KR102614292B1 - a logistics robot for acceptance of non-standard freight - Google Patents

Abstract

The present invention relates to a logistics robot, and more specifically, even if the size of the cargo is larger than the standard, it can be easily accommodated on a shelf or removed from the shelf, and can not only shake even if the center of gravity is tilted forward due to the large size of the cargo. This is about a logistics robot that can safely retrieve or receive cargo by preventing it from falling or falling.
The present invention for achieving the above object consists of a moving device formed at the bottom, a lifting frame installed on the upper part of the moving device, and a pickup device installed to be movable up and down along the lifting frame, and the pickup device It is characterized in that it includes a base member supporting the lower part of the cargo, side plates installed on both sides of the base member, and an arm member installed on the side plates to be able to move forward.

Description

Logistics robot for acceptance of non-standard freight

The present invention relates to a logistics robot, and more specifically, even if the size of the cargo is larger than the standard, it can be easily accommodated on a shelf or removed from the shelf, and can not only shake even if the center of gravity is tilted forward due to the large size of the cargo. This is about a logistics robot that can safely retrieve or receive cargo by preventing it from falling or falling.

Recently, as the volume of logistics has increased significantly across industries, large logistics centers have been established in many regions, and various goods are being collected, sorted, and delivered at large logistics centers.

In large logistics centers, a large amount of goods are collected and sorted, so when collecting and sorting massive amounts of goods manually, it takes quite a lot of time to collect and sort them. In particular, when collecting and sorting goods manually, it is difficult to accurately collect and sort the goods. It has difficult problems.

Recently, large logistics centers are beginning to develop ways to quickly and accurately collect and sort goods using logistics robots.

An example of a logistics robot used in such a large logistics center is the technology described in Korean Patent Publication No. 10-2021-0111819 as shown in FIGS. 1 to 3, the technical features of which include a mobile chassis 10; A storage shelf (20) mounted on the mobile chassis (10) and including a plurality of layer plate assemblies (21) distributed at different heights and including layer plates for placing cargo; Includes a handling assembly 42, wherein the handling assembly 42 transports cargo on a single layer located at the same height as the handling assembly 42, or transports the cargo on a single layer located at the same height as the handling assembly 42. A handling device (40) for transporting on one positioned layer plate; And a lifting assembly 30 that drives the handling device 40 to lift and lower with respect to the storage shelf 20, so that the handling assembly 42 is positioned at the same height as one layer. .

However, the technology described in Korean Patent Publication No. 10-2021-0111819 has the advantage of enabling quick and accurate collection and sorting using a logistics robot, but the size of the storage shelf 20 and the handling device 40 is fixed. Therefore, there is a problem that only standard boxes can be processed and boxes larger than the standard cannot be processed.

Korean Patent Publication No. 10-2021-0111819 (published on September 12, 2021)

The present invention was created to solve the above problems, and the purpose of the present invention is to install lateral surfaces on both sides of the base member on which the cargo is supported in a pickup device installed on a logistics robot to move cargo to a shelf or retrieve cargo from a shelf. The side plate is installed so that it can move forward, and the side plate is equipped with an arm member that is pulled out forward, allowing the position of the side plate and arm member to be adjusted even if the cargo is larger than the standard, thereby creating a logistics robot that can stably accommodate and move cargo. It is provided.

Another object of the present invention is to operate the electromagnet of the shake prevention device provided in the moving device that constitutes the lower part of the logistics robot when removing or receiving cargo larger than the standard on a shelf at a high position among the shelves where cargo is stored. The goal is to provide a logistics robot that can stably pick up cargo by preventing the logistics robot from shaking or falling by fixing it to a floor made of steel plates and using magnetic force.

The present invention to solve these problems;

It is characterized by consisting of a mobile device that moves within a logistics warehouse, a lifting frame installed on an upper part of the mobile device, and a pickup device that is installed to be able to move up and down along the lifting frame.

Here, the pickup device is characterized by including a base member supporting the lower part of the cargo, side plates located on both sides of the base member, and an arm member installed on the side plates to be able to move forward.

At this time, a lateral support bar that slides to the inside of the base member is installed at the lower part of the side plate, a width sensor for sensing the width of the cargo is installed on the front of the base member, and the width sensor is installed on the inside of the base member. It is characterized by a side driving part that moves the side plate to correspond to the width of the cargo detected by the sensor.

In addition, a length detection sensor is further provided at the front end of the arm member, and the length detection sensor is characterized in that it consists of a light emitting part installed on one arm member among the pair of arm members and a light receiving part installed on the other arm member. .

Here, an arm driving part is installed on the side plate to control the movement of the arm member, and the arm driving part is equipped with an encoder to detect the degree to which the arm member protrudes forward to detect the length of the cargo. .

Meanwhile, a rear support member for supporting the rear of the cargo is further provided at the rear of the base member, and a rear support bar that slides toward the inside of the base member is installed at the lower part of the rear support member.

At this time, the inside of the base member is provided with a rear driving part that moves the rear support bar back and forth, and the rear driving part considers the length of the cargo detected by the length sensor so that the center of the longitudinal direction of the cargo is in the longitudinal direction of the base member. The position of the rear support member is adjusted to be located at the center.

In addition, a support bracket for supporting the lower part of the pickup device is installed on the lifting frame to be able to raise and lower the lower part of the pickup device, and a position adjustment member that moves back and forth along the support bracket is provided at the lower part of the pickup device. It is characterized in that it is installed to be rotatable along a rotation axis installed at the center of the position adjustment member.

Here, the position adjustment member is controlled to move forward a distance equal to the distance the rear support member moves backward.

In addition, an anti-shake device is further provided inside the moving device, and when the pickup device moves upward, the anti-shake device operates an electromagnet provided inside to create an attractive force between the bottom plate and the metal base plate. It is characterized by making it work.

According to the present invention of the above-described configuration, side plates are installed on both sides of the base member on which the cargo is supported in a pickup device installed on a logistics robot to move cargo to a shelf or retrieve cargo from a shelf, and the side plates are movable laterally. By providing an arm member that is pulled out to the front, the position of the side plate and arm member can be adjusted even if the cargo is larger than the standard, which has the effect of stably receiving and moving the cargo.

In addition, the present invention operates the electromagnet of the shake prevention device provided in the moving device that constitutes the lower part of the logistics robot when withdrawing or receiving cargo larger than the standard on a shelf at a high position among the shelves where cargo is stored. By fixing the robot to the floor with magnetic force, it prevents the logistics robot from shaking or falling, effectively allowing it to pick up cargo stably.

Figure 1 is a perspective view of a conventional logistics robot.
Figure 2 is a side conceptual diagram of the lifting assembly of a conventional logistics robot.
Figure 3 is an exploded perspective view of the handling device of the lifting assembly of a conventional logistics robot.
Figure 4 is a perspective view of a logistics robot according to the present invention.
Figure 5 is a perspective view of a pickup device for a logistics robot according to the present invention.
Figure 6 is a plan view of a pickup device for a logistics robot according to the present invention.
Figure 7 is a plan view of the pickup device of the logistics robot according to the present invention in a state in which it is rotated laterally.
Figure 8 is a plan view of the pickup device of the logistics robot according to the present invention in a modified state to pick up cargo.
Figure 9 is a conceptual diagram showing a rotating state of the pickup device of the logistics robot according to the present invention.

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

Figure 4 is a perspective view of a logistics robot according to the present invention, Figure 5 is a perspective view of a pickup device of a logistics robot according to the present invention, Figure 6 is a top view of a pickup device of a logistics robot according to the present invention, and Figure 7 is a plan view of a pickup device of a logistics robot according to the present invention. is a plan view of the pickup device of the logistics robot according to the present invention in a state in which the pickup device is rotated laterally, Figure 8 is a plan view of the pickup device of the logistics robot according to the present invention in a modified state to pick up cargo, and Figure 9 is a plan view of the pickup device of the logistics robot according to the present invention in a modified state to pick up cargo. This is a conceptual diagram showing the rotating state of the robot’s pickup device.

The present invention relates to a logistics robot installed in an automatic logistics warehouse, and as shown in FIGS. 4 to 9, the configuration includes a mobile device 100 that moves within the warehouse and a mobile device installed on top of the mobile device 100. It consists of a lifting frame 110 and a pickup device 200 installed to move up and down along the lifting frame 110.

Here, although not shown in the drawing, the lifting frame 110 is provided with a lifting drive unit (not shown) for moving the pickup device 200 up and down. The pickup device moves up and down by the lifting drive unit. Cargo is moved to multi-level shelves or cargo is removed from the shelves.

At this time, since the lifting and lowering driving unit is already known, a separate description will be omitted.

Therefore, the logistics robot of the present invention moves cargo to the location of a designated shelf or moves cargo stored on a shelf to a designated location by a control signal transmitted from the control center.

In addition, the pickup device 200 includes a base member 210 that supports the lower part of the cargo, a side plate 220 located on both sides of the base member 210 to prevent the cargo from being separated from the pickup device 200, and It includes an arm member 230 installed on the side plate 220 to be able to move forward.

Here, a lateral support bar 225 is installed at the lower part of the side plate 220 to slide and move inside the base member 210, and the lateral support bar 225 moves inside the base member 210. A lateral drive unit (not shown) is installed, and the lateral drive unit may be formed of a pinion rotated by a motor on the inside of the base member 210 to correspond to the rack formed on the lateral support bar 225, but is not limited to this. The lateral support bar 225 is moved in various known configurations.

At this time, the front of the base member 210 is further equipped with a width detection sensor 215. The width detection sensor 215 is made of an ultrasonic sensor or a photo sensor to detect the cargo located in front of the pickup device 200. You sense the width.

Therefore, the lateral drive unit can move the lateral support bar 225 to adjust the position of the side plate 220 to correspond to the width of the cargo detected by the width detection sensor 215, so that even if the cargo is larger than the standard, it can be easily adjusted. You can pick it up.

Meanwhile, the arm member 230 is installed to be able to slide forward on the side plate 220. The arm member 230 is formed in multiple stages and moves forward to fit the length of not only standard cargo but also cargo larger than the standard. You can move to .

Here, among the arm members 230 formed in multiple stages, a front movable bar 232 formed in a bar shape is installed on the front of the arm member 230 located at the frontmost stage so as to be foldable up and down, and the arm member 230 located at the forefront A rear movable bar 234 formed in a bar shape is installed at the rear of the member 230 so that it can be folded up and down.

Therefore, when moving cargo of various sizes to the pickup device 100, the arm member 230 moves forward, and then the front moving bar 232 rotates to support the entire cargo (arm member 230). 230) moves rearward, and when moving the cargo accommodated in the pickup device 100 to the shelf, the rear support member 240, which will be described later, is moved forward to secure a space into which the rear moving bar 234 can be inserted. Then, while the rear moving bar 234 is rotated to support the rear of the cargo, the arm member 230 moves forward to move the cargo to the shelf.

At this time, the upper part of the rear support member 240 is formed to protrude forward, so that when the rear support member 240 is completely moved forward, the rear of the cargo is located in front of the rear moving bar 234. The rear support member 240 moves rearward to secure space for the rear moving bar 234.

In addition, the front end of the arm member 230 is further provided with a length detection sensor 235 for detecting the length of the cargo. The length detection sensor 235 is one arm member ( It consists of a light emitting unit 237 installed on the other arm member 230 and a light receiving unit 238 installed on the other arm member 230.

Here, the side plate 220 is provided with an arm driving unit (not shown) that controls the movement of the arm member 230. Since the arm driving unit is already known in various configurations, a separate description will be omitted.

At this time, the arm driving unit is equipped with an encoder (not shown) to detect the degree to which the arm member 230 protrudes forward, so that the detection signal of the length detection sensor 235 and the degree of protrusion of the arm member 230 at the time are provided. Through this, the length of the cargo is detected.

That is, before the length detection sensor 235 comes into contact with the cargo, the light emitted from the light emitting part 237 is detected by the light receiving part 238, but when the length detection sensor 235 comes into contact with the cargo, the light emitted from the light emitting part 237 is blocked by the cargo. This prevents it from being detected by the light receiving unit 238, and when the length detection sensor 235 protrudes to the front of the cargo, it detects light again.

Therefore, the length of the cargo is detected through the change in length of the arm member 230 from the moment the light is blocked by the length detection sensor 235 to the moment the light is detected.

Meanwhile, a rear support member 240 is further provided at the rear of the base member 210 to support the rear of the cargo, and a lower portion of the rear support member 240 slides inside the base member 210. A rear support bar 245 is installed.

Here, a rear drive unit (not shown) is provided inside the base member 210 to move the rear support bar 245 back and forth, and the rear drive unit corresponds to a rack formed on the rear support bar 245. It may be composed of a pinion rotated by a motor inside the base member 210, but is not limited to this and moves the rear support bar 245 in various known configurations.

At this time, the rear drive unit positions the rear support member 240 so that the longitudinal center of the cargo is located at the longitudinal center of the base member 210, considering the length of the cargo detected by the length sensor 235. is adjusted.

Therefore, when moving the cargo by the arm member 230, if the rear end of the cargo is moved until it contacts the rear support member 240, the longitudinal center of the cargo is at the longitudinal center of the base member 210. By being positioned, the center of gravity is aligned and the cargo can be supported stably.

In addition, the thickness of the base member 210 is thicker than the combined thickness of the lateral support bar 225 and the rear support bar 245, so that the lateral support bar 225 and the rear support bar 245 Make sure that they do not interfere with each other during operation.

In addition, a support bracket 120 is installed on the lifting frame 110 installed on the upper part of the moving device 100 to be movable up and down by the lifting driving unit, and the pickup device ( 200) is installed.

Here, the support bracket 120 is formed in a plate shape and includes a vertical portion 122 that moves up and down in contact with the lifting frame 110 and a bar-shaped horizontal portion that protrudes forward on both sides of the upper part of the vertical portion 122. It consists of (124) and is installed to penetrate forward and backward through the position adjustment member 250 installed at the lower part of the pickup device 200.

At this time, although not shown in the drawing, a rotation axis (not shown) is formed to protrude downward at the lower center of the pickup device 200, and the rotation axis is inserted into the center of the position adjustment member 250 and is provided on the inside. It can be rotated by a rotary drive unit, and the inside of the position adjustment member 250 is composed of a pinion provided to correspond to a rack formed on the horizontal portion 124 of the support bracket 120 and a motor that rotates the pinion. A driving unit (not shown) is provided.

Therefore, when the pickup device 200 rotates, the position adjustment member 250 moves forward a certain distance so as not to collide with the lifting frame 110 located at the rear.

To explain the process by which the above-described logistics robot of the present invention moves cargo received to the receiving location of an automatic logistics warehouse to a specific shelf, after the moving device 100 moves to the receiving location, the width of the pickup device 200 The width of the cargo is checked by the detection sensor 215, and if it is within the standard, the arm member 230 is operated to pick up the cargo without adjusting the width. If the width of the cargo is larger than the standard, the side plate 220 is adjusted to fit the width. ) is moved to the side, and then the arm member 230 is moved forward.

Here, the length of the cargo is checked through the length detection sensor 235 provided at the front end of the arm member 230, and the rear support member 240 is moved rearward to match the length, and then the arm member 230 ) is rotated to support the front of the cargo by rotating the front moving bar 232 installed on the front, and then the arm member 230 is moved to the inside of the side plate 220 to pick up the cargo.

Then, after the logistics robot moves to the designated shelf, the pickup device 200 is rotated in the direction of the shelf, and the rear moving bar 234 formed on the arm member 230 is rotated to support the rear of the cargo. Afterwards, the arm member 230 is moved forward so that the cargo is seated on the shelf.

Therefore, through the above-described process, even non-standard cargo can be easily moved to the shelf, and when cargo is picked up from the shelf, the above-mentioned process can be reversed to pick up the cargo and move it to the shipping location.

Meanwhile, the moving device 100, which moves inside the automatic logistics warehouse, is equipped with wheels at the bottom and has a running part that controls running and steering on the inside and a control part that controls the moving path, so that the cargo received from outside can be moved. Depending on the location, cargo is moved to the shelf or cargo on the shelf is picked up and moved to a set location.

Here, an anti-shake device (not shown) is further provided inside the moving device 100. The anti-shake device is made of an electromagnet and the control unit controls the strength of the magnetic field generated from the electromagnet.

At this time, the floor plate of the automatic logistics warehouse is made of metal on which magnetic force acts, and the magnetic field generated by the electromagnet of the shake prevention device acts as an attractive force between it and the mobile device 100 to fix the logistics robot of the present invention so that it does not shake. do.

In other words, the logistics robot of the present invention can pick up and move not only standard cargo but also cargo larger than the standard. When the cargo is located at the top of the shelf or heavy cargo with a volume larger than the standard is picked up or moved to the shelf, Because the center of gravity is located at the top, there is a problem that it can easily shake or fall.

However, in the present invention, the anti-shake device causes an attractive force to act between the bottom plate made of metal, so that the logistics robot can be stably supported so that it does not shake or fall even if the center of gravity moves upward.

Accordingly, when the pickup device 200 moves upward to pick up cargo or moves upward to place cargo on the upper part of a shelf, it can be moved stably by operating the shake prevention device.

Additionally, the upper surface of the base member 210 constituting the pickup device 200 is provided with a sensor capable of detecting load, such as a load cell, to appropriately adjust the strength of the magnetic field generated from the shake prevention device according to the weight of the cargo. By adjusting it, excessive energy waste can be reduced.

Additionally, automatic logistics warehouses typically minimize the spacing between shelves on which cargo is loaded in order to save space. When only standard cargo is loaded, the spacing between all shelves is set to the same level so that the logistics robot carrying the cargo can move. formed at intervals.

However, in the present invention, since the shelves load not only standard cargo but also cargo larger than the standard, the spacing between the shelves on which non-standard cargo is loaded is formed to be wider than the shelves on which standard cargo is loaded.

Here, a camera is installed on the ceiling of the automatic logistics warehouse to check the movement of each logistics robot, and a PGS system and a navigation system are installed in the control unit of each logistics robot, allowing the robot to easily move to a set location.

At this time, the control unit receives information about whether the loaded cargo is standard or non-standard, so in the case of non-standard cargo, when setting a moving route through the navigation system, the optimal movement route is determined by considering the aisle spacing between shelves. Set to move.

Although the preferred embodiments of the present invention have been described above, the scope of the rights of the present invention is not limited thereto, and the scope of the rights of the present invention extends to the scope substantially equivalent to the embodiments of the present invention. Various modifications can be made by those skilled in the art without departing from the above.

The present invention relates to a logistics robot, and more specifically, even if the size of the cargo is larger than the standard, it can be easily accommodated on a shelf or removed from the shelf, and can not only shake even if the center of gravity is tilted forward due to the large size of the cargo. This is about a logistics robot that can safely retrieve or receive cargo by preventing it from falling or falling.

100: moving device 110: lifting frame
120: support bracket 200: pickup device
210: base member 220: side plate
230: arm member 240: rear support member
250: Position adjustment member

Claims (10)

A mobile device that moves within a logistics warehouse,
A lifting frame installed on the upper part of the mobile device,
It consists of a pickup device installed to be able to move up and down along the lifting frame,
The pickup device includes a base member supporting the lower part of the cargo,
Side plates located on both sides of the base member to prevent cargo from being separated from the pickup device,
It includes an arm member installed on the side plate to be able to move forward,
A lateral support bar that slides toward the inside of the base member is installed at the lower part of the side plate,
A width detection sensor is installed on the entire base member to sense the width of the cargo,
A lateral drive unit is provided on the inside of the base member to adjust the position of the side plate by moving the lateral support bar to correspond to the width of the cargo detected by the width sensor,
The lateral driving unit is a logistics robot, characterized in that the pinion is formed inside the base member to correspond to a rack formed on the lateral support bar.
delete delete According to paragraph 1,
A length detection sensor is further provided at the front end of the arm member,
The length detection sensor is a logistics robot characterized in that it consists of a light emitting part installed on one arm of a pair of arm members and a light receiving part installed on the other arm member.
According to paragraph 4,
An arm driving unit is installed on the side plate to control movement of the arm member,
A logistics robot characterized in that the arm driving unit is equipped with an encoder to detect the degree to which the arm member protrudes forward to detect the length of the cargo.
According to paragraph 4,
A rear support member is further provided at the rear of the base member to support the rear of the cargo,
A logistics robot, characterized in that a rear support bar that slides to the inside of the base member is installed at the lower part of the rear support member.
According to clause 6,
A rear driving part is provided on the inside of the base member to move the rear support bar back and forth,
The rear driving unit adjusts the position of the rear support member so that the longitudinal center of the cargo is located at the longitudinal center of the base member in consideration of the length of the cargo detected by the length sensor.
In clause 7,
A support bracket supporting the lower part of the pickup device is installed on the lifting frame to enable raising and lowering,
A position adjustment member is provided at the lower part of the pickup device and moves back and forth along the support bracket,
A logistics robot, characterized in that the pickup device is installed to be rotatable along a rotation axis installed at the center of the position adjustment member.
According to clause 8,
A logistics robot, wherein the position adjustment member is controlled to move forward a distance equal to the distance the rear support member moves backward.
According to paragraph 1,
An anti-shake device is further provided inside the moving device,
The anti-shake device is a logistics robot characterized in that when the pick-up device moves upward, an electromagnet provided inside is activated to cause an attractive force to act between the bottom plate and the metal base plate.

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