KR102660373B1 - Automatic cargo transportation apparatus - Google Patents

Abstract

The present invention relates to an automatic cargo transport device, which can automatically transport cargo without manual work by an operator in the process of individually transporting a plurality of cargo loaded in a cargo loading box, and the scara device that holds the cargo is always horizontal. By providing a separate tilting device to operate in a tilted state, the scara device always operates in a horizontal state even if the main conveyor unit rotates in an inclined state, thereby improving stability in the process of holding and transporting cargo and making cargo transport more accurate and smooth. Provides an automatic cargo transport device that can work.

Description

Automatic cargo transport device {AUTOMATIC CARGO TRANSPORTATION APPARATUS}

The present invention relates to an automatic cargo transport device. More specifically, in the process of individually transporting multiple cargoes loaded in the cargo compartment, cargo can be automatically transported without manual labor by the operator, and a separate tilting device is installed so that the scara device that holds the cargo always operates in a horizontal state. By providing the device, the scara device always operates in a horizontal state even if the main conveyor unit rotates in an inclined state, thereby improving stability in the process of holding and transporting cargo, and is an automatic cargo transport device that enables more accurate and smooth cargo transport operations. It's about.

The term logistics is an abbreviation for physical distribution and is a general term for the function or activity of effectively moving products and goods from producers to consumers. In other words, logistics refers to several activities such as packaging, unloading, transportation, storage, and information.

Typically, transporting products and goods goes through several processes such as packaging, storage, collection/loading, transportation, unloading/delivery, and storage. No matter what means of transportation is used, it is impossible to move products and goods without going through this process. Physical distribution (logistics) is a comprehensive view of the entire movement.

In recent years, mass production, mass sales, and mass consumption have become the trends of the times, and the importance of logistics is gradually increasing as the need to streamline the flow of materials between them has increased. For this reason, the demand for logistics warehouses is also increasing significantly.

A logistics warehouse generally refers to a storage warehouse for temporary or long-term storage of all items used in daily life, such as various foodstuffs, beverages, clothing, home appliances, miscellaneous goods, and industrial supplies produced in large quantities at a factory or production site. Due to the recent rapid development of the logistics industry, these logistics warehouses are designed and constructed to go beyond simple logistics management and promote the creation of new businesses such as inventory management, as well as efficient stock placement and inventory management within the warehouse. there is.

Because rapid receipt and release of cargo is essential to these warehouses, most are equipped with mechanized or automated means of loading and unloading cargo. Typically, automated equipment such as stacker cranes, shuttles, lifts, and transfer conveyors are used in logistics warehouses. In addition, sorter devices that can automatically sort various cargoes according to specific classification criteria set by the user are also used in logistics warehouses.

However, in the process of loading cargo transported by a transport vehicle into a logistics device, unloading the cargo loaded on the transport vehicle is performed by manpower. That is, conventionally, when loading cargo, the transport vehicle was stopped at a designated loading dock, the telescopic conveyor was extended to the loading room of the transport vehicle, and then the worker or the driver of the transport vehicle loaded the cargo on the telescopic conveyor and transported it to the designated location.

This conventional cargo unloading method has problems in that cargo unloading time is delayed and labor costs increase.

Registered Patent Publication No. 2102836 (2020. 04. 22.)

The present invention was invented to solve the problems of the prior art, and the purpose of the present invention is to automatically transport the cargo without manual work by the operator in the process of individually transporting all of the multiple cargoes loaded in the cargo loading box. The device is provided.

Another object of the present invention is to provide a separate tilting device so that the scara device that holds the cargo always operates in a horizontal state, so that even if the main conveyor unit rotates in an inclined state, the scara device always operates in a horizontal state, thereby maintaining the cargo. The aim is to provide an automatic cargo transport device that improves stability in the process of transporting waste and enables more accurate and smooth cargo transport.

Another object of the present invention is to provide a guide device that can prevent left and right vibration of the scara device during the tilting and rotation process of the scara device, thereby stably maintaining the tilting rotation path of the scara device to provide stability for cargo gripping and transport work. To provide an automatic cargo transport device that can further improve.

The present invention, a base frame; a main conveyor unit rotatably coupled to the base frame up and down about a horizontal axis to transport cargo from front to back; And a scar unit coupled to the front end of the main conveyor unit to transport cargo to the main conveyor unit, wherein the scar unit is a scar support frame rotatably coupled to one side of the main conveyor unit about a horizontal axis. And, a scar module that is fixedly coupled to the scar support frame and operates to transport cargo in a straight line to the main conveyor unit, and a tilting module that rotates the scar support frame, wherein the tilting module transports the cargo of the scar module. An automatic cargo transport device is provided, wherein the operation is controlled by a separate control unit to rotate the scara support frame in response to the rotation state of the main conveyor unit so that the operation is performed in a horizontal state.

At this time, the front end of the scar support frame is rotatably coupled to one side of the front end of the main conveyor unit about a horizontal axis, and the tilting module is used to maintain the scar support frame in a horizontal state. It can be operated by pressing the rear end up and down and rotating it.

In addition, the tilting module includes a cylinder whose one end is rotatably coupled to one side of the main conveyor unit about a horizontal axis to receive hydraulic or pneumatic pressure; It is coupled to the cylinder to move linearly by hydraulic or pneumatic pressure of the cylinder and may include a piston whose one end is rotatably coupled to the rear end of the scar support frame about a horizontal axis.

In addition, the tilting module may further include a left and right guide module that guides the position of the scar support frame to prevent left and right vibration of the scar support frame when the scar support frame rotates.

In addition, the left and right guide modules include a first guide link, one end of which is rotatably coupled to one side of the main conveyor unit about a horizontal axis; And it may include a second guide link, one end of which is rotatably coupled to an end of the first guide link about a horizontal axis, and the other end of which is rotatably coupled to one side of the scara support frame about a horizontal axis.

In addition, the point where the piston is coupled to the scar support frame and the point where the second guide link is coupled to the scar support frame may be located at points spaced apart from each other in the direction of the horizontal axis, which is the rotation center of the scar support frame.

In addition, the scar module includes a base arm whose one end is rotatably coupled to the upper surface of the scar support frame about a vertical rotation axis; a middle arm whose one end is rotatably coupled to the other end of the base arm about a vertical rotation axis; And it may include an end arm, one end of which is rotatably coupled to the other end of the middle arm about a vertical rotation axis, and a grip part capable of holding cargo is formed at the other end.

Additionally, the gripping part may be formed to grip cargo using a vacuum adsorption method.

Additionally, the base arm, middle arm, and end arm can each be independently driven to rotate through separate rotation driving units.

According to the present invention, in the process of individually transporting multiple cargoes loaded in a cargo loading box, cargo can be automatically transported without manual labor by workers, thereby saving workers' labor and improving logistics efficiency. It works.

In addition, by providing a separate tilting device so that the scara device that holds the cargo always operates in a horizontal state, the scara device always operates in a horizontal state even if the main conveyor unit rotates in an inclined state, and thus the process of holding and transporting the cargo This has the effect of improving stability and enabling more accurate and smooth cargo transport.

In addition, by providing a guide device that can prevent left and right vibration of the scara device during the tilting and rotation process of the scara device, the tilting rotation path of the scara device can be maintained stably to further improve the stability of cargo gripping and transport work. There is an effect.

1 is a perspective view schematically showing the overall configuration of an automatic cargo transport device according to an embodiment of the present invention;
Figure 2 is a side view schematically showing the overall configuration of an automatic cargo transport device according to an embodiment of the present invention;
3 is a plan view schematically showing the overall configuration of an automatic cargo transport device according to an embodiment of the present invention;
Figure 4 is a perspective view schematically showing the configuration of the scar unit of the automatic cargo transport device according to an embodiment of the present invention;
Figure 5 is a diagram schematically showing the tilting operating state of the scara unit according to an embodiment of the present invention;
Figure 6 is a perspective view schematically showing the internal structure of the scara module of the scara unit according to an embodiment of the present invention;
Figure 7 is a diagram schematically showing the configuration of the rotation driving unit of the base arm and middle arm of the scara module according to an embodiment of the present invention;
Figure 8 is a diagram schematically showing the configuration of the rotation drive unit of the end arm of the scara module according to an embodiment of the present invention;
9 is a diagram for explaining the operating state of the scara module according to an embodiment of the present invention;
Figure 10 is a diagram for explaining the left and right rotation structure of the main conveyor unit according to an embodiment of the present invention;
11 is a perspective view schematically showing the configuration of a variable conveyor unit according to an embodiment of the present invention;
Figure 12 is a bottom perspective view schematically showing the configuration of a variable conveyor unit according to an embodiment of the present invention;
13 is a cross-sectional view schematically showing the internal structure of a variable conveyor unit according to an embodiment of the present invention;
14 and 15 are diagrams schematically showing the operating state of a variable conveyor unit according to an embodiment of the present invention;
Figure 16 is a diagram schematically showing the arrangement according to the operating state of the variable conveyor unit according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. First, when adding reference numerals to components in each drawing, it should be noted that identical components are given the same reference numerals as much as possible even if they are shown in different drawings. Additionally, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description will be omitted.

Figure 1 is a perspective view schematically showing the overall configuration of an automatic cargo transport device according to an embodiment of the present invention, and Figure 2 is a side view schematically showing the overall configuration of an automatic cargo transport device according to an embodiment of the present invention. , and Figure 3 is a plan view schematically showing the overall configuration of an automatic cargo transport device according to an embodiment of the present invention.

The automatic cargo transport device according to an embodiment of the present invention is a device that can automatically transport and unload cargo loaded inside a cargo box or container of a cargo transport vehicle without manual work by an operator, including a base frame 100, and It is comprised of a main conveyor unit 200, a scar unit 300, and a variable conveyor unit 400.

The base frame 100 forms a support structure for the entire device and can be formed in various shapes to support the main conveyor unit 200, scar unit 300, and variable conveyor unit 400. This base frame 100 is supported on the ground, and may be equipped with separate moving wheels 110 to enable movement on the ground.

The main conveyor unit 200 is configured to receive the cargo 10 from the scar unit 300 and transport the cargo 10 from the front to the rear. It is coupled to the base frame 100 and is formed to be long in the front-back direction. The main conveyor unit 200 has a conveyor belt (CV) configured to rotate in the forward and backward directions, and transports the cargo (10) from the front to the rear through the conveyor belt (CV) to the variable conveyor unit 400 located at the rear. Deliver.

As shown in FIG. 2, one end of the main conveyor unit 200 is coupled to one side of the base frame 100 so that it can rotate up and down about the horizontal axis HA. In addition, as shown in FIG. 3, one end is coupled to one side of the base frame 100 so that it can rotate left and right about the vertical axis VA.

As shown in Figures 2 and 3, a plurality of cargoes 10 are loaded in the up, down, left, right, front and rear directions inside the cargo loading box 11, so in order to transport them respectively, the main conveyor unit 200 can rotate up, down, left and right. Combining them is desirable for smooth cargo transport operations.

Looking more specifically, the main conveyor unit 200 includes a main support frame 210 rotatably coupled to the base frame 100 about a vertical axis (VA), and a rear end at the top of the main support frame 210. The main conveyor module 220 is rotatably coupled about the horizontal axis (HA) and transports cargo backwards through a conveyor belt (CV), and the main conveyor module 220 is rotated up and down about the horizontal axis (HA). It is configured to include a vertical rotation driver 230 and a left and right rotation driver 240 (see FIG. 10) that rotates the main support frame 210 left and right about the vertical axis VA.

The vertical rotation drive unit 230 may be configured to include a hydraulic or pneumatic cylinder, and the piston of the cylinder moves linearly by hydraulic or pneumatic pressure and is configured to rotate the main conveyor module 220 up and down about the horizontal axis (HA). It can be. When the main conveyor module 220 rotates up and down about the horizontal axis (HA) by the vertical rotation driver 230, the front end of the main conveyor module 220 moves upward or downward, as shown in FIG. Both the cargo loaded on the floor and the cargo loaded on the lower floor can be transferred automatically.

The main conveyor module 220 rotates together with the main support frame 210 as the main support frame 210 rotates left and right about the vertical axis (VA) by the left and right rotation drive unit 240. In this case, as shown in Figure 3 As shown, the front end of the main conveyor module 220 moves left and right, and all cargo loaded on the left and right ends can be automatically transferred. The left and right rotation driver 240 can be configured in various ways, and the configuration according to an embodiment of the present invention will be described later with reference to FIG. 10.

The scar unit 300 is mounted on the front end of the main conveyor unit 200, more specifically, the main conveyor module 220, and holds the cargo 10 loaded in the cargo loading box 11 to convey the main conveyor module 220. ) is configured to be transported on a conveyor belt (CV).

The variable conveyor unit 400 is coupled to the base frame 100 to be located at the rear of the main conveyor unit 200, and receives cargo 10 from the main conveyor unit 200 and is a separate logistics transfer device located at the rear ( 20). The variable conveyor unit 400 transports the cargo 10 from the front to the rear through a conveyor belt and is formed to adjust the operating distance of the conveyor belt (CV) transporting the cargo, a detailed description of which will be described later.

A separate connecting roller 201 may be disposed between the main conveyor unit 200 and the variable conveyor unit 400, and passes from the main conveyor unit 200 through the connecting roller 201 to the variable conveyor unit 400. Cargo 10 can be delivered.

According to this structure, in the automatic cargo transport device according to an embodiment of the present invention, the scara unit 300 grasps the cargo 10 from the cargo loading box 11 and delivers it to the main conveyor unit 200, and the main conveyor unit The cargo 10 delivered to 200 moves backward along the conveyor belt and is delivered to the variable conveyor unit 400. The cargo 10 delivered to the variable conveyor unit 400 is delivered to a separate logistics transfer device 20 located at the rear, and the cargo 10 is transferred to a specific location within each logistics warehouse through the logistics transfer device 20. do. In the process of unloading and transporting the cargo 10, the cargo is transported in an automated manner, thereby minimizing worker labor and further improving logistics efficiency.

Next, we will look in more detail at the detailed configuration of the automatic cargo transport device according to an embodiment of the present invention.

Figure 4 is a perspective view schematically showing the configuration of the scar unit of the automatic cargo transport device according to an embodiment of the present invention, and Figure 5 schematically shows the tilting operating state of the scar unit according to an embodiment of the present invention. It is a drawing, and Figure 6 is a perspective view schematically showing the internal structure of the scara module of the scara unit according to an embodiment of the present invention, and Figure 7 is a base arm and middle of the scara module according to an embodiment of the present invention. It is a diagram schematically showing the configuration of the rotation driving unit of the arm, Figure 8 is a diagram schematically showing the configuration of the rotation driving unit of the end arm of the scara module according to an embodiment of the present invention, and Figure 9 is a diagram schematically showing the configuration of the rotation driving unit of the end arm of the scara module according to an embodiment of the present invention. It is a diagram for explaining the operating state of the scara module according to an embodiment of the present invention, and Figure 10 is a diagram for explaining the left and right rotation structure of the main conveyor unit according to an embodiment of the present invention.

The scar unit 300 according to an embodiment of the present invention includes a scar support frame 310, a scar module 320, and a tilting module 330.

The scar support frame 310 is configured to support the scar module 320 and is rotatably coupled to one side of the main conveyor unit 200 about the horizontal axis (HA). At this time, the scar support frame 310 is mounted to protrude externally from one outer surface of the main conveyor unit 200 so as not to interfere with the transfer flow of the cargo 10 in the main conveyor unit 200.

The scar module 320 is fixedly coupled to the upper surface of the scar support frame 310 and operates to transport cargo 10 in a straight line from the cargo loading box 11 to the main conveyor unit 200.

This scara module 320 has a base arm 321, one end of which is rotatably coupled to the upper surface of the scara support frame 310 about a vertical rotation axis 3211, and one end of which is attached to the other end of the base arm 321. The middle arm 322 is rotatably coupled about the vertical rotation axis 3221, and one end is rotatably coupled to the other end of the middle arm 322 about the vertical rotation axis 3231, and the other end has cargo (10). ) is configured to include an end arm 323 on which a gripping portion 324 capable of gripping is formed.

The gripping part 324 may be formed to grip the cargo 10 using a vacuum adsorption method, and the base arm 321, middle arm 322, and end arm 323 are each independent through separate rotation drives. It can be driven to rotate.

In this way, the scar module 320 has three arms that rotate independently of each other and moves the grip part 324 forward and backward to transport the cargo 10 from the cargo loading box 11 to the main conveyor unit 200. .

The tilting module 330 operates to rotate and drive the scara support frame 310 in response to the vertical rotation state of the main conveyor unit 200 so that the cargo transport operation state of the scara module 320 is performed in a horizontal state. The operation is controlled through a control unit (not shown).

The scar support frame 310 is basically set in a state parallel to the conveyor belt (CV) of the main conveyor unit 200, and the front end has a horizontal axis (HA) on one outer surface of the front end of the main conveyor unit 200. It is coupled so that it can rotate around the center. At this time, the tilting module 330 operates by pressing and rotating the rear end of the scar support frame 310 up and down so that the scar support frame 310 maintains a horizontal state.

By this tilting module 330, the scar support frame 310 is always maintained in a horizontal state regardless of the rotation state of the main conveyor unit 200, and accordingly, the grip portion 324 of the scar module 320 is horizontal. It can move back and forth in this state, allowing cargo (10) to be transported more stably. That is, when the grip part 324 of the scara module 320 contacts the cargo 10 in a state inclined parallel to the main conveyor unit 200, the vacuum adsorption on the cargo 10 is unstable and the cargo 10 ) Problems may occur in the process of adsorbing and transporting the cargo. In one embodiment of the present invention, the scar support frame 310 is maintained in a horizontal state by the tilting module 330, so that the gripper 324 is always in a horizontal state. Since it comes into contact with (10), vacuum adsorption of the cargo (10) is performed stably, thereby eliminating instability during transport of the cargo (10).

As shown in FIGS. 4 and 5, the tilting module 330 includes a cylinder 331, one end of which is rotatably coupled to one side of the main conveyor unit 200 about a horizontal axis and supplied with hydraulic or pneumatic pressure, and a cylinder ( It may be configured to include a piston 332 that is coupled to the cylinder 331 to move linearly by hydraulic or pneumatic pressure of 331 and has one end rotatably coupled to the rear end of the scar support frame 310 about a horizontal axis. there is.

According to this structure, when the piston 332 moves forward by the hydraulic or pneumatic pressure of the cylinder 331 and pressurizes the rear end of the scar support frame 310 upward, the scar support frame 310 moves based on the horizontal axis (HA) of the front end. When the rear end rotates upward and the piston 332 moves backward, the scar support frame 310 rotates downward. For example, as shown in Figure 5, when the main conveyor unit 200 rotates upward about the horizontal axis (HA), the tilting module 330 maintains the scar support frame 310 in a horizontal state in response to this. Tilt and rotate the scar support frame 310 so as to do so.

Meanwhile, the tilting module 330 further includes a left and right guide module 333 that guides the position of the scar support frame 310 to prevent left and right vibration of the scar support frame 310 when the scar support frame 310 rotates. It can be configured.

The left and right guide modules 333 have one end of a first guide link 3331 rotatably coupled to one side of the main conveyor unit 200 about a horizontal axis, and one end of the first guide link 3331 connected to an end of the first guide link 3331 along a horizontal axis. It may be configured to include a second guide link 3332 that is rotatably coupled about and the other end of which is rotatably coupled to one side of the scara support frame 310 about a horizontal axis.

Since the first guide link 3331 and the second guide link 3332 are rotatably coupled about the horizontal axis, left and right movement does not occur during the rotation movement process, preventing left and right vibration when the scar support frame 310 rotates. You can. In addition, the support force for the scar support frame 310 can be reinforced more stably.

At this time, the point where the piston 332 is coupled to the scar support frame 310 and the point where the second guide link 3332 is coupled to the scar support frame 310 are the horizontal axis (HA), which is the center of rotation of the scar support frame 310. ) are placed at points spaced apart from each other in the direction. That is, as shown in FIG. 4, the second guide link 3332 and the piston 332 are positioned to be spaced apart from each other in the width direction of the scara support frame 310.

According to this structure, the second guide link 3332 and the piston 332 support the scar support frame 310 by distributing its own weight, so that the horizontal state of the scar support frame 310 can be maintained more stably.

Meanwhile, as described above, the scara module 320 is comprised of a base arm 321, a middle arm 322, and an end arm 323, and as shown in FIG. 6, each arm has a separate rotation drive unit. It is driven to rotate independently through (325,326,327).

At this time, the rotation drive unit 327 of the end arm 323 is disposed in the inner space of the middle arm 322 so as not to protrude to the outside of the scara module 320.

Looking more specifically, the rotation drive unit 327 of the end arm 323 operates the middle arm 322 so that the motor shaft is positioned at a right angle to the vertical rotation axis 3231 of the end arm 323, as shown in FIG. 8. A drive motor (EM) disposed in the internal space of the drive motor (EM), a bevel gear (bv) coupled to the motor shaft of the drive motor (EM), a vertical rotation axis 3231 of the end arm 323, and a follower of the bevel gear (bv) It may be configured to include a connecting belt 3271 connecting the rotating shaft of the gear (bv2).

The bevel gear (bv) is a gear that converts and transmits rotational force in the right angle direction, and is a driven gear meshed with the rotation axis (same as the motor shaft) of the drive gear (bv1) coupled to the drive motor (EM) and the drive gear (bv1). The rotation axes of (bv2) are arranged at right angles to each other. By connecting the rotation axis of the driven gear (bv2) and the vertical rotation axis 3231 of the end arm 323 with the connecting belt 3271, the rotation drive unit 327 of the end arm 323 can be compactized as a whole, thereby reducing the middle arm 322 ) can be placed in the internal space of. At this time, it is preferable that the drive motor (EM) is placed adjacent to the vertical rotation axis 3221 of the middle arm 322 to distribute the load of the middle arm 322, and a connection belt is provided in the inner space of the middle arm 322. It is preferable to be equipped with a tension adjustment roller (TR) that can adjust the tension of the connecting belt 3271 by pressing (3271).

In this way, the rotation driver 327 of the end arm 323 is placed in the inner space of the middle arm 322 so that it does not protrude outside, thereby eliminating interference during the rotation of the three arms and increasing the rotational freedom of the three arms. It is possible to maintain smoother and more stable operation by preventing interference with the cargo being transported (10) or external parts.

Meanwhile, as shown in FIGS. 6 and 7, the vertical rotation axis 3211 of the base arm 321 is disposed to penetrate up and down the scara support frame 310, and the rotation drive unit 325 of the base arm 321 is the scara. It may be coupled to the lower surface of the support frame 310 and configured to rotate the vertical rotation axis 3211 of the base arm 321. The rotation drive unit 325 of the base arm 321 includes a drive motor (EM) coupled to the lower surface of the scar support frame 310, a motor axis of the drive motor (EM), and a vertical rotation axis 3211 of the base arm 321. ) may be configured to include a connection belt (NV) connecting the

In addition, on the same axis as the vertical rotation axis 3211 of the base arm 321, a separate rotation shaft 3261 is rotatably coupled to the vertical rotation axis 3211 of the base arm 321, and the rotation shaft 3261 The rotation shaft 3261 is connected to the vertical rotation axis 3221 of the middle arm 322 through a connection belt 3262 so that the rotational force is transmitted to the vertical rotation axis 3221 of the middle arm 322. The rotation drive unit 326 may be configured to be coupled to the lower surface of the scara support frame 310 to rotate the rotation shaft 3261. At this time, the connecting belt 3262 connecting the vertical rotation axis 3221 of the middle arm 322 and the rotation shaft 3261 may be placed in the internal space of the base arm 321, which can compact the overall configuration. and can improve rotational freedom and design freedom. It is preferable that a tension adjustment roller (TR) is installed in the inner space of the base arm 321 to adjust the tension of the connection belt 3262 by pressing the connection belt 3262, and the rotation drive unit of the middle arm 322 ( 326) may be configured to include a drive motor (EM) coupled to the lower surface of the scar support frame 310, and a connection belt (NV) connecting the motor shaft of the drive motor (EM) and the rotation shaft 3261. there is.

In this way, the rotation drive unit 325 of the base arm 321 and the rotation drive unit 326 of the middle arm 322 are located at the lower part of the scara support frame 310, so no operational interference with the three arms occurs, so the scara The rotational freedom and design freedom of the module 320 can be improved.

As shown in FIG. 9, the scar module 320 has three arms (321, 322, and 323) that rotate independently while the vertical rotation axis 3211 of the base arm 321 is coupled to the scar support frame 310, and the end arm The grip portion 324 of 323 is configured to move forward and backward to transport the cargo 10.

After delivering the cargo 10 to the main conveyor unit 200, the scara module 320 is separated from the cargo 10 by stopping the vacuum suction operation of the gripper 324, and is separated from the cargo 10 as shown in FIG. 9. (321), the middle arm 322, and the end arm 323 are all folded and operated to be positioned on the scar support frame 310 in the same straight line. Since the scar support frame 310 is disposed on one outer surface of the main conveyor unit 200, when the three arms of the scar module 320 are located on the scar support frame 310 on the same straight line, the scar module 320 ) The three arms are moved away from the cargo transfer area of the main conveyor unit 200. Accordingly, the cargo 10 is smoothly transported backward along the main conveyor unit 200 without interference.

In this process, when the cargo 10 is transported a certain distance rearward, after that point, the three arms of the scara module 320 rotate again in the direction of forward movement and grasp the new cargo 10 to transfer it to the main conveyor unit ( 200) and transported again.

At this time, a cargo passage detection sensor 500 is provided that can detect whether the cargo 10 has been transported rearward by a certain distance on the main conveyor unit 200, and the cargo passage detection sensor 500 detects whether the cargo 10 has been transported rearward by a certain distance. Once the passage of the cargo 10 is detected, the scar module 320 is controlled by the controller to rotate in the forward direction again.

In this case, the cargo passing detection sensor 500 can be applied as an optical sensor. As shown in (a) of Figure 9, it irradiates light in a direction perpendicular to the cargo transfer direction of the main conveyor unit 200 to load the cargo ( 10) can be configured in a way to detect. That is, the light irradiation line SL of the cargo passage detection sensor 500 may be formed in a direction perpendicular to the cargo transport direction of the main conveyor unit 200.

However, considering the operating range of the scara module 320 composed of three arms, as shown in (b) of FIG. 9, the cargo passing detection sensor 500 is It is more advantageous in terms of logistics efficiency to detect the cargo 10 by irradiating light in an inclined direction. That is, the light irradiation line SL of the cargo passage detection sensor 500 may be formed in an inclined direction with respect to the cargo transport direction of the main conveyor unit 200.

Looking more specifically, the scara module 320, which consists of three arms, rotates with one end fixed to the scar support frame 310 based on the vertical rotation axis 3211 of the base arm 321, so that the base If the cargo 10 exists outside the rotation radius (R) of the arm 321, interference with the cargo 10 does not occur when the scara module 320 operates. Considering the rotation radius (R) of the base arm 321, the cargo passing detection sensor 500 is mounted on one side of the main conveyor unit 200 where the scar support frame 310 is located and tilts forward toward the opposite side. It may be configured to irradiate light so that a light irradiation line (SL) is formed in the direction of the photo.

In this case, compared to the case where the light irradiation line (SL) is in a direction perpendicular to the cargo transfer direction, the scara module 320 can rotate even if the cargo 10 exists in the triangular area (P), so the scara module 320 The operating cycle can be shortened, thereby improving the overall logistics processing speed.

For example, when cargo 10 is present as shown in (b) of FIG. 9, if the light irradiation line (SL) of the cargo passage detection sensor 500 is formed in a direction perpendicular to the cargo transport direction, the sensor Since the cargo is being detected, the scara module 320 must stop operating until the cargo leaves the detection area of the sensor. However, when the light irradiation line (SL) of the cargo passage detection sensor 500 is formed in an inclined direction, Even if cargo exists in the triangular area (P), the cargo is outside the sensor detection area, and accordingly, the scara module 320 can cancel the stop state and restart.

Figure 10 is a diagram showing the configuration of the left and right rotation driving unit 240 of the main conveyor unit 200 with some components removed. As described above, the left and right rotation driving unit 240 is connected to the main support frame 210. ) is driven to rotate left and right about the vertical axis (VA), and the main conveyor module 220 is coupled to the main support frame 210 and rotates left and right together with the main support frame 210.

At this time, the left and right rotation drive unit 240 has a cylindrical shape with gear teeth formed on the inner peripheral surface, and has internal teeth coupled to the main support frame 210 so that its center is located on the same axis as the vertical axis VA of the main support frame 210. It is configured to include a gear 241, a drive gear 242 engaged with the gear teeth of the internal gear 241, and a drive motor 243 that rotates the drive gear 242.

In this way, the left and right rotation drive unit 240 does not directly rotate the vertical axis (VA) of the main support frame 210, but rotates the main support frame 210 using the internal gear 241 and the driving gear 242. , it requires relatively small power requirements, making it possible to manufacture it in a more economical and compact structure.

Figure 11 is a perspective view schematically showing the configuration of a variable conveyor unit according to an embodiment of the present invention, and Figure 12 is a bottom perspective view schematically showing the configuration of a variable conveyor unit according to an embodiment of the present invention. 13 is a cross-sectional view schematically showing the internal structure of a variable conveyor unit according to an embodiment of the present invention, and FIGS. 14 and 15 are diagrams schematically showing the operating state of the variable conveyor unit according to an embodiment of the present invention. 16 is a diagram schematically showing the arrangement according to the operating state of the variable conveyor unit according to an embodiment of the present invention.

As described above, the variable conveyor unit 400 according to an embodiment of the present invention is coupled to the base frame 100 to be disposed at the rear of the main conveyor unit 200 and transports the cargo (10) delivered from the main conveyor unit 200. ) is transported backwards through a conveyor belt (CV) and delivered to a separate logistics transfer device (20).

At this time, the variable conveyor unit 400 is formed to be adjustable to increase or decrease the operating distance of the conveyor belt (CV) that transports the cargo.

This variable conveyor unit 400 includes a fixed plate 410 that is fixedly coupled to the base frame 100 to be long in the front-back direction, and a movable plate 420 that is relatively movably coupled to the fixed plate 410 in the front-back direction. ), a first roller 431 and a fourth roller 434 installed at the front and rear ends of the fixed plate 410, respectively, and a second roller 434 installed at the rear and front ends of the movable plate 420, respectively. It is configured to include a roller 432, a third roller 433, and a variable driving unit 440 that moves the movable plate 420 relative to the fixed plate 410 in the forward and backward directions.

The third roller 433 is positioned ahead of the fourth roller 434, and the conveyor belt (CV) forms a loop in which the first roller 431 to the fourth roller 434 are supported in order. It is arranged to rotate and is configured to transport cargo in the section between the first roller 431 and the second roller 432.

Looking more specifically, the first roller 431 is located at the upper end of the front end of the fixing plate 410, and the fourth roller 434 is located at the lower end of the rear end of the fixing plate 410. The second roller 432 is located at the rear end of the movable plate 420, and the third roller 433 is located at the front end of the movable plate 420, and the second roller 432 is positioned at a higher angle than the third roller 433. It is located relatively at the top. Additionally, the third roller 433 is always located ahead of the fourth roller 434. That is, when the movable plate 420 moves backward relative to the fixed plate 410, the third roller 433 moves backward together and approaches the fourth roller 434. In this case as well, the third roller 433 moves backwards together and approaches the fourth roller 434. The relative movement of the movable plate 420 is possible only up to the section where the roller 433 is located ahead of the fourth roller 434. A separate stopper may be provided to limit the relative movement range of the movable plate 420, or a sensor such as a limit switch may be applied.

The conveyor belt (CV) is disposed in a form partially wound around each roller so as to be sequentially supported on the first roller 431, the second roller 432, the third roller 433, and the fourth roller 434. It forms a closed loop and is configured to rotate in an infinite orbit. In addition, the first roller 431 and the second roller 432 may be arranged so that their top heights are the same, and the conveyor belt (CV) in the section between the first roller 431 and the second roller 432 The cargo (10) can be transported rearward. That is, the section between the first roller 431 and the second roller 432 corresponds to the operating distance for transporting cargo of the conveyor belt (CV). Additionally, one of the plurality of rollers, for example, the first roller 431, may be rotated by the driving motor EM and applied as a driving roller.

According to this structure, when the movable plate 420 moves relative to the fixed plate 410, the distance (X) between the first roller 431 and the second roller 432 changes, and thus the conveyor belt ( The operating distance of CV) is adjusted.

For example, as shown in FIG. 14, the state in which the movable plate 420 moves maximum in the forward direction with respect to the fixed plate 410 can be set as the reference state, and in this reference state, the first roller 431 and The distance (X) between the second rollers 432, that is, the operating distance of the conveyor belt (CV), is the shortest.

In this reference state, as shown in FIG. 15, when the movable plate 420 is moved backward relative to the fixed plate 410 by a distance D by the variable driving unit 440, the first roller 431 and the second roller 431 The distance between the two rollers 432, that is, the operating distance of the conveyor belt (CV) increases to (X+D).

In this way, the variable conveyor unit 400 can increase or decrease the operating distance of the conveyor belt (CV), forming a variety of operating distances in response to logistics field conditions, and thus can be applied to various logistics warehouses by itself. .

In one embodiment of the present invention, the variable conveyor unit 400 is coupled to the base frame 100 to be located at the rear of the main conveyor unit 200, and the rear end of the variable conveyor unit 400 is a separate logistics transport located at the rear. It is formed so that it can be coupled and fixed to the device 20.

According to this structure, when the operating distance of the conveyor belt (CV) is adjusted while the variable conveyor unit 400 is coupled and fixed to the logistics transfer device 20, that is, the movable plate 420 is moved with respect to the fixed plate 410. When relatively moved rearward by the distance D, the rear end of the movable plate 420 is coupled to the logistics transport device 20 and fixed in position, so that the fixed plate 410 is substantially moved forward as shown in FIGS. 14 to 16. It moves a distance D. Since the fixing plate 410 is fixedly coupled to the base frame 100, the base frame 100 moves forward with the movement of the fixing plate 410, and along with this, the main conveyor unit 200 and the scara unit 300 ) all move forward.

In the process of individually transporting a plurality of cargoes loaded in the cargo box 11, it is necessary for the main conveyor unit 200 and the scara unit 300 to move forward deep inside the cargo box 11. In this case, a separate driving unit must be provided to move the base frame 100 forward. However, in one embodiment of the present invention, the base frame 100 moves forward and backward by adjusting the operating distance of the conveyor belt (CV) by relative movement of the movable plate 420 using the variable conveyor unit 400. At the same time, even if the base frame 100 moves forward and backward, the operating distance of the variable conveyor unit 400 is naturally adjusted, so there is no separation space from the separate logistics transfer device 20 located at the rear, so a separate Even if connecting members are not used, a stable logistics transport arrangement can always be maintained.

Meanwhile, in order to connect and fix the rear end of the variable conveyor unit 400 to a separate logistics transfer device 20, in one embodiment of the present invention, the rear end of the movable plate 420 can be coupled and fixed to the logistics transfer device 20. A connection plate 450 may be mounted.

The variable driving unit 440, which relatively moves the movable plate 420, includes a lead screw 441 that is disposed long in the front-back direction on the base frame 100 and rotatably coupled about the longitudinal axis, and a lead screw 441. A moving block 442 that is penetratingly coupled to the movable plate 420 to move forward and backward according to the rotation of the lead screw 441 and is fixedly coupled to the movable plate 420 to move integrally with the movable plate 420, and the lead screw 441 It may be configured to include a drive motor (EM) that rotates.

The lead screw 441 and the driving motor (EM) are fixedly coupled to the base frame 100, and a separate connection bracket 421 is formed on the movable plate 420, so that the moving block 442 is attached to the connection bracket 421. Can be fixedly coupled. In addition, a guide rail 461 is formed on the base frame 100 to guide the relative movement path of the movable plate 420, and the connection bracket 421 of the movable plate 420 slides along the guide rail 461. The moving guide block 462 may be coupled.

The above description is merely an illustrative explanation of the technical idea of the present invention, and various modifications and variations will be possible to those skilled in the art without departing from the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but are for illustrative purposes, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the present invention.

100: base frame
200: main conveyor unit
210: main support frame
220: Main conveyor module
230: Vertical rotation driving unit
240: Left and right rotation driving unit
241: Natch Gear
242: driving gear
243: Drive motor
300: scara unit
310: Scar support frame
320: Scara module
321: Base arm
322: Middle arm
323: End arm
324: gripping part
330: Tilting module
400: Variable conveyor unit
410: fixing plate
420: Movable plate
431: first roller
432: second roller
433: third roller
434: fourth roller
440: Variable driving unit
450: connection plate
500: Cargo passing detection sensor

Claims (9)

delete base frame;
a main conveyor unit rotatably coupled to the base frame up and down about a horizontal axis to transport cargo from front to back; and
A scara unit that is coupled to the front end of the main conveyor unit and transports cargo to the main conveyor unit.
Includes, and the scara unit is
A scar support frame rotatably coupled to one side of the main conveyor unit about a horizontal axis, a scar module fixedly coupled to the scar support frame and operating to transport cargo straight to the main conveyor unit, and the scar support frame Includes a tilting module that rotates,
The tilting module is controlled by a separate control unit to rotate the scar support frame in response to the rotation state of the main conveyor unit so that the cargo transport operation of the scar module is performed in a horizontal state,
The front end of the scar support frame is rotatably coupled to one side of the front end of the main conveyor unit about a horizontal axis,
The tilting module is an automatic cargo transport device, characterized in that it operates by pressing and rotating the rear end of the scar support frame up and down so that the scar support frame maintains a horizontal state.
According to claim 2,
The tilting module is
A cylinder whose one end is rotatably coupled to one side of the main conveyor unit about a horizontal axis to receive hydraulic or pneumatic pressure;
A piston is coupled to the cylinder to move linearly by hydraulic or pneumatic pressure of the cylinder, and one end is rotatably coupled to the rear end of the scar support frame about a horizontal axis.
An automatic cargo transport device comprising a.
According to claim 3,
The tilting module is
An automatic cargo transport device further comprising a left and right guide module that guides the position of the scar support frame to prevent left and right vibration of the scar support frame when the scar support frame rotates.
According to claim 4,
The left and right guide modules are
a first guide link, one end of which is rotatably coupled to one side of the main conveyor unit about a horizontal axis; and
A second guide link, one end of which is rotatably coupled to an end of the first guide link about a horizontal axis, and the other end of which is rotatably coupled to one side of the scara support frame about a horizontal axis.
An automatic cargo transport device comprising a.
According to claim 5,
The point where the piston is coupled to the scar support frame and the point where the second guide link is coupled to the scar support frame are located at points spaced apart from each other in the direction of the horizontal axis, which is the rotation center of the scar support frame. Automatic transport device.
According to claim 2,
The scara module is
A base arm whose one end is rotatably coupled to the upper surface of the scar support frame about a vertical rotation axis;
a middle arm whose one end is rotatably coupled to the other end of the base arm about a vertical rotation axis; and
An end arm whose one end is rotatably coupled to the other end of the middle arm about a vertical axis of rotation, and where a gripper capable of holding cargo is formed at the other end.
An automatic cargo transport device comprising a.
According to claim 7,
An automatic cargo transport device, wherein the gripping part is formed to grip the cargo using a vacuum adsorption method.
According to claim 7,
An automatic cargo transport device, wherein the base arm, middle arm, and end arm are each rotated independently through separate rotation driving units.