudinal direction on one side of the fixed arm member;
A pair of first conducting terminals installed to penetrate through both ends in the longitudinal direction so as to be in contact with the first conducting bar on one side of the main relay arm member;
A pair of second conduction bars installed on the other side of the main relay arm member so as to be in contact with the end of the first conduction terminal along the longitudinal direction;
A pair of second conduction terminals installed to penetrate through both ends in the longitudinal direction so as to be in contact with the second conduction bar on one side of the auxiliary relay arm member;
A pair of third conduction bars installed on the other side of the auxiliary relay arm member to be in contact with the end of the second conduction terminal along the longitudinal direction;
The transfer robot for automatic warehouse, characterized in that it comprises a third energized terminal installed on one side of the movable arm member so as to be in contact with the third energized bar at both ends in the longitudinal direction.
delete delete delete According to claim 1,
A guide groove is formed in the center of the guide roller in the width direction,
An automatic warehouse transfer robot, characterized in that a guide protrusion inserted into the guide groove is formed in the center of the guide member in the width direction.
According to claim 1,
The moving belt unit includes a plurality of pulleys installed on the lower inner surface of the fixed arm member;
a moving belt rotated by the pulley;
The automatic warehouse transfer robot, characterized in that it is installed under the fixed arm member and comprises a belt motor for rotating the pulley.
delete According to claim 1,
and a lifting plate provided in the lower part of the body so that the auxiliary driving unit can ascend and descend;
Auxiliary wheels installed on the lower part of the lifting plate,
Automatic warehouse transfer robot, characterized in that it is installed on the inside of the body and consisting of a lifting cylinder for elevating the lifting plate.

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