KR102660823B1 - Transport apparatus - Google Patents

Abstract

The present invention relates to a transfer device, which includes a serving unit installed at a transfer point, a guide unit spaced apart from the serving unit, a traveling unit movably installed in the guide unit, and a traveling unit that moves together with the traveling unit and serves the transfer object. It is characterized by including a position adjusting part that supports the carrier part and the traveling part that is transferred to or collected from the serving part and adjusts the position of the carrier part.

Description

TRANSPORT APPARATUS}

The present invention relates to a transfer device, and more specifically, to a transfer device that can automatically perform a transfer operation of a transfer object.

In general, with the development of robot technology, the development of robots that transport objects of service (for example, food) to designated locations in restaurants, etc. is being actively developed.

However, when there are many customers or the indoor structure is complex, the conventional serving robot has limited movement speed in the process of calculating the movement path and moving, and in the process of recognizing and avoiding surrounding obstacles, so it is less efficient as a replacement device for serving personnel, and there are steps. Situations where operation is impossible due to stairs or stairs occur frequently, and there is a problem in that the driving route must be reset every time the store structure or table location changes.

The background technology of the present invention is disclosed in Republic of Korea Patent Registration No. 10-2434941 (registered on August 17, 2022, title of invention: serving robot for serving food and method of providing advertisements using the same).

The purpose of the present invention is to provide a transfer device that can automatically perform the transfer operation of the transfer object.

In order to solve the above-described problem, the transfer device according to the present invention includes: a serving unit installed at the transfer point; A guide part spaced apart from the serving part; A traveling unit movably installed on the guide unit; a carrier unit that moves together with the traveling unit and transports the object to be transferred to or collects it from the serving unit; and a position adjusting unit that supports the carrier unit with respect to the traveling unit and adjusts the position of the carrier unit.

The guide unit includes a first guide rail; a second guide rail arranged to intersect the first guide rail; a branch rail rotatably installed between the first guide rail and the second guide rail and connected to the first guide rail or the second guide rail according to a rotation angle; and a rail driving unit connected to the branch rail and rotating the branch rail.

The traveling part includes a traveling body; A traveling member rotatably installed on the traveling body and movably supporting the traveling body with respect to the guide portion; and a traveling drive unit connected to the traveling member and rotating the traveling member.

The traveling body includes: a first traveling body; a second traveling body rotatably connected to the first traveling body and contacting or separating the traveling member from the guide portion according to a rotation direction; a first mounting guide member rotatably connected to the first traveling body; and a second mounting guide member connected to the second traveling body and the first mounting guide member, and linked to the rotation of the second traveling body to slide on the first mounting guide member.

The position adjusting unit includes a first position adjusting unit that adjusts the horizontal position of the carrier unit; and a second position control unit connected to the first position control unit and adjusting the vertical position of the carrier unit.

The first position adjusting unit includes a rotating body rotatably connected to the traveling unit; an extension part connected to one side of the rotating body, supporting the second position adjusting part, and having an adjustable length; and a balancing unit connected to the other side of the rotating body and maintaining the balance of the rotating body.

The balancing unit includes: a first balancing member rotatably connected to the other side of the rotating body and unfolding toward the outside of the rotating body or folded toward the rotating body depending on the direction of rotation; and a second balancing member that is movably connected to the first balancing member and whose length varies depending on the direction of movement.

The balancing unit further includes a third balancing member rotatably connected to the second balancing member, rotating in a direction opposite to the first balancing member, and unfolding toward the outside of the rotating body or folding toward the rotating body. can do.

The first position adjusting unit includes a first conversion member that rotates together with the rotating body; a second conversion member installed on the traveling unit to be capable of moving up and down, and moving up and down in conjunction with the rotation of the rotating body; And it may further include a height sensor that detects a change in height of the first conversion member.

The first conversion member includes a first stopper and a second stopper spaced apart from each other in the vertical direction; and a conversion rail disposed to surround the central axis of the rotating body and extending spirally from the first stopper toward the second stopper, wherein the second conversion member includes: a support portion fixed to the running unit; A moving part slidably connected to the support part; and an insertion part extending from the moving part and inserted into the interior of the conversion rail.

The second position adjusting unit includes a support frame connected to the first position adjusting unit; and a lifting drive unit connected to the support frame and lifting and moving the carrier unit with respect to the support frame.

The lifting drive unit includes a wire portion whose lower end is connected to the carrier portion; and a lifting and lowering drive member fixed to the support frame, connected to an upper end of the wire portion, and generating a driving force to wind or unwind the wire portion.

The serving unit includes a cabinet fixed to a transfer point; an entry hole penetrating the upper surface of the cabinet and into which the carrier unit enters; and a cabinet door movably connected to the cabinet and opening and closing a side of the cabinet according to the direction of movement.

The serving unit may include an entry/exit detection unit that detects entry/exit of the transfer object into the cabinet; a payment terminal that receives payment information for the transported object; and a serving control unit that controls the operation of the cabinet door based on the access information of the transfer object detected by the access detection unit and the payment information input to the payment terminal.

The access detection unit is disposed inside the cabinet and may include one or more load cells in contact with the transfer object.

The serving unit further includes an alarm unit that outputs an alarm signal, and the serving control unit may operate the alarm unit when payment for the transfer object is not completed and the transfer object is separated from the cabinet.

The carrier unit includes a carrier body connected to the position adjusting unit; and a gripper movably installed on the carrier body and gripping the transfer object.

The serving unit may further include a guide hole formed through the cabinet, and the gripper may enter the interior of the cabinet through the guide hole.

The carrier portion may further include a sealing portion that extends from the carrier body and is disposed to surround a peripheral surface of the cabinet as the carrier body moves toward the entry hole.

a detection unit that detects objects outside the traveling unit and the carrier unit; and a control unit that controls operations of the guide unit, the traveling unit, the carrier unit, and the position adjusting unit based on the data sensed from the sensing unit.

In the transfer device according to the present invention, the carrier part is moved in the space above the transfer point by a traveling part that travels along a guide fixed to the ceiling, so there is less risk of collision with surrounding objects during the transfer process of the transfer object, and rapid transfer operation is possible. It can be done.

The transfer device according to the present invention can induce the transfer object to be smoothly transferred between the traveling unit and the transfer point spaced apart from each other by a position adjusting unit that adjusts the relative position of the carrier unit with respect to the traveling unit, and is transferred by the carrier unit. The transportable range of the object can be expanded beyond the traveling path of the moving part.

The transfer device according to the present invention can stably maintain the balance of the rotating body by canceling out the rotational moment acting on the rotating body in the process of increasing the length of the extension portion by the balancing unit.

In addition, the transfer device according to the present invention can prevent the user from taking out the transfer object from the cabinet without making payment through the access detection unit, serving control unit, and alarm unit.

1 is a plan view schematically showing the installation state of a transfer device according to an embodiment of the present invention.
Figures 2 and 3 are perspective views schematically showing the configuration of a transfer device according to an embodiment of the present invention.
Figure 4 is a perspective view schematically showing the configuration of a serving unit according to an embodiment of the present invention.
Figure 5 is a side view schematically showing the configuration of a serving unit according to an embodiment of the present invention.
Figure 6 is a block diagram schematically showing the configuration of a serving unit according to an embodiment of the present invention.
Figure 7 is an enlarged view schematically showing the configuration of a guide portion according to an embodiment of the present invention.
Figure 8 is a perspective view schematically showing the configuration of a running part, a carrier part, and a position adjusting part according to an embodiment of the present invention.
Figure 9 is a bottom perspective view schematically showing the configuration of a running part, a carrier part, and a position adjusting part according to an embodiment of the present invention.
Figure 10 is a perspective view schematically showing the configuration of a traveling unit according to an embodiment of the present invention.
Figure 11 is an enlarged view schematically showing the configuration of a traveling unit according to an embodiment of the present invention.
Figure 12 is a perspective view schematically showing the configuration of a carrier portion according to an embodiment of the present invention.
Figure 13 is a bottom perspective view schematically showing the configuration of the carrier portion according to an embodiment of the present invention.
Figure 14 is a perspective view schematically showing the configuration of the carrier portion according to an embodiment of the present invention.
Figure 15 is a block diagram schematically showing the configuration of a gripper according to an embodiment of the present invention.
Figure 16 is a block diagram schematically showing the configuration of the first position adjusting unit according to an embodiment of the present invention.
Figure 17 is a perspective view schematically showing the configuration of a balancing unit according to an embodiment of the present invention.
18 to 20 are diagrams schematically showing the operation process of the balancing unit according to an embodiment of the present invention.
Figure 21 is an enlarged view schematically showing the configuration of the third balancing drive unit according to an embodiment of the present invention.
Figure 22 is an enlarged view schematically showing the configuration of the first conversion member, the second conversion member, and the height sensor according to an embodiment of the present invention.
Figure 23 is a diagram schematically showing the operating states of the first conversion member, the second conversion member, and the height sensor according to an embodiment of the present invention.
Figure 24 is an enlarged view schematically showing the configuration of the second position adjusting unit according to an embodiment of the present invention.
Figure 25 is a block diagram schematically showing the configuration of a detection unit and a control unit according to an embodiment of the present invention.
26 to 36 are diagrams schematically showing the operation process of the transfer device according to an embodiment of the present invention.

Hereinafter, an embodiment of a transfer device according to the present invention will be described with reference to the attached drawings.

In this process, the thickness of lines or sizes of components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are terms defined in consideration of functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

Additionally, in this specification, when a part is said to be "connected (or connected)" to another part, this does not only mean that it is "directly connected (or connected)" but also "connected (or connected)" with another member in between. Also includes cases where there is an “indirect connection (or connection).” In this specification, when a part is said to “include (or include)” a certain component, this does not exclude other components, unless specifically stated to the contrary, but rather “includes (or includes)” other components. It means you can do it.

In this specification, a “unit” or “unit” performs at least one function or operation, and may be implemented as hardware or software, or as a combination of hardware and software. Additionally, a plurality of “units” or a plurality of “units” may be integrated into at least one module and implemented with at least one processor, except for “units” or “units” that need to be implemented with specific hardware.

Additionally, the same reference numerals may refer to the same components throughout this specification. Even if the same or similar reference signs are not mentioned or explained in a particular drawing, the numbers may be explained based on other drawings. Additionally, even if there are parts that are not indicated by reference signs in a specific drawing, those parts can be explained based on other drawings. In addition, the number, shape, size, and relative differences in size of detailed components included in the drawings of the present application are set for convenience of understanding, do not limit the embodiments, and may be implemented in various forms.

Figure 1 is a plan view schematically showing the installation state of the transfer device according to an embodiment of the present invention, and Figures 2 and 3 are perspective views schematically showing the configuration of the transfer device according to an embodiment of the present invention.

1 to 3, the transfer device according to this embodiment includes a serving unit 10, a guide unit 100, a traveling unit 200, a carrier unit 300, and a position adjusting unit 400. .

The transfer device described below will be described as an example of being configured to perform serving work in stores such as PC rooms, Internet cafes, and restaurants.

The transfer object (A) may be an object that is the object of serving, such as a tray on which dishes, food, etc. are placed.

The transfer point is a place where the transfer of the transfer object begins or is completed, such as a table (2) where guests can sit and eat or a serving table (3) where employees load the transfer object onto the transfer device or retrieve it from the transfer device. Can contain objects.

However, the transfer device is not limited to this, and may be configured to be applied identically or similarly to various places where transfer work is performed, such as offices, factories, and construction sites. Accordingly, the design of the transfer object and transfer point can be changed in various ways depending on the application location of the transfer device.

The serving unit 10 is installed at the transfer point and may function as a component that provides or collects the transfer object (A) delivered by the carrier unit 300, which will be described later, to the user.

Figure 4 is a perspective view schematically showing the configuration of a serving unit according to an embodiment of the present invention, Figure 5 is a side view schematically showing the configuration of a serving unit according to an embodiment of the present invention, and Figure 6 is an embodiment of the present invention. This is a block diagram schematically showing the configuration of the serving unit according to an example.

Referring to FIGS. 1 to 6 , the serving unit 10 may include a cabinet 11, an entry hole 12, and a cabinet door 13.

The cabinet 11 can be fixed to the transfer point. For example, as shown in FIG. 4, the cabinet 11 may be seated and fixed to the upper part of the table 2. The cabinet 11 may be formed to have a box shape with an empty interior. The cabinet 11 may be made of a transparent material so that the user can visually check the transfer object (A) accommodated therein. The specific form of the cabinet 11 is not limited to the form shown in FIGS. 4 and 5, and the design can be changed into various forms that can accommodate the transfer object A therein.

A guide hole 19 may be formed on the side of the cabinet 11 to guide the movement of the carrier portion 300, which will be described later, with respect to the cabinet 11. The guide hole 19 may be formed to have the shape of a hole penetrating vertically through the side of the cabinet 11. The guide hole 19 may extend in the vertical direction along its length. The upper end of the guide hole 19 may penetrate the upper end of the cabinet 11 and communicate with the upper space of the cabinet 11. There may be a plurality of guide holes 19. A plurality of guide holes 19 may be symmetrically arranged on both sides of the cabinet 11.

The entry hole 12 is formed through the cabinet 11 and may function as a structure to guide the transfer object A into and out of the cabinet 11. The entry hole 12 may have the shape of a hole that passes vertically through the upper surface of the cabinet 11 in the vertical direction. The area of the entry hole 12 can be changed to various sizes depending on the area of the transfer object (A).

The cabinet door 13 is movably connected to the cabinet 11 and can open or close the side of the cabinet 11 depending on the direction of movement. The cabinet door 13 may be installed to open and close the side of the cabinet 11 on which the guide hole 19 is not formed. For example, the cabinet door 13 may be installed on the front of the cabinet 11 facing the user. The cabinet door 13 is rotatably connected to the cabinet 11 and may be a hinged door that opens and closes the side of the cabinet 11 according to the rotation direction. In contrast, the cabinet door 13 is slidably connected to the cabinet 11, and may be a sliding door that opens and closes the side of the cabinet 11 according to the slide direction. The cabinet door 13 is connected to a power device such as an electric motor, and can automatically open and close the side of the cabinet 11 by driving force generated from the power device.

The serving unit 10 may further include an entry detection unit 14, a payment terminal 15, and a serving control unit 16.

The entry detection unit 14 detects the entry and exit of the transfer object (A) into the cabinet 11.

The entry detection unit 14 is disposed inside the cabinet 11 and may include a load cell 14a that detects the entry and exit of the transfer object A by contact with the transfer object A.

The load cell 14a may be exemplified by various types of load cells that can output electrical signals that vary linearly by pressure, load, etc. applied from the outside. The load cell 14a may be fixed on the bottom surface of the cabinet 11. A plurality of load cells 14a may be provided and arranged to be spaced apart from each other on the bottom surface of the cabinet 11. The arrangement of the plurality of load cells 14a can be designed in various ways within the range of a form that can be contacted with the transfer object A entered into the cabinet 11.

The payment terminal 15 can receive payment information for the transfer object (A) and perform payment for the transfer object (A) through the input payment information. The payment terminal 15 may be exemplified by various types of devices that can receive payment information for the transfer object A, such as a card terminal, a cash terminal, or a kiosk. The payment terminal 15 may be installed on the transfer point. More specifically, the payment terminal 15 may be fixed to the upper surface of the table 2 and arranged to be spaced apart from the cabinet 11.

The serving control unit 16 can control the operation of the cabinet door 13 based on the access information of the transfer object (A) detected by the access detection unit 14 and the payment information input to the payment terminal 15. .

The serving control unit 16 may be implemented as an electronic control unit (ECU), a central processing unit (CPU), a processor, or a system on chip (SoC), and may run an operating system or application. By operating it, a plurality of hardware or software components can be controlled, and various data processing and calculations can be performed. The serving control unit 16 may be configured to execute at least one command stored in memory and store execution result data in memory. The serving control unit 16 may be connected wired or wirelessly to the cabinet door 13, the access detection unit 14, and the payment terminal 15 through various types of communication devices. The serving control unit 16 can receive data from the access detection unit 14 and the payment terminal 15, and control the operation of the cabinet door 13 based on the received data.

As an example, the serving control unit 16 opens the cabinet door ( 13) can be operated.

In addition, when the serving control unit 16 determines that the transfer object (A) is not accommodated inside the cabinet 11 or that payment for the transfer object (A) is not completed, the serving control unit 16 closes the cabinet 11. The door 13 can be operated.

The serving control unit 16 may determine that the transfer object A is accommodated inside the cabinet 11 when the size of the weight or pressure detected from the load cell 14a is greater than or equal to the set size.

If the size of the weight or pressure detected from the load cell 14a is smaller than the set size, the serving control unit 16 may determine that the transfer object A is not accommodated inside the cabinet 11.

Accordingly, the serving control unit 16 may restrict the user from taking out the transfer object A from the cabinet 11 without paying for the transfer object A.

As the upper surface of the cabinet 11 is opened by the entry hole 12, there is a risk that the user may take out the transfer object A without payment through the entry hole 12 even when the cabinet door 13 is closed. .

To this end, the serving unit 10 may further include an alarm unit 18.

The alarm unit 18 is connected to the serving control unit 16 wirelessly or by wire, and can selectively output an alarm signal under the control of the serving control unit 16. The alarm unit 18 may output an alarm signal in the form of at least one of a visual signal or an auditory signal. For example, the alarm unit 18 may include at least one of an alarm device that generates an alarm sound and a lighting device that can emit light.

The serving control unit 16 may operate the alarm unit 18 to generate an alarm signal when payment for the transfer object A is not completed and the transfer object A is separated from the cabinet 11. Accordingly, it is possible to more effectively restrict the user from taking out the transfer object (A) from the cabinet 11 without paying for the transfer object (A).

The serving control unit 16 may determine that the transfer object (A) has separated from the inside of the cabinet 11 when the size of the weight or pressure detected from the load cell 14a decreases from more than the set size to less than the set size. there is.

The serving unit 10 may further include a serving switch 17. The serving switch 17 may function as a component that transmits a command signal to the serving control unit 16 based on the user's input.

The serving switch 17 may include a first serving switch 17a and a second serving switch 17b. The first serving switch 17a and the second serving switch 17b may include at least one of a button switch that receives a press input from the user or a touch display that receives a touch input. The first serving switch 17a and the second serving switch 17b may be installed in the payment terminal 15 as shown in FIG. 4. The first serving switch 17a and the second serving switch 17b may be connected to the serving control unit 16 wirelessly or wired. The first serving switch 17a and the second serving switch 17b can generate a command signal by a user's press or touch input and transmit the generated command signal to the serving control unit 16.

The first serving switch 17a can generate a door opening signal for opening the cabinet door 13 by a user's press or touch input, and transmit the generated door opening signal to the serving control unit 16.

In this case, the serving control unit 16 operates the door from the first serving switch 17a in a state where it is determined that the transfer object (A) is accommodated inside the cabinet 11 and payment for the transfer object (A) is completed. Upon receiving the opening signal, the cabinet door 13 can be operated to open the cabinet 11.

Meanwhile, the serving control unit 16 operates the first serving switch when the set time exceeds while the transfer object (A) is accommodated inside the cabinet 11 and it is determined that payment for the transfer object (A) has been completed. Even if the door opening signal is not transmitted from (17a), the cabinet door 13 can be operated so that the cabinet 11 is opened.

The first serving switch 17a can generate a recovery signal for recovering the transfer object A by a user's press or touch input, and transmit the generated recovery signal to the serving control unit 16.

A marking unit (m) in which unique information of the cabinet 11 is stored may be installed at the transfer point. Here, the unique information of the cabinet 11 includes the unique number of the cabinet 11 fixed to one of the tables 2 or the serving table 3, the entry/exit angle, and the direction of the transfer object A with respect to the cabinet 11. It may include information about, etc. A plurality of marking units (m) may be provided and individually installed at each of the plurality of transfer points, more specifically, the plurality of tables (2) and the serving table (3). As an example, the marking portion (m) may be disposed on the payment terminal 15. The marking unit (m) can store unique information of the cabinet 11 in the form of a QR code or barcode.

The guide unit 100 may provide a traveling path for the traveling unit 200, which will be described later.

Figure 7 is an enlarged view schematically showing the configuration of a guide portion according to an embodiment of the present invention.

Referring to FIG. 7, the guide unit 100 may include a first guide rail 110, a second guide rail 120, a branch rail 130, and a rail driving unit 140.

The first guide rail 110 and the second guide rail 120 are arranged to cross each other and can guide the movement of the traveling unit 200 in different directions.

The first guide rail 110 and the second guide rail 120 may be disposed at a position spaced a predetermined distance upward from the ground. The first guide rail 110 and the second guide rail 120 may be coupled to anchors, brackets, etc. fixed to the ceiling or wall of a building and supported at a position spaced a predetermined distance upward from the ground. The first guide rail 110 and the second guide rail 120 may be arranged horizontally in the longitudinal direction with respect to the ground. The intersection angle of the first guide rail 110 and the second guide rail 120 is not limited to 90 degrees shown in FIG. 6, and the design can be changed to various angles. The cross-sectional shape of the first guide rail 110 and the second guide rail 120 is not limited to the shape shown in FIG. 6, and may be formed to have various shapes.

The first guide rail 110 and the second guide rail 120 may be formed to have a discontinuous section of a predetermined length based on the point where they intersect each other. Accordingly, the first guide rail 110 and the second guide rail 120 can provide a space where a branch rail 130, which will be described later, can be installed at a point where the first guide rail 110 and the second guide rail 120 intersect each other. The first guide rail 110 and the second guide rail 120 may be provided in plural numbers. The plurality of first guide rails 110 and second guide rails 120 may be arranged to intersect each other at a plurality of points. The specific shapes of the first guide rail 110 and the second guide rail 120 are not limited to those shown in FIG. 7, and are within the technical idea of a shape capable of movably supporting the traveling unit 200, which will be described later. Various design changes are possible.

The branch rail 130 may be rotatably installed between the first guide rail 110 and the second guide rail 120. The branch rail 130 is connected to the first guide rail 110 or the second guide rail 120 depending on the rotation angle and may function as a component to change the direction of movement of the traveling unit 200.

The branch rail 130 may be disposed at a point where the first guide rail 110 and the second guide rail 120 intersect each other. The cross-sectional shape of the branch rail 130 may have a shape corresponding to the cross-sectional shape of the first guide rail 110 and the second guide rail 120. The branch rail 130 may be arranged horizontally in its longitudinal direction with respect to the ground. The branch rail 130 may be arranged parallel to the first guide rail 110 and the second guide rail 120. The length of the branch rail 130 may have a length corresponding to the length of the discontinuous section formed in the first guide rail 110 or the second guide rail 120. The central portion of the branch rail 130 may be rotatably supported about a direction perpendicular to the ground by a rail driving unit 140, which will be described later. When the first guide rail 110 and the second guide rail 120 intersect each other perpendicularly, the branch rail 130 is rotated at 90-degree intervals and both ends are connected to the first guide rail 110 or the second guide rail ( 120) can be connected alternately.

The rail driving unit 140 is connected to the branch rail 130 and generates a driving force to rotate the branch rail 130. The rail driving unit 140 may be configured to include various types of power generation means that can generate driving force to rotate the branch rail 130, such as an electric motor that receives power from the outside and generates rotational force. The rail driving unit 140 is disposed on the upper side of the branch rail 130 and can be supported by combining with anchors, brackets, etc. fixed to the ceiling or wall of a building. The rail driving unit 140 is connected to the central portion of the branch rail 130 and can rotate the branch rail 130 clockwise or counterclockwise about an axis perpendicular to the ground. The rail driving unit 140 may additionally include an angle sensor (not shown) capable of detecting the rotation angle of the branch rail 130.

The guide unit 100 may further include a power transmission unit 150.

The power transmission unit 150 may transmit power supplied from the traveling unit 200 to the rail driving unit 140. Accordingly, the rail driving unit 140 can be driven by the driving unit 200's own power without a separate external power supply, thereby reducing manufacturing costs due to installation of an additional power supply device.

The power transmission unit 150 may include a first terminal 151, a second terminal 152, and a third terminal 153.

The first terminal 151 is installed on the first guide rail 110 and may be electrically connected to the rail driving unit 140. The first terminal 151 may be formed to have the shape of a terminal protruding from the side of the first guide rail 110. The first terminal 151 may be formed of a material that can conduct electricity, such as copper. The first terminal 151 may be electrically connected to the rail driving unit 140 via a cable or the like. The first terminal 151 may be disposed adjacent to a point where the first guide rail 110 and the second guide rail 120 intersect each other. The first terminal 151 may be formed in plural numbers. The plurality of first terminals 151 may be symmetrically arranged on both sides of the first guide rail 110. The plurality of first terminals 151 may be arranged in at least two rows along the longitudinal direction of the first guide rail 110.

The second terminal 152 is installed on the second guide rail 120 and may be electrically connected to the rail driving unit 140. The second terminal 152 may be formed to have the shape of a terminal protruding from the side of the second guide rail 120. The second terminal 152 may be formed of a material that can conduct electricity, such as copper. The second terminal 152 may be electrically connected to the rail driving unit 140 through a cable or the like. The second terminal 152 may be disposed adjacent to a point where the first guide rail 110 and the second guide rail 120 intersect each other. The second terminal 152 may be formed in plural numbers. The plurality of second terminals 152 may be symmetrically disposed on both sides of the second guide rail 120. The plurality of second terminals 152 may be arranged in at least two rows along the longitudinal direction of the second guide rail 120.

The third terminal 153 is installed on the branch rail 130 and may be electrically connected to the rail driving unit 140. The third terminal 153 may be formed to have the shape of a terminal protruding from the side of the branch rail 130. The third terminal 153 may be formed of a material that can conduct electricity, such as copper. The third terminal 153 may be electrically connected to the rail driver 140 through a cable, etc., and may also be electrically connected to the rail driver 140 through the branch rail 130. The third terminal 153 may be formed in plural numbers. The plurality of third terminals 153 may be symmetrically disposed on both sides of the branch rail 130. The plurality of third terminals 153 may be arranged in at least two rows along the longitudinal direction of the branch rail 130.

The first terminal 151, the second terminal 152, and the third terminal 153 are supplied to the traveling unit 200, which will be described later, depending on the position of the traveling unit 200 when the traveling unit 200 is moved. It may be selectively contacted with the terminal 250. When the first terminal 151, the second terminal 152, and the third terminal 153 are in contact with the supply terminal 250, they are electrically connected to the traveling unit 200 and receive power supplied from the traveling unit 200. Power can be transmitted to the rail driving unit 140.

The guide unit 100 may further include a location tag 160 that provides information about the positions of the first terminal 151, the second terminal 152, and the third terminal 153. Accordingly, the location tag 160 can guide the supply terminal 250 of the traveling unit 200 to contact the first terminal 151, the second terminal 152, and the third terminal 153 at the correct position. .

The location tag 160 is installed on the side of the first guide rail 110, and the first location tag 161 provides location information about the first terminal 151, and is installed on the side of the second guide rail 120. A second location tag 162 is installed and provides location information about the second terminal 152, and a third location tag 162 is installed on the side of the branch rail 130 and provides location information about the third terminal 153. May include a location tag 163. The first location tag 161, the second location tag 162, and the third location tag 163 are connected to the first terminal 151, the second terminal 152, and the third terminal such as a barcode, QR code, and RFID tag ( 153) can be exemplified by various types of means that can provide information.

The traveling unit 200 is movably installed on the guide unit 100. The traveling unit 200 moves along the guide unit 100 by its own driving force and can transfer the transfer object to a location adjacent to the transfer point.

Figure 8 is a perspective view schematically showing the configuration of the running part, the carrier part, and the position adjusting part according to an embodiment of the present invention, and Figure 9 is a configuration of the running part, the carrier part, and the position adjusting part according to an embodiment of the present invention. It is a bottom perspective view schematically showing, Figure 10 is a perspective view schematically showing the configuration of the traveling part according to an embodiment of the present invention, and Figure 11 is an enlarged view schematically showing the configuration of the traveling part according to an embodiment of the present invention.

Referring to FIGS. 8 to 11 , the traveling unit 200 according to this embodiment may include a traveling body 210, a power supply unit 220, a traveling member 230, and a traveling driving unit 240.

The traveling body 210 forms a schematic appearance of the traveling unit 200 and can support the power supply unit 220, the traveling member 230, and the traveling driving unit 240 as a whole.

The traveling body 210 may include a first traveling body 211 and a second traveling body 212.

The first traveling body 211 forms the exterior of one side of the traveling body 210 and supports the position adjusting unit 400, which will be described later. The first traveling body 211 according to this embodiment may be formed to have a “ㄷ”-shaped cross section with an upper side and both front and rear ends open. The first traveling body 211 may be arranged so that its inner surface surrounds the guide portion 100. More specifically, the first traveling body 211 may be arranged to surround the first guide rail 110, the second guide rail 120, or the branch rail 130 inside depending on the position of the traveling unit 200. there is.

The second traveling body 212 forms the exterior of the other side of the traveling body 210 and supports the traveling member 230, which will be described later. The second traveling body 212 may be formed to have a substantially box shape and may be disposed to face the first traveling body 211. The second traveling body 212 may be formed in plural pieces. The plurality of second traveling bodies 212 may be arranged to be spaced apart from each other inside the first traveling body 211 . For example, the second traveling body 212 may be formed in four pieces and may be respectively disposed on different corners of the first traveling body 211 .

The power supply unit 220 may supply power for the operation of the guide unit 100, the traveling unit 200, the carrier unit 300, and the position adjusting unit 400. The power supply unit 220 can be exemplified by various types of batteries that can store power and can be charged and discharged. The power supply unit 220 is fixed to the first traveling body 211 and may move together with the first traveling body 211 when the traveling unit 200 moves. The power supply unit 220 may be disposed inside the first traveling body 211. Accordingly, the power supply unit 220 can be prevented from being damaged by external shocks or foreign substances.

The traveling member 230 is rotatably installed on the traveling body 210 and can movably support the traveling body 210 with respect to the guide portion 100. The traveling member 230 may be formed to have the shape of a wheel with a circular cross-section. The traveling member 230 may be rotatably connected to the second traveling body 212 about a central axis. The traveling member 230 may be formed in plural pieces. The plurality of traveling members 230 may be individually installed on different second traveling bodies 212. A plurality of traveling members 230 may be installed in plural numbers on each second traveling body 212.

The traveling member 230 may be in rolling contact with the upper and lower surfaces or the inside of the guide unit 100. More specifically, the traveling member 230 may be in rolling contact with the upper, lower, or inner surfaces of the first guide rail 110, the second guide rail 120, and the branch rail 130 depending on the position of the traveling unit 200. . The running member 230 may have a surface made of a material with a high friction coefficient such as rubber, silicone, or urethane to strengthen the frictional force with the first guide rail 110, the second guide rail 120, and the branch rail 130. You can. Accordingly, the traveling member 230 is rotated about the central axis by the traveling driving unit 240, which will be described later, and can be moved along the first guide rail 110, the second guide rail 120, or the branch rail 130. .

The traveling drive unit 240 is connected to the traveling member 230 and can generate driving force to rotate the traveling member 230. The traveling drive unit 240 may include various types of power generation means that can generate driving force to rotate the traveling member 230, such as an electric motor that receives power from the outside and generates rotational force. The travel driving unit 240 may be disposed inside the second travel body 212. The traveling drive unit 240 may be connected to the central axis of the traveling member 230 through a separate reducer (not shown) and a joint. The traveling drive unit 240 may be formed in plural pieces. The plurality of travel driving units 240 may be individually connected to each travel member 230.

The traveling unit 200 according to this embodiment may further include a supply terminal 250.

The supply terminal 250 is connected to the power supply unit 220 and selectively contacts the first terminal 151, the second terminal 152, and the third terminal 153 in response to changes in the position of the traveling body 210. do. When the supply terminal 250 contacts the first terminal 151, the second terminal 152, and the third terminal 153, the supply terminal 250 is connected to the first terminal 151, the second terminal 152, and the third terminal 153. Can be electrically connected. The supply terminal 250 may transmit power supplied from the power supply unit 220 to the first terminal 151, the second terminal 152, and the third terminal 153.

The supply terminal 250 may protrude from the traveling member 230 in a direction parallel to the central axis of the traveling member 230. The supply terminal 250 may be formed of an electrically conductive material such as copper. The supply terminal 250 may be electrically connected to the power supply unit 220 via wires, cables, etc. The supply terminal 250 may be connected to the traveling member 230 to be slidably movable in a direction parallel to the direction of the central axis of the traveling member 230. The supply terminal 250 is connected to various types of linear actuators such as ball nuts and hydraulic cylinders and can be moved back and forth in a direction parallel to the direction of the central axis of the traveling member 230. Accordingly, the supply terminal 250 is inserted into the inside of the traveling member 230 when the traveling part 200 is moved, so that interference with adjacent parts can be prevented, and the first terminal 151 and the second terminal 152 , When in contact with the third terminal 153, the length protruding from the traveling member 230 is adjusted and the contact state with the first terminal 151, second terminal 152, and third terminal 153 can be firmly maintained. there is. The supply terminal 250 may be formed in plural numbers. A plurality of supply terminals 250 may be individually installed on each traveling member 230.

The traveling unit 200 may further include an alignment member 260.

The alignment member 260 is rotatably installed on the traveling body 210 and can align the traveling member 230 with respect to the guide unit 100. That is, the alignment member 260 functions as a component that prevents the traveling member 230 from moving left and right in a direction parallel to the central axis when the traveling member 200 travels. Accordingly, the alignment member 260 can prevent the traveling member 230 from being separated from the guide unit 100. The alignment member 260 may be formed to have the shape of a wheel with a circular cross-section. The alignment member 260 may be rotatably connected to the second traveling body 212 about a central axis. The central axis of the alignment member 260 may be arranged perpendicular to the ground. A portion of the peripheral surface of the alignment member 260 may protrude into the first traveling body 211. The alignment member 260 may be in rolling contact with the side of the guide unit 100. More specifically, the alignment member 260 may be in rolling contact with the side surfaces of the first guide rail 110, the second guide rail 120, and the branch rail 130 depending on the position of the traveling unit 200. The alignment member 260 may be formed in plural pieces. The plurality of alignment members 260 may be individually rotatably connected to each second traveling body 212.

The second traveling body 212 may be rotatably connected to the first traveling body 211. As an example, the second traveling body 212 may be rotatably connected to the upper side of the first traveling body 211 through a rotation shaft, pin, etc. in a clockwise or counterclockwise direction. The second traveling body 212 may be rotated relative to the first traveling body 211 by receiving rotational force from a separate power device (not shown) such as an electric motor or cylinder.

The second traveling body 212 connects the traveling member 230 and the alignment member 260 to the guide portion 100, that is, the first guide rail 110, the second guide rail 120, or the branch rail ( 130) can be contacted or separated. For example, as the second traveling body 212 rotates toward the first guide rail 110, the second guide rail 120, or the branch rail 130, the traveling member 230 moves toward the first guide rail 110. ), may be in close contact with the inner surface of the second guide rail 120 or branch rail 130, and the alignment member 260 may be in close contact with the side of the branch rail 130. In addition, as the second traveling body 212 rotates in a direction away from the first guide rail 110, the second guide rail 120, or the branch rail 130, the traveling member 230 and the alignment member 260 Can be separated from the first guide rail 110, the second guide rail 120, or the branch rail 130. Accordingly, the traveling unit 200 can be easily mounted on the first guide rail 110, the second guide rail 120, or the branch rail 130 regardless of its position.

In this case, a rotation joint (U) whose angle is variable in response to the rotation of the second traveling body 212 may be installed between the traveling member 230 and the traveling driving unit 240. The rotary joint (U) may be exemplified as a universal joint in which both ends are connected to the traveling member 230 and the traveling driving unit 240, respectively. Both ends of the rotary joint (U) may be connected to the central axis of the traveling member 230 and the output shaft of the traveling driving unit 240 through separate reducers, etc. Accordingly, the rotary joint (U) can smoothly transmit power from the traveling drive unit 240 to the traveling member 230 during the rotation of the second traveling body 212.

The traveling unit 200 may further include a first mounting guide member 270 and a second mounting guide member 280.

The first mounting guide member 270 and the second mounting guide member 280 may function as a component that guides the rotational movement of the second traveling body 212 with respect to the first traveling body 211. Accordingly, the first mounting guide member 270 and the second mounting guide member 280 can prevent excessive load from being applied to the rotation axis of the second traveling body 212 and prevent the rotation of the second traveling body 212. You can prevent the path from being changed arbitrarily.

The first mounting guide member 270 may be rotatably connected to the first traveling body 211. The first mounting guide member 270 may be formed to have the shape of a plate extending from the first traveling body 211 toward the second traveling body 212. One end of the first mounting guide member 270 may be rotatably connected to the second traveling body 212 in the vertical direction. When the second traveling body 212 rotates, the first mounting guide member 270 may rotate clockwise or counterclockwise around the vertical direction together with the second traveling body 212.

The first mounting guide member 270 will be formed with a mounting guide rail 271 that is concavely recessed inside the first mounting guide member 270 and extends along the longitudinal direction of the first mounting guide member 270. You can.

One side of the second mounting guide member 280 may be connected to the second traveling body 212. One side of the second mounting guide member 280 may be rotatably connected to the second traveling body 212 about the vertical direction.

The other side of the second mounting guide member 280 may be connected to the first mounting guide member 270. More specifically, the other side of the second mounting guide member 280 may be connected to the mounting guide rail 271 so as to be able to slide along the extension direction of the mounting guide rail 271. The other side of the second mounting guide member 280 may slide and move on the first mounting guide member 270 in conjunction with the rotation of the second traveling body 212. Accordingly, when the second rotating body 212 rotates, the second mounting guide member 280 moves relative to the first mounting guide member 270 to connect the central axis of the second traveling body 212 to the first mounting guide member 280. As the central axes of the guide members 270 are spaced apart from each other, the rotational moment generated between the first mounting guide member 270 and the second mounting guide member 280 is removed, thereby causing damage to the first mounting guide member 270. can be prevented.

The carrier unit 300 moves together with the traveling unit 200 and can transfer the transfer object A to the serving unit 10 or collect it from the serving unit 10 . That is, the carrier unit 300 may function as a component that substantially supports the transfer object (A) during the process of transporting or collecting the transport object (A). The carrier unit 300 may be indirectly connected to the traveling unit 200 through a position adjusting unit 400, which will be described later.

The carrier unit 300 may be formed of one or more. For example, the carrier units 300 may be formed as a pair and arranged side by side with each other. A pair of carrier parts 300 may be integrally connected with one surface in contact. However, the number of carrier parts 300 is not limited to this, and the design can be changed to various numbers such as one or three or more.

Figure 12 is a perspective view schematically showing the configuration of the carrier portion according to an embodiment of the present invention, Figure 13 is a bottom perspective view schematically showing the configuration of the carrier portion according to an embodiment of the present invention, and Figure 14 is an embodiment of the present invention. This is a perspective view schematically showing the configuration of the carrier part according to an embodiment.

Referring to FIGS. 1 to 14 , the carrier unit 300 may include a carrier body 310 and a gripper 320.

The carrier body 310 forms a rough skeleton of the carrier portion 300 and can support the gripper 320, which will be described later. The carrier body 310 may be formed to have a substantially flat shape. The carrier body 310 may be indirectly connected to the traveling unit 200 through a position adjusting unit 400, which will be described later. The carrier body 310 can be detachably coupled to the position adjusting unit 400 to easily perform replacement work. The cross-sectional shape of the carrier body 310 can be changed to various shapes such as circular and oval in addition to the square shape shown in FIG. 12.

The gripper 320 is movably installed on the carrier body 310 and can grip the transfer object A or be separated from the transfer object A depending on the direction of movement. There may be a plurality of grippers 320. A plurality of grippers 320 may be symmetrically disposed on both sides of the carrier body 310. Accordingly, the plurality of grippers 320 can support the transfer object (A) at different positions, thereby improving the support stability of the transfer object (A).

The gripper 320 may include a first gripper 321 and a second gripper 322.

The first gripper 321 may be connected to the carrier body 310 to be slidably movable in the horizontal direction. That is, the first gripper 321 may function as a component that adjusts the horizontal length of the gripper 320.

The second gripper 322 may be connected to the first gripper 321 to be able to slide in the vertical direction, that is, in the up and down direction. That is, the second gripper 322 may function as a component that adjusts the vertical length of the gripper 320.

Figure 15 is a block diagram schematically showing the configuration of a gripper according to an embodiment of the present invention.

Referring to FIG. 15, the gripper 320 may further include a gripper driving unit 323. The gripper driving unit 323 may function as a component that moves the first gripper 321 and the second gripper 322 by generating a driving force. The gripper driving unit 323 includes various types of power generation means that generate driving force by receiving power from the outside, such as an electric motor or hydraulic cylinder, and the driving force generated from the power generating means to the first gripper 321 and the second gripper 322. ) may be configured to include various types of power transmission means consisting of gears, ball screws, joints, or combinations thereof. The gripper driving unit 323 may be connected to the first gripper 321 and the second gripper 322 to independently control the movements of the first gripper 321 and the second gripper 322. For example, a plurality of gripper driving units 323 may be provided, and each gripper driving unit 323 may be individually connected to the first gripper 321 and the second gripper 322.

The gripper 320 may enter the interior of the cabinet 11 through the guide hole 19 or may be separated from the interior of the cabinet 11 when the position adjusting unit 400, which will be described later, operates. Accordingly, the gripper 320 can stably seat the transfer object (A) inside the cabinet 11.

The carrier part 300 may further include a sealing part 330.

The sealing portion 330 may be formed to have a box shape with an empty interior and an open lower side. The sealing portion 330 may have an upper end connected to the lower side of the carrier body 310 and a lower end extending downward from the carrier body 310. The sealing portion 330 may be arranged to surround the peripheral surface of the cabinet 11 as the carrier body 310 moves toward the entry hole 12. Accordingly, when the transfer object (A) is moved upward from the cabinet 11 by the gripper 320, the sealing part 330 is such that an object such as a spoon protruding to the outside of the transfer object (A) is moved to the transfer object (A). It can prevent it from leaving.

A first contact sensor 331 that detects contact with the cabinet 11 and a second contact sensor 332 that detects contact with the transfer object (A) may be installed on the inner surface of the sealing unit 330. . The first contact sensor 331 and the second contact sensor 332 may be exemplified as a band-shaped load cell extending along the inner surface of the sealing portion 330.

The position adjusting unit 400 is provided between the traveling unit 200 and the carrier unit 300, and supports the carrier unit 300 with respect to the traveling unit 200. The position adjusting unit 400 may be provided to adjust the relative position of the carrier unit 300 with respect to the traveling unit 200 using its own driving force. Accordingly, the position control unit 400 can guide the transfer object (A) to be smoothly transferred between the traveling unit 200 and the serving unit 10, which are spaced apart from each other, and the transfer object A by the carrier unit 300 The transferable range of (A) can be expanded beyond the traveling path of the traveling unit 200.

The position adjusting unit 400 may include a first position adjusting unit 410 and a second position adjusting unit 420.

The first position adjusting unit 410 is connected to the traveling unit 200 and can adjust the horizontal position of the carrier unit 300. That is, the first position adjusting unit 410 may function as a component that adjusts the position of the carrier unit 300 in a direction horizontal to the ground.

Figure 16 is a block diagram schematically showing the configuration of the first position adjusting unit according to an embodiment of the present invention.

Referring to FIGS. 1 to 16 , the first position adjusting unit 410 may include a rotating body 411, an extension unit 413, and a balancing unit 415.

The rotating body 411 is rotatably connected to the traveling unit 200 and can support an extension unit 413 and a balancing unit 415, which will be described later. The rotating body 411 may function as a component that rotates the carrier unit 300 around a direction perpendicular to the ground.

The rotating body 411 may be formed so that both ends extend in opposite directions with respect to the central axis. The rotating body 411 may be arranged to face the lower side of the first traveling body 211. The rotating body 411 may be rotatably connected to the lower side of the first traveling body 211 about a central axis. The central axis of the rotating body 411 may be arranged parallel to the direction perpendicular to the ground.

The rotation body 411 may be connected to the rotation drive unit 412. The rotating body 411 may be rotated clockwise or counterclockwise about the central axis in conjunction with the driving force generated from the rotation driving unit 412. The rotation drive unit 412 is capable of converting the driving force generated from various types of power generation means such as electric motors and hydraulic cylinders that generate driving force by receiving power from the outside and the power generation means into the rotational movement of the rotary body 411. It may be configured to include various types of power transmission means consisting of gears, ball screws, joints, or combinations thereof. The rotation drive unit 412 may be disposed inside the first traveling body 211, or alternatively, it may be installed separately outside the first traveling body 211.

The longitudinal direction of the rotating body 411 described below is parallel to the ground and may refer to a direction parallel to both ends of the rotating body 411 to which the extension portion 413 and the balancing portion 415 are respectively connected. The longitudinal direction of the rotary body 411 may change depending on the rotation angle of the rotary body 411.

The extension part 413 is connected to one side of the rotating body 411 and can support the second position adjusting part 420, which will be described later. The extension portion 413 is provided to adjust its length in a direction parallel to the longitudinal direction of the rotary body 411 and can function as a component that varies the horizontal distance between the rotary body 411 and the carrier portion 300.

The extension part 413 may include a plurality of extension arms 413a.

A plurality of extension arms 413a may be sequentially connected from one end of the rotating body 411. The plurality of extension arms 413a may be arranged side by side with each other. The plurality of extension arms 413a may be connected to each other so as to slide in a direction parallel to the longitudinal direction of the rotary body 411. More specifically, the extension arm 413a disposed at one end of the plurality of extension arms 413a may be connected to the rotary body 411 to enable reciprocating slide movement in a direction parallel to the longitudinal direction of the rotary body 411. In the plurality of extension arms 413a excluding the extension arm 413a connected to the rotating body 411, one extension arm 413a of a pair of neighboring extension arms 413a is connected to the remaining extension arm 413a. ) can be connected to enable reciprocating slide movement.

The plurality of extension arms 413a may be formed to have different cross-sectional areas so as not to interfere with each other's slide movement. The extension arm 413a disposed at the other end of the plurality of extension arms 413a is connected to the second position control unit 420, which will be described later, and can support the second position control unit 420.

As the plurality of extension arms 413a slide in a direction away from the rotary body 411, the length of the extension part 413 can be increased and the horizontal distance between the rotary body 411 and the carrier unit 300 can be increased. there is. In addition, the plurality of extension arms 413a slide in a direction closer to the rotary body 411, thereby shrinking the length of the extension part 413 and increasing the horizontal distance between the rotary body 411 and the carrier unit 300. can be reduced.

The plurality of extension arms 413a may be connected to the extension drive unit 414. The plurality of extension arms 413a may slide and move in conjunction with the driving force generated from the extension drive unit 414. The extension drive unit 414 includes various types of power generation means that generate driving force by receiving power from the outside, such as electric motors and hydraulic cylinders, and converts the driving force generated from the power generation means into a linear reciprocating motion of the extension arm (413a). It can be configured to include various types of power transmission means consisting of gears, ball screws, joints, or combinations thereof. The extension drive unit 414 may be placed inside the extension arm 413a, or alternatively, it may be installed separately outside the extension arm 413a. The extension unit 414 may be formed in plural numbers. The plurality of extension drives 414 may be individually connected to each extension arm 413a. The plurality of extension drives 414 can individually slide and move each extension arm 413a.

The balancing unit 415 is connected to the other side of the rotating body 411 and maintains the balance of the rotating body 411. That is, the balancing unit 415 functions as a component that offsets the rotational moment acting on the rotating body 411 with its own weight as the length of the extension unit 413 increases. Accordingly, the balancing unit 415 can prevent damage and vibration of components due to the rotational moment acting on the rotating body 411 during the expansion and contraction process of the extension unit 413.

Figure 17 is a perspective view schematically showing the configuration of a balancing unit according to an embodiment of the present invention, and Figures 18 to 20 are diagrams schematically showing the operation process of the balancing unit according to an embodiment of the present invention.

Referring to FIGS. 1 to 20 , the balancing unit 415 may include a first balancing member 415a and a second balancing member 415b.

The first balancing member 415a is rotatably connected to the other side of the rotating body 411 and supports the second balancing member 415b, which will be described later. The first balancing member 415a may be expanded toward the outside of the rotating body 411 or folded toward the rotating body 411 depending on the rotation direction. That is, the first balancing member 415a rotates with respect to the other side of the rotating body 411 and may function as a component to adjust the installation angle of the second balancing member 415b.

The first balancing member 415a may be formed to have various types of arm shapes having a predetermined length. One end of the first balancing member 415a may be rotatably connected to the other end of the rotary body 411, that is, the end opposite to the end to which the extension part 413 is connected. In this case, the first balancing member 415a may be connected to be rotatable about a direction that is perpendicular to the longitudinal direction of the rotating body 411 and horizontal to the ground.

The first balancing member 415a may be connected to the first balancing drive unit 416. The first balancing member 415a may be rotated clockwise or counterclockwise about one end of the first balancing member 415a in response to the driving force generated from the first balancing drive unit 416.

The first balancing actuator 416 includes various types of power generation means that generate driving force by receiving power from the outside, such as an electric motor or hydraulic cylinder, and the driving force generated from the power generation means to rotate the first balancing member 415a. It may be configured to include various types of power transmission means consisting of gears, ball screws, joints, or a combination of these that can be converted into. The first balancing drive unit 416 may be disposed inside the first balancing member 415a, or alternatively, it may be installed separately outside the first balancing member 415a.

When the first balancing member 415a is completely rotated to one side, its longitudinal direction may be arranged parallel to the longitudinal direction of the rotating body 411. When the first balancing member 415a is completely rotated to the other side, it may be disposed to face the outer surface of the cover part 340. Accordingly, the first balancing member 415a can be prevented from directly colliding with an adjacent object while the traveling unit 200 is traveling.

The second balancing member 415b may be connected to the first balancing member 415a in a reciprocating manner. The length of the second balancing member 415b may vary depending on the direction of movement.

One end of the second balancing member 415b may be slidably inserted into the other end of the first balancing member 415a. The second balancing member 415b may be supported so that its longitudinal direction is movable in a direction parallel to the longitudinal direction of the first balancing member 415a. The weight of the second balancing member 415b has a value greater than the combined weight of the extension part 413 connected to one end of the rotating body 411, the second position adjusting part 420, and the carrier part 300. You can.

There may be a plurality of second balancing members 415b. A plurality of second balancing members 415b may be sequentially connected from one end of the first balancing member 415a. The plurality of second balancing members 415b may be arranged side by side with each other.

The plurality of second balancing members 415b may be connected to each other so that they can slide in a direction parallel to the longitudinal direction of the first balancing member 415a. More specifically, the second balancing member 415b disposed at one end of the plurality of second balancing members 415b slides reciprocally on the first balancing member 415a in a direction parallel to the longitudinal direction of the first balancing member 415a. Can be movably connected.

In the plurality of second balancing members (415b) excluding the second balancing member (415b) connected to the first balancing member (415a), one second balancing member ( 415b) may be connected to the remaining second balancing member 415b to enable reciprocating slide movement.

The plurality of second balancing members 415b may be formed to have different cross-sectional areas so as not to interfere with each other's slide movement.

The plurality of second balancing members 415b may be extended as they slide in a direction away from the first balancing member 415a. Additionally, the plurality of second balancing members 415b may contract as they slide in a direction closer to the first balancing member 415a.

As the second balancing member 415b slides in a direction away from the first balancing member 415a, the size of the compensation moment to offset the rotational moment applied to the rotating body 411 by the extension portion 413 increases. You can do it. Conversely, as the second balancing member 415b slides in a direction closer to the first balancing member 415a, the magnitude of the compensation moment acting on the rotating body 411 can be reduced. Accordingly, the balancing unit 415 can vary the size of the compensation moment acting on the rotary body 411 in response to the expansion and contraction motion of the extension part 413, thereby maintaining the balance of the rotary body 411 more stably. .

The second balancing member 415b may be connected to the second balancing drive unit 417. The second balancing member 415b may be moved back and forth in a direction parallel to the longitudinal direction of the first balancing member 415a in response to the driving force generated from the second balancing drive unit 417.

The second balancing drive unit 417 includes various types of power generation means that generate driving force by receiving power from the outside, such as electric motors and hydraulic cylinders, and the driving force generated from the power generation means through the linear reciprocating force of the second balancing member 415b. It may be configured to include various types of power transmission means consisting of gears, ball screws, joints, or combinations thereof that can be converted into movement. The second balancing drive unit 417 may be disposed inside the first balancing member 415a, or alternatively, it may be installed separately outside the first balancing member 415a.

The second balancing drive unit 417 can individually slide and move each second balancing member 415b. In this case, the second balancing drive unit 417 can move each second balancing member 415b by the same distance, and it is also possible to move each second balancing member 415b by different lengths. The second balancing drive unit 417 may be formed in plural pieces. The plurality of second balancing drives 417 may be individually connected to each second balancing member 415b.

The balancing unit 415 may further include a third balancing member 415c and a third balancing drive unit 418.

The third balancing member 415c may be rotatably connected to the second balancing member 415b. More specifically, the third balancing member 415c is a second balancing member 415b located at the other end of the plurality of second balancing members 415b, that is, a second balancing member located on the opposite side of the first balancing member 415a. It may be rotatably connected to (415b). In this case, the third balancing member 415c may be rotatably connected to a hinge body to which the second balancing member 415b located at the other end of the plurality of second balancing members 415b is rotatably connected. In contrast, the third balancing member 415c may be rotatably directly connected to the second balancing member 415b located at the other end of the plurality of second balancing members 415b.

The third balancing member 415c may be rotatably connected to the second balancing member 415b about an axis parallel to the first balancing member 415a. The third balancing member 415c rotates in the opposite direction to the first balancing member 415a and may be expanded toward the outside of the rotating body 411 or folded toward the rotating body 411. That is, when the first balancing member 415a is rotated clockwise (based on Figure 36), the third balancing member 415c is rotated counterclockwise, and the first balancing member 415a and the third balancing member ( The angle between 415c) can be increased. Conversely, when the first balancing member 415a is rotated counterclockwise (based on Figure 36), the third balancing member 415c is rotated clockwise, and the first balancing member 415a and the third balancing member ( The angle between 415c) can be reduced. Accordingly, the third balancing member 415c can reduce the number of the plurality of second balancing members 415b compared to the same deployment length of the balancing unit 415, thereby increasing the space utilization of the balancing unit 415 and reducing The counterweight performance of the balancing unit 415 can be secured even through movement.

The third balancing member 415c may be connected to the third balancing drive unit 418. The third balancing member 415c may be rotated clockwise or counterclockwise about the second balancing member 415b in conjunction with the driving force generated from the third balancing drive unit 418.

Figure 21 is an enlarged view schematically showing the configuration of the third balancing drive unit according to an embodiment of the present invention.

Referring to FIG. 21, the third balancing drive unit 418 may include a balancing motor 418a, an output gear 418b, a first transmission gear 418c, and a second transmission gear 418d.

The balancing motor 418a may be exemplified by various types of electric motors that receive power from the outside and generate rotational force. The balancing motor 418a may be disposed between the third balancing member 415c and the second balancing member 415b and fixed to the hinge body. The output shaft of the balancing motor 418a may be arranged parallel to the rotation axis of the third balancing member 415c.

The output gear 418b is connected to the output shaft of the balancing motor 418a and can be rotated by receiving rotational force from the balancing motor 418a. The output gear 418b may have its central axis parallel to the rotation axis of the third balancing member 415c. The output gear 418b may be a worm gear.

The first transmission gear 418c and the second transmission gear 418d are disposed on both sides of the output gear 418b and may be engaged and coupled with the output gear 418b. The first transmission gear 418c and the second transmission gear 418d may rotate in opposite directions when the output gear 418b rotates. In this case, the first transmission gear 418c and the second transmission gear 418d may rotate at the same angular speed. The first transmission gear 418c and the second transmission gear 418d may be connected to the second balancing member 415b and the third balancing member 415c, respectively. The first transmission gear 418c and the second transmission gear 418d rotate the second balancing member 415b and the third balancing member 415c in opposite directions about the hinge body when the output gear 418b rotates. You can do it. Accordingly, the second balancing member 415b and the third balancing member 415c may be unfolded or folded at the same angle around the output gear 418b.

Figure 22 is an enlarged view schematically showing the configuration of the first conversion member, the second conversion member, and the height sensor according to an embodiment of the present invention, and Figure 23 is an enlarged view showing the first conversion member, the second conversion member, and the height sensor according to an embodiment of the present invention. 2This is a diagram schematically showing the operating status of the conversion member and height sensor.

22 and 23, the first position adjusting unit 410 may further include a first conversion member 4191, a second conversion member 4195, and a height sensor 4199.

The first conversion member 4191, the second conversion member 4195, and the height sensor 4199 are provided between the traveling unit 200 and the rotating body 411, and the rotating body 411 relative to the traveling unit 200 ) can function as a configuration for detecting the relative rotation angle of

The first conversion member 4191 is provided on the rotating body 411 and can rotate together with the rotating body 411.

A rotation hole 411a may be formed in the rotating body 411, which passes vertically up and down through the rotating body 411, and whose central axis is located coaxially with the central axis C of the rotating body 411.

The first conversion member 4191 may further include a first stopper 4192, a second stopper 4193, and a conversion rail 4194.

The first stopper 4192 and the second stopper 4193 have the shape of a groove that is concavely recessed from the inner peripheral surface of the rotating body 411 arranged to surround the rotating hole 411a toward the outer peripheral surface of the rotating body 411. It can be formed to have. The first stopper 4192 and the second stopper 4193 may be arranged to be spaced apart from each other along the vertical direction.

The conversion rail 4194 may be formed to have the shape of a groove that is concavely recessed from the inner peripheral surface of the rotating body 411 toward the outer peripheral surface of the rotating body 411. Both ends of the conversion rail 4194 may be connected to the first stopper 4192 and the second stopper 4193, respectively. Accordingly, one side of the first stopper 4192 and the second stopper 4193 can be connected to each other through the conversion rail 4194. The other surfaces of the first stopper 4192 and the second stopper 4193 may be closed by the rotating body 411.

The conversion rail 4194 may be arranged to surround the central axis of the rotating body 411. The conversion rail 4194 may extend spirally from the first stopper 4192 toward the second stopper 4193 along the inner peripheral surface of the rotating body 411. That is, the conversion rail 4194 may be formed to have the shape of a screw groove whose height gradually increases as it moves from the first stopper 4192 to the second stopper 4193.

The second conversion member 4195 may be installed on the traveling unit 200 to be able to move up and down. The second conversion member 4195 is connected to the first conversion member 4191, and when the rotary body 411 rotates, it is moved up and down in conjunction with the rotation of the first conversion member 4191, which rotates together with the rotary body 411. can be moved

The second conversion member 4195 may include a support part 4196, a moving part 4197, and an insertion part 4198.

The support portion 4196 is fixed to the upper surface of the first traveling body 211 and may be formed to have the shape of a plate whose longitudinal direction extends in the vertical direction.

The moving part 4197 is disposed to face the rotation hole 411a and can be connected to the support part 4196 to be able to slide along the vertical direction. The lower end of the moving part 4197 may be inserted into the rotary hole 411a or separated from the rotating hole 411a depending on the moving direction of the moving part 4197.

The insertion part 4198 extends from the moving part 4197 and can be inserted into the conversion rail 4194. The insertion portion 4198 may be moved toward the first stopper 4192 or the second stopper 4193 along the extension direction of the conversion rail 4194 when the rotary body 411 rotates. The insertion portion 4198 contacts the other surface of the first stopper 4192 when the rotating body 411 is rotated more than a set angle along either the clockwise or counterclockwise direction about the central axis C. It can be. The insertion portion 4198 contacts the other surface of the second stopper 4193 when the rotating body 411 is rotated more than a set angle along the remaining direction of clockwise or counterclockwise around the central axis C. It can be. Accordingly, the first stopper 4192 and the second stopper 4193 limit the maximum rotation angle of the rotating body 411 to prevent cables from becoming entangled due to excessive rotation of the rotating body 411, and the rotating body 411 ) can provide a reference point for rotational motion.

A contact sensor (not shown) capable of detecting a contact state with the insertion portion 4198 may be additionally installed in the first stopper 4192 and the second stopper 4193. The contact sensor may be exemplified by various means that can detect the state of contact with the insertion part 4198, such as a load cell, optical sensor, or switch.

The height sensor 4199 can detect a change in the height of the second conversion member 4195. The height sensor 4199 may be exemplified by various types of height measurement means such as a position sensor or a camera that can detect a change in the height of the second conversion member 4195. The height sensor 4199 may be fixed to the support part 4196 or the first traveling body 211.

The rotation angle measurement structure using the first conversion member 4191, the second conversion member 4195, and the height sensor 4199 can be equally applied to the connection point between the support frame 421 and the extension portion 413. .

The second position adjusting unit 420 is connected to the first position adjusting unit 410 and adjusts the vertical position of the carrier unit 300. That is, the first position adjusting unit 410 may function as a component that adjusts the position of the carrier unit 300 in a direction perpendicular to the ground.

Figure 24 is an enlarged view schematically showing the configuration of the second position adjusting unit according to an embodiment of the present invention.

Referring to FIGS. 2, 3, and 24, the second position adjusting unit 420 may include a support frame 421 and a lifting unit 422.

The support frame 421 is connected to the first position adjusting unit 410 and may function as a fixing element whose position is fixed when the lifting unit 422, which will be described later, operates. The support frame 421 may be disposed below the extension portion 413. The upper end of the support frame 421 may be connected and supported to an extension arm 413a disposed at the other end of the plurality of extension arms 413a. The support frame 421 may be arranged horizontally with respect to the ground. The specific shape of the support frame 421 is not limited to the shape shown in FIG. 24, and various design changes can be made within the technical idea of a shape that is connected to the extension arm 413a and can overall support the lifting drive unit 422, which will be described later. This is possible. The support frame 421 may be rotatably connected to the extension arm 413a disposed at the other end of the plurality of extension arms 413a in the vertical direction.

The lifting drive unit 422 is connected to the support frame 421 and generates a driving force to move the carrier unit 300 up and down with respect to the support frame 421.

The lifting drive unit 422 may include a wire part 423a and a lifting drive member 423b.

The wire portion 423a may be formed to have a string shape capable of transmitting tension in the longitudinal direction. The lower end of the wire portion 423a may be connected to the upper end of the carrier body 310. In this case, the lower end of the wire portion 423a may be integrally connected to the upper end of the carrier body 310 by welding, etc., and the lower end may be detachably connected to the upper end of the carrier body 310 by bolting or the like. . The wire portion 423a may be formed of a material with high rigidity, such as steel, to prevent breakage due to the load of the carrier portion 300 and the transported object.

There may be a plurality of wire portions 423a. The lower ends of the plurality of wire parts 423a may be connected to different positions of the carrier body 310. For example, as shown in FIG. 3, the lower end of each wire portion 423a may be connected to the upper edge of the carrier body 310.

The lifting drive member 423b is fixed to the support frame 421 and may be connected to the upper end of the wire portion 423a. The lifting drive member 432b generates a driving force to wind or unwind the wire part 423a and can move the carrier part 300 up and down.

The lifting drive member 423b is connected to an electric motor that receives power from the outside and generates rotational force, and the upper part of the wire portion 423a, and the wire portion 423a is wound or wound on the circumferential surface by the rotational force generated from the electric motor. It may be configured to include an unwinding winch, etc. The lifting drive member 423b may be placed inside the support frame 421, or alternatively, it may be placed outside the support frame 421. A plurality of lifting driving members 423b may be provided and individually connected to each wire portion 423a.

Figure 25 is a block diagram schematically showing the configuration of a detection unit and a control unit according to an embodiment of the present invention.

Referring to FIGS. 1 to 25 , the transfer device according to this embodiment may further include a detection unit 600 and a control unit 700.

The detection unit 600 can detect objects outside the traveling unit 200 and the carrier unit 300, the marking unit (m), and the location tag 160.

The detection unit 600 may include a detection body 610, a lidar sensor 620, a first camera 630, a first antenna 640, a second antenna 650, and a second camera 660. there is.

The sensing body 610 may be rotatably installed on the lower side of the carrier unit 300. The sensing body 610 is coupled to the carrier body 310 and may be supported by the carrier body 310. The specific shape of the sensing body 610 is not limited to the shape shown in FIG. 13, and various design changes are possible within the technical idea of a shape that can be rotatably connected to the carrier unit 300.

The lidar sensor 620 detects the position and distance of objects around the marking part (m) and the carrier part 300. The lidar sensor 620 may be mounted on the sensing body 610. The lidar sensor 620 rotates together with the sensing body 610 when the sensing body 610 rotates, and the sensing direction can be varied.

The first camera 630 can be exemplified as various types of photographing means that can acquire image information around the traveling unit 200 and the carrier unit 300 in real time. The first camera 630 may be mounted on the sensing body 610. When the sensing body 610 rotates, the first camera 630 rotates together with the sensing body 610 and the shooting direction can be varied.

The sensing body 610 is connected to a control unit 700, which will be described later, and the rotation direction and angle can be adjusted by control of the control unit 700. To this end, the sensing body 610 may be configured to include a power device (not shown) such as an electric motor. The control unit 700 may rotate the sensing body 610 so that the lidar sensor 620 and the first camera 630 face the moving direction of the traveling unit 200. As an example, the control unit 700 controls the lidar sensor 620 and the first camera 630 to move the front lower side of the carrier unit 300 when the traveling unit 200 moves forward along the guide unit 100. The sensing body 610 can be rotated to face. Accordingly, the detection unit 600 can detect the surrounding area of the carrier unit 300 with only a single lidar sensor 620 and the first camera 630.

The first antenna 640 can wirelessly detect the identification mark formed on the marking portion (m). The first antenna 640 may be installed on the lower side of the carrier unit 300. The specific detection method of the first antenna 640 can be designed in various ways depending on the type of identification mark formed on the marking portion (m).

The second antenna 650 can detect the location tag 160 formed on the guide unit 100 during the driving process of the travel unit 200. The second antenna 650 may be installed on the second traveling body 212. The second antenna 650 may be formed in plural numbers. A plurality of second antennas 650 may be individually installed on each second traveling body 212. The specific detection method of the second antenna 650 can be designed in various ways depending on the information storage type of the first location tag 161, the second location tag 162, and the third location tag 163.

The second camera 660 can be exemplified as various types of photographing means that can acquire image information around the traveling unit 200 and the carrier unit 300 in real time. The second camera 660 may be arranged to be spaced apart from the sensing body 610 with the carrier unit 300 interposed therebetween. The second camera 660 is integrally connected to the carrier body 310 and may extend downward from the carrier body 310 to the sealing portion 330.

The lidar sensor 620, first antenna 640, second antenna 650, first camera 630, second camera 660, and load cell wirelessly or It can be delivered by wire.

The control unit 700 operates the guide unit 100, the traveling unit 200, the carrier unit 300, and the position adjusting unit 400 based on the data detected from the sensing unit 600 and the command signal generated by the user input. and overall controls the operation of the fixing unit 500. More specifically, the control unit 700 detects data from the lidar sensor 620, the first antenna 640, the second antenna 650, the first camera 630, and the second camera 660, and serves A command signal is received from the control unit 16, and based on the received data and command signals, a rail drive unit 140, a traveling drive unit 240, a supply terminal 250, a gripper drive unit 323, a rotation drive unit 412, The operations of the extension drive unit 414, the first balancing drive unit 416, the second balancing drive unit 417, the third balancing drive unit 418, the lifting drive member 422b, and the sensing body 610 can be controlled. Here, the user input may include input directly input to the control unit 700 through the user's terminal, an external PC, etc., in addition to the input input by the user to the second serving switch 17b.

The control unit 700 is connected to the height sensor 4199 by wire or wirelessly, calculates the rotation angle of the rotating body 411 based on the data detected from the height sensor 4199 and the detection unit 600, and calculates the rotation angle of the rotating body 411. The operation of the rotation drive unit 412 can be controlled based on the information.

The control unit 700 may be implemented as an electronic control unit (ECU), a central processing unit (CPU), a processor, or a system on chip (SoC), and runs an operating system or application. Thus, a plurality of hardware or software components can be controlled, and various data processing and calculations can be performed. The control unit 700 may be configured to execute at least one command stored in memory and store execution result data in memory.

Hereinafter, the operation process of the transfer device according to an embodiment of the present invention will be described in detail.

26 to 36 are diagrams schematically showing the operation process of the transfer device according to an embodiment of the present invention.

19 to 28, as an order is received from a user, the employee inputs unique information of the cabinet 11 into the control unit 700, and the traveling unit 200 moves the gripper 320 to the serving table 3. ) is moved along the guide unit 100 while holding the transfer object (A) provided from.

The detection unit 600, more specifically the first antenna 640, detects the marking units (m) provided on the plurality of tables (2) while the traveling unit 200 is traveling.

The control unit 700 determines whether the unique information of the cabinet 11 stored in the marking portion m detected by the first antenna 640 matches the unique information of the cabinet 11 input by the employee.

If the unique information of the cabinet 11 stored in the marking portion (m) detected by the first antenna 640 matches the unique information of the cabinet 11 input by the employee, the control unit 700 The travel driving unit 240 is operated so that the unit 200 travels to a position close to the corresponding marking part m.

In this process, the control unit 700 rotates the sensing body 610 so that the LiDAR sensor 620 and the first camera 630 face the traveling direction of the traveling unit 200, and the LiDAR sensor 620 and the first camera 630 1Camera 630 can detect obstacles placed in the traveling direction of the traveling unit 200.

Meanwhile, when the traveling direction of the traveling unit 200 needs to be changed during the traveling process of the traveling unit 200, the control unit 700 can operate the rail driving unit 140.

For example, while the traveling unit 200 travels along the second guide rail 120, the second antenna 650 detects the second location tag 162 formed on the second guide rail 120. .

Afterwards, the control unit 700 operates at the intersection point of the first guide rail 110 and the second guide rail 120, which are currently located in front of the travel unit 200, based on the set travel path information of the travel unit 200. It is determined whether the traveling direction of the unit 200 should be changed.

When it is determined that the traveling direction of the traveling unit 200 should be changed, the control unit 700 determines the distance between the supply terminal 250 and the second terminal 152 based on the data detected from the second antenna 650. Calculate, and control the operation of the travel drive unit 240 so that the travel unit 200 stops at a position where the supply terminal 250 and the second terminal 152 can be contacted according to the calculated distance data.

Thereafter, the control unit 700 protrudes the supply terminal 250 to the outside of the traveling member 230 to bring the supply terminal 250 and the second terminal 152 into contact.

As the supply terminal 250 and the second terminal 152 come into contact, the power supplied from the power supply unit 220 is transmitted to the rail driving unit 140.

Thereafter, the control unit 700 operates the rail driving unit 140 to rotate the branch rail 130 in the direction in which it is connected to the second guide rail 120.

As the branch rail 130 is connected to the second guide rail 120, the control unit 700 operates the travel drive unit 240 so that the travel unit 200 moves to the branch rail 130.

As the traveling unit 200 moves to the branch rail 130, the second antenna 650 detects the third location tag 163.

The control unit 700 calculates the distance between the supply terminal 250 and the third terminal 153 based on the data sensed from the second antenna 650, and moves the driving unit 200 to the supply terminal according to the calculated distance data. The operation of the travel drive unit 240 is controlled so that it stops at a position where the terminal 250 and the third terminal 153 can be contacted.

The control unit 700 protrudes the supply terminal 250 to the outside of the traveling member 230 to bring the supply terminal 250 and the third terminal 153 into contact.

As the supply terminal 250 and the second terminal 152 come into contact, the power supplied from the power supply unit 220 is transmitted to the rail driving unit 140.

Thereafter, the control unit 700 operates the rail driving unit 140 so that the branch rail 130 rotates in the direction in which it is connected to the first guide rail 110.

As the branch rail 130 is connected to the first guide rail 110, the control unit 700 operates the travel drive unit 240 so that the travel unit 200 moves to the first guide rail 110.

29 and 30, as the traveling unit 200 is located within a set distance from the marking unit (m), the control unit 700 stops the operation of the rail driving unit 140 so that the traveling unit 200 stops. .

Thereafter, the control unit 700 determines the rotation angle of the rotating body 411 and the extension portion ( The extension length of 413) is calculated, and the rotation drive unit 412 and the extension drive unit 414 are operated according to the calculated information.

As the rotation drive unit 412 and the extension drive unit 414 operate, the rotation body 411 is rotated about the direction perpendicular to the ground by the calculated rotation angle, and the extension part 413 is extended by the calculated length. .

In the process of extending the extension part 413, the control unit 700 operates the first balancing drive part 416, the second balancing drive part 417, and the first balancing drive part 416 to offset the rotational force applied from the extension part 413 to the rotating body 411. 3Operate the balancing drive unit 418. That is, the control unit 700 operates the first balancing drive unit 416 to move the first balancing member 415a, the second balancing member 415b, and the third balancing member 415c in a direction away from the rotating body 411. The second balancing drive unit 417 and the third balancing drive unit 418 can be operated.

As the transfer object A and the entry hole 12 are aligned in a direction perpendicular to the ground, the control unit 700 operates the lifting drive unit 422 so that the carrier unit 300 moves downward.

In this process, if the alignment of the transfer object (A) and the entry hole 12 is misaligned, the control unit 700 operates the rotation drive unit 412 and the extension drive unit 414 based on the data detected by the detection unit 600. By operating , the relative position of the fixing part 500 with respect to the marking part (m) can be continuously corrected.

Referring to FIGS. 31 and 32 , as the carrier unit 300 moves downward over a predetermined distance, the transfer object A enters the interior of the cabinet 11 through the entry hole 12.

In this process, as the gripper 320 enters the inside of the cabinet 11 through the guide hole 19, it can continuously support the transfer object A inside the cabinet 11.

Additionally, the inner surface of the sealing part 330 may be arranged to surround the upper end of the cabinet 11.

As the transfer object (A) comes into contact with the load cell (14a), the control unit 700 stops the operation of the lifting drive unit 422 and operates the gripper drive unit 323 so that the gripper 320 is separated from the transfer object (A). Operate it.

Afterwards, the control unit 700 operates the lifting drive unit 422 so that the carrier unit 300 moves upward.

Referring to FIG. 33, when the serving control unit 16 determines that the transfer object A is accommodated inside the cabinet 11 and that payment for the transfer object A has been completed, the serving control unit 16 opens the cabinet 11. The cabinet door (13) can be operated.

As the cabinet door 13 is opened, the user can take out the transfer object (A) through the side of the cabinet 11.

Referring to FIG. 34, the serving control unit 16 issues an alarm signal when payment for the transfer object (A) is not completed and the transfer object (A) leaves the cabinet 11 through the entry hole 12. The alarm unit 18 can be operated to cause this to occur.

Referring to FIG. 35, in a state where the user reinserts the transfer object (A) into the inside of the cabinet 11, the first serving switch 17a opens the cabinet door 13 by the user's press or touch input. It is possible to generate a door opening signal for and transmit the generated door opening signal to the serving control unit 16.

The serving control unit 16 transmits a door opening signal to the control unit 700.

Referring to FIGS. 36 and 37, upon receiving a door opening signal, the control unit 700 operates the travel drive unit 240 so that the travel unit 200 travels toward the corresponding cabinet 11.

The control unit 700 operates the lifting drive unit 422 so that the carrier unit 300 moves downward while the carrier unit 300 is disposed facing the entry hole 12.

In this case, the control unit 700 may operate the gripper driving unit 323 so that the gripper 320 does not interfere with the transfer object A while moving along the guide hole 19.

Thereafter, the control unit 700 operates the gripper driving unit 323 so that the gripper 320 grips the transfer object A, and operates the lifting driving unit 422 so that the carrier unit 300 moves upward.

The present invention has been described with reference to the embodiments shown in the drawings, but these are merely exemplary, and those skilled in the art will recognize that various modifications and other equivalent embodiments are possible therefrom. You will understand.

Therefore, the scope of technical protection of the present invention should be determined by the scope of the patent claims below.

2: table
3: serving table m: marking part
10: serving department 11: cabinet
12: Entry hole 13: Cabinet door
14: Entry/exit detection unit 14a: Load cell
15: Payment terminal 16: Serving control unit
17: serving switch 18: alarm unit
100: guide part 110: first guide rail
120: second guide rail 130: branch rail
140: Rail driving part
150: power transmission unit 151: first terminal
152: 2nd terminal 153: 3rd terminal
160: Location tag 161: First location tag
162: Second location tag 163: Third location tag
200: running part 210: running body
211: first traveling body 212: second traveling body
220: power supply unit 230: driving member
240: Travel driving unit 250: Supply terminal
260: Alignment member 270: First mounting guide member
280: Second mounting guide member 300: Carrier part
310: Carrier body 320: Gripper
321: first gripper 322: second gripper
323: Gripper driving part 330: Sealing part
400: Position control unit 410: First position control unit
411: Rotating body 412: Rotating driving part
413: extension 413a: extension arm
414: extension unit 415: balancing unit
415a: first balancing member 415b: second balancing member
415c: third balancing member 416: first balancing drive unit
417: second balancing drive unit 418: third balancing drive unit
420: Second position control unit 421: Support frame
422: Elevating drive eastern part 422a: Wire part
422b: Elevating drive member 4191: First conversion member
4192: 1st stopper 4193: 2nd stopper
4194: Conversion rail 4195: Second conversion member
4196: support part 4197: moving part
4198: Insertion part 4199: Height sensor
600: Sensing unit 610: Sensing body
620: Lidar sensor 630: First camera
640: 1st antenna 650: 2nd antenna
660: Second camera 700: Control unit

Claims (20)

A serving unit installed at the transfer point;
A guide part spaced apart from the serving part;
A traveling unit movably installed on the guide unit;
a carrier unit that moves together with the traveling unit and transports the object to be transferred to or collects it from the serving unit; and
It includes a position control unit that supports the carrier unit with respect to the traveling unit and adjusts the position of the carrier unit,
The running part,
Running body;
A traveling member rotatably installed on the traveling body and movably supporting the traveling body with respect to the guide portion; and
It includes a traveling drive unit connected to the traveling member and rotating the traveling member,
The driving body is,
First traveling body;
a second traveling body rotatably connected to the first traveling body and contacting or separating the traveling member from the guide portion according to a rotation direction;
a first mounting guide member rotatably connected to the first traveling body; and
A second mounting guide member connected to the second traveling body and the first mounting guide member, and linked to the rotation of the second traveling body to slide on the first mounting guide member. Device.
According to paragraph 1,
The guide part,
First guide rail;
a second guide rail arranged to intersect the first guide rail;
a branch rail rotatably installed between the first guide rail and the second guide rail and connected to the first guide rail or the second guide rail according to a rotation angle; and
A transport device comprising a rail driving unit connected to the branch rail and rotating the branch rail.
delete delete According to paragraph 1,
The position control unit,
a first position adjusting unit that adjusts the horizontal position of the carrier unit; and
A transfer device comprising a second position control unit connected to the first position control unit and controlling the vertical position of the carrier unit.
According to clause 5,
The first position control unit,
a rotating body rotatably connected to the traveling unit;
an extension part connected to one side of the rotating body, supporting the second position adjusting part, and having an adjustable length; and
A balancing unit connected to the other side of the rotary body and maintaining balance of the rotary body.
According to clause 6,
The balancing unit,
A first balancing member rotatably connected to the other side of the rotary body and unfolded toward the outside of the rotary body or folded toward the rotary body depending on the rotation direction; and
A transfer device comprising a second balancing member that is reciprocally connected to the first balancing member and whose length varies depending on the direction of movement.
In clause 7,
The balancing unit further includes a third balancing member rotatably connected to the second balancing member, rotating in a direction opposite to the first balancing member, and unfolding toward the outside of the rotating body or folding toward the rotating body. A transfer device characterized in that.
A serving unit installed at the transfer point;
A guide part spaced apart from the serving part;
A traveling unit movably installed on the guide unit;
a carrier unit that moves together with the traveling unit and transports the object to be transferred to or collects it from the serving unit; and
It includes a position control unit that supports the carrier unit with respect to the traveling unit and adjusts the position of the carrier unit,
The position control unit,
a first position adjusting unit that adjusts the horizontal position of the carrier unit; and
It includes a second position control unit connected to the first position control unit and adjusting the vertical position of the carrier unit,
The first position control unit,
a rotating body rotatably connected to the traveling unit;
an extension part connected to one side of the rotating body, supporting the second position adjusting part, and having an adjustable length;
a balancing unit connected to the other side of the rotating body and maintaining balance of the rotating body;
a first conversion member that rotates together with the rotating body;
a second conversion member installed on the traveling unit to be capable of moving up and down, and moving up and down in conjunction with the rotation of the rotating body; and
A transfer device comprising a height sensor that detects a change in height of the first conversion member.
According to clause 9,
The first conversion member,
A first stopper and a second stopper spaced apart from each other in the vertical direction; and
A conversion rail disposed to surround the central axis of the rotating body and extending spirally from the first stopper toward the second stopper,
The second conversion member,
a support part fixed to the running part;
A moving part slidably connected to the support part; and
A transfer device comprising an insertion part that extends from the moving part and is inserted into the interior of the conversion rail.
According to clause 5 or 9,
The second position control unit,
a support frame connected to the first position adjusting unit; and
A transfer device comprising: a lifting and lowering drive unit connected to the support frame and lifting and moving the carrier unit with respect to the support frame.
According to clause 11,
The elevator shaft section,
A wire portion whose lower end is connected to the carrier portion; and
A conveying device comprising: a lifting and lowering drive member fixed to the support frame, connected to an upper end of the wire portion, and generating a driving force to wind or unwind the wire portion.
According to claim 1 or 9,
The serving department,
Cabinets fixed to transfer points;
an entry hole penetrating the upper surface of the cabinet and into which the carrier unit enters; and
A transfer device comprising a cabinet door movably connected to the cabinet and opening and closing a side of the cabinet according to the direction of movement.
According to clause 13,
The serving department,
an entry/exit detection unit that detects entry/exit of the transfer object into the cabinet;
a payment terminal that receives payment information for the transfer object; and
The transfer device further comprises a serving control unit that controls the operation of the cabinet door based on the access information of the transfer object detected by the access detection unit and the payment information input to the payment terminal.
According to clause 14,
The entry detection unit is disposed inside the cabinet and includes one or more load cells in contact with the transfer object.
According to clause 14,
The serving unit further includes an alarm unit that outputs an alarm signal,
The serving control unit operates the alarm unit when payment for the transfer object is not completed and the transfer object is separated from the cabinet.
According to clause 13,
The carrier part,
A carrier body connected to the position adjusting unit; and
A transfer device comprising: a gripper movably installed on the carrier body and gripping the transfer object.
According to clause 17,
The serving unit further includes a guide hole formed through the cabinet, and the gripper enters the interior of the cabinet through the guide hole.
According to clause 17,
The carrier portion extends from the carrier body, and a sealing portion disposed to surround a peripheral surface of the cabinet as the carrier body moves toward the entry hole.
According to claim 1 or 9,
a detection unit that detects objects outside the traveling unit and the carrier unit; and
A control unit that controls operations of the guide unit, the traveling unit, the carrier unit, and the position adjusting unit based on the data sensed from the sensing unit.

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