KR102663482B1 - Vertical transport robot - Google Patents

Abstract

The present invention discloses a vertical transport robot having a brake function to prevent free fall. A vertical transport robot includes a fixed part that extends in the vertical direction, a moving part that is coupled to the fixed part to enable relative movement, a moving part that moves in the vertical direction along the fixed part, and is coupled to the moving part, and moves up and down by elastic force. An elastic part that provides a force to push or pull in a direction, a weight placed on the elastic part or suspended from the elastic part, and a relative weight between the moving part and the weight that occurs as the moving part descends at an acceleration greater than the standard. It includes a brake operation unit that is driven based on position changes.

Description

Vertical transport robot {VERTICAL TRANSPORT ROBOT}

The present invention relates to a vertical transport robot having a brake function to prevent free fall.

Vertical transport robot refers to a robot that provides the function of transporting goods. In particular, a vertical transport robot can be configured to transport goods in a vertical direction with respect to the ground. Accordingly, the vertical transport robot may be equipped with a vertical movement drive system configured to move the article up and down.

Due to the characteristic of the vertical movement drive system provided in the vertical transfer robot to move up and down in the direction perpendicular to the ground, when an abnormality such as a power supply is cut off, the upward and downward moving part may freely fall due to the action of gravity. there is.

In order to prevent accidents due to free fall that may occur in the vertical movement drive system, brake devices capable of emergency braking, such as non-energized brakes or governors and emergency stop devices, are currently used. An example of a non-excited operating brake is disclosed in Patent No. 10-1910848 (2018.10.17.), and an example of a speed governor and emergency stop device is disclosed in Patent Publication No. 10-2017-0029806 (2017.03.16.) .

However, in the case of a non-energized brake, if the vertical movement drive system is damaged, the moving part carrying the goods may fall even if the brake is fixed, so it is incomplete as a safety facility. In addition, the governor and emergency stop device operate separately from the vertical movement drive system, which has an advantage over non-energized brakes, but has the disadvantage that the brake does not operate until the specified speed is exceeded after free fall.

One purpose of the present invention to solve the problems of the prior art described above is to enable operation even when the drive system moving up and down is damaged, which has an advantage over non-energized brakes, and to provide a brake function without the condition of exceeding the specified speed after free fall. The goal is to provide a vertical transport robot that has advantages over governors and emergency stop devices by being able to perform the same operation.

Specifically, in the present invention, the operation of the brake and the vertical movement drive system are mechanically separated, and it is configured to mechanically operate when the moving part descends at an acceleration greater than the standard, so that the brake function is performed without the condition of exceeding the specified speed after free fall. The aim is to provide a vertical transport robot that can perform.

In order to achieve the object of the present invention, a vertical transport robot according to an embodiment of the present invention includes a fixing part extending in the vertical direction; a moving part coupled to the fixing part to be relatively movable and moving in a vertical direction along the fixing part; An elastic part coupled to the moving part and providing a pushing or pulling force in the up and down directions by elastic force; A weight placed on or suspended from the elastic portion; and a brake operating unit driven based on a change in relative position between the moving unit and the weight that occurs as the moving unit descends at an acceleration greater than a standard.

According to an example related to the present invention, the acceleration greater than the standard refers to the case where the value obtained by subtracting the product of the mass of the weight and the acceleration of the moving part from the weight of the weight is smaller than the elastic force of the elastic part. It may be the acceleration of the moving part.

According to an example related to the present invention, the weight is disposed to hang from the elastic part below the elastic part, the elastic part is formed to have a tensile force of a predetermined size to pull the weight upward, and the brake operating unit is, It has a pad portion formed on one surface of the weight facing the fixed portion, and as the moving portion descends at an acceleration greater than the reference, the weight moves relative to the fixed portion so that the pad portion comes into close contact with the fixed portion. It can be.

According to an example related to the present invention, the moving part and the weight each have a first inclined surface and a second inclined surface formed to correspond to each other, and the weight is lowered when the moving part descends at an acceleration greater than the reference. 1 It can move closer to the fixing part along the slope.

According to an example related to the present invention, the brake operation unit includes: a first guide unit disposed on the first inclined surface to move the weight in an inclined direction; and a second guide portion disposed on the second inclined surface and slidably coupled to the first guide portion.

According to an example related to the present invention, a first groove recessed to a predetermined depth is formed on the first inclined surface so that a part of the first guide part is seated, and a first groove is formed on the second inclined surface so that a part of the second guide part is seated. A second groove recessed to a predetermined depth may be formed.

According to an example related to the present invention, the moving part is provided with a coupling rod extending in one direction, and the elastic part approaches the fixed part along the extension direction of the coupling rod while being coupled to the coupling rod. It can be formed to be movable away from it.

According to an example related to the present invention, the moving part may further include a first support part and a second support part disposed at both ends of the coupling rod to support the coupling rod and limit movement of the elastic part.

According to an example related to the present invention, the weight is disposed to be placed on the elastic part, the elastic part is formed to have an elastic force of a predetermined size to press the weight upward, and the brake operation part is set to the moving part. When descending at a greater acceleration, the weight may be pressed by the elastic unit and operate as it moves upward to limit the downward movement of the moving unit.

According to an example related to the present invention, the brake operating unit includes a ratchet gear formed in the vertical direction of the fixing unit; and a latch portion that is rotatably provided on the moving part and is formed to be caught by the ratchet gear as it is pushed and rotated by the weight moving upward when the moving part descends at an acceleration greater than a standard.

The effects of the present invention obtained through the above-described solution are as follows.

The vertical transport robot proposed in the present invention includes a moving part that moves in the vertical direction along the fixed part, an elastic part that is coupled to the moving part and provides a pushing or pulling force in the vertical direction by elastic force, and is placed on the elastic part or It includes a weight disposed to hang from the elastic unit and a brake operating unit that limits downward movement of the moving unit when a free fall of the moving unit occurs.

Here, the brake operating unit is configured to drive based on the relative position change between the moving unit and the weight that occurs as the moving unit descends at an acceleration greater than the standard.

According to this configuration of the vertical transport robot, a braking operation is possible even when the driving system that moves up and down is damaged, and the braking function can be performed only by detecting the acceleration of the moving part without the condition of exceeding the specified speed after the occurrence of free fall.

In addition, the operation of the brake operating unit is achieved by pulling or pushing the weight upward by the elastic force of the elastic unit, depending on whether or not the moving unit falls freely. In this way, the present invention can implement a brake operation that limits downward movement of the moving part when a free fall of the moving part occurs with a relatively simple configuration.

Figure 1 is a perspective view showing a part that moves an item up and down in a vertical transport robot according to an embodiment of the present invention.
FIGS. 2A and 2B are exploded perspective views of the part that moves the item shown in FIG. 1 up and down, viewed from different directions.
FIG. 3 is a conceptual diagram showing a state before and after the brake operation unit shown in FIG. 1 operates.
Figures 4 and 5 are conceptual diagrams showing the driving system part moving up and down in the vertical transport robot according to another embodiment of the present invention before and after the brake operation part operates.
FIG. 6 is a diagram conceptually showing an example of the drive system shown in FIGS. 4 and 5.
FIG. 7 is a conceptual diagram showing a state before and after the brake operation unit shown in FIG. 6 is operated.

Hereinafter, the robot related to the present invention will be described in more detail with reference to the drawings. The attached drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical idea disclosed in the present specification is not limited by the attached drawings, and all changes, equivalents, and changes included in the spirit and technical scope of the present invention are not limited. It should be understood to include water or substitutes.

As used herein, singular expressions include plural expressions unless the context clearly dictates otherwise.

In this specification, when a component is referred to as being “connected” or “connected” to another component, it may be directly connected or connected to the other component, but there may be other components in between. It must be understood that it may be possible. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

In addition, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but do not include one or more other features or numbers. It should be understood that this does not exclude in advance the possibility of the presence or addition of steps, operations, components, parts, or combinations thereof.

Figure 1 is a perspective view showing a part that moves an item up and down in a vertical transport robot according to an embodiment of the present invention. FIGS. 2A and 2B are exploded perspective views of the part that moves the item shown in FIG. 1 up and down, viewed from different directions. FIG. 3 is a conceptual diagram showing the state before and after the brake operating unit 150 shown in FIG. 1 operates.

Referring to Figures 1 to 3, the vertical transport robot 100 refers to a robot that provides the function of transporting goods by moving them up and down in a direction perpendicular to the ground. The vertical transport robot 100 may be configured to perform other tasks in addition to the function of transporting goods.

In order to move goods up and down, the vertical transport robot 100 includes a fixing part 110, a moving part 120, an elastic part 130, a weight 140, and a brake operating part 150.

The fixing part 110 may extend in the vertical direction. The vertical transport robot 100 may be provided with two or more fixing units 110, and the two or more fixing units 110 may be arranged in parallel at positions spaced apart from each other.

The moving part 120 may be coupled to the fixing part 110 to enable relative movement. The moving part 120 may be configured to move in the vertical direction along the fixing part 120. For example, the moving part 120 includes a slide connection part 121a that is slidably coupled to the fixing part 120, and a connection that is coupled to the slide connection part 121a and moves in the vertical direction together with the slide connection part 121a. A link 121b may be provided.

The moving part 120 surrounds at least a portion of the fixed part 110 by the slide connecting part 121a and the connecting link 121b. Accordingly, the moving part 120 is guided in the vertical direction by the fixing part 110 and is raised and lowered.

Additionally, a loading unit (not shown) that loads goods may be coupled to the moving unit 120. Each moving part 120 is coupled to two or more fixed parts 110 spaced apart from each other, and the loading part is connected to each moving part 120 between the two or more moving parts 120 .

Accordingly, the loading part can be configured to move in the vertical direction along the fixing part 120 together with the moving part 120. The elastic part 130 is coupled to the moving part 120 and moves in the vertical direction by elastic force. It can provide pushing or pulling force. The elastic portion 130 is installed to provide force in the vertical direction. The elastic unit 130 may be composed of a static load spring or the like to provide force by elastic force, and the type of the static load spring is not particularly limited. The weight 140 is placed on the elastic unit 130 or the elastic unit ( 130). In Figure 1, the weight 140 is suspended from the elastic portion 130. At this time, the elastic portion 130 is disposed on the upper side of the weight 140 and is formed to have a predetermined amount of tensile force to pull the weight 140 upward.

Since the weight 140 is also stopped when the moving part 120 is stopped, the force acting on the weight 140 is mg, which is the product of the mass (m) of the weight 140 and the acceleration of gravity (g). do. However, when the moving part 120 rises or falls, a change occurs in the force acting on the weight 140.

For example, when the moving unit 120 moves upward at an acceleration of a, the force acting on the weight 140 becomes m(g+a). Conversely, when the moving part moves downward at an acceleration of a, the force acting on the weight 140 becomes m(g-a).

The brake operating unit 150 is driven based on a relative position change between the moving unit 120 and the weight 140 that occurs as the moving unit 120 descends with an acceleration (b) greater than the standard.

Here, the acceleration (b) greater than the above reference is the weight of the weight 140 (mg, which is the product of the mass of the weight 140 and the acceleration of gravity) of the mass of the weight 140 and the moving part 120. The value obtained by subtracting mb, which is the product of the acceleration during free fall, may be the acceleration of the moving unit 120 that satisfies the case where the elastic force of the elastic unit 130 is smaller.

That is, the acceleration (b) greater than the above reference means the acceleration of the moving unit 120 that satisfies the following equation (1).

Here, m is the mass of the weight 140, g is the gravitational acceleration, b is the acceleration of the moving part 120 during free fall, and f is the elastic force of the elastic part 130.

Additionally, the brake operating unit 150 may include a pad unit 151.

The pad portion 151 may be formed on one surface of the weight 140 facing the fixing portion 110. The pad portion 151 may generate a braking force against the movement of the moving portion 120 while in contact with one surface of the fixing portion 110. For example, the pad portion 151 may be formed of a rubber material with excellent friction performance.

Here, the brake operating unit 150 moves relative to the weight 140 so that it approaches the fixed unit 110 as the moving unit 120 descends at an acceleration greater than the standard, so that the pad unit 151 moves relative to the fixed unit ( 110) can be closely adhered to the facing side. In this way, as the moving part 120 descends with an acceleration greater than the standard, the pad part 151 may come into close contact with the fixed part 110 to limit downward movement of the moving part.

Meanwhile, the moving unit 120 and the weight 140 may be provided with a first inclined surface 122 and a second inclined surface 141, respectively.

The first inclined surface 122 and the second inclined surface 141 are formed on one side of the moving part 120 and the weight 140 facing each other, as shown in FIGS. 1 to 3 . Additionally, the first and second inclined surfaces 122 and 141 are formed to correspond to each other while facing each other. That is, the first and second inclined surfaces 122 and 141 may be formed to have the same or similar inclination angles with respect to the moving unit 120 and the weight 140 when viewed from the side.

Since the moving part 120 moves in the vertical direction and the weight 140 is also suspended in the vertical direction by the elastic part 130, the direction of the force acting on the weight 140 is essentially in the vertical direction. However, due to the above inclined structure, the weight 140 can be relatively moved closer to the fixed part 110 along the first inclined surface 122 when the moving part 120 descends at an acceleration greater than the standard.

Meanwhile, the brake operation unit 150 may further include a first guide part 152a and a second guide part 152b. The first and second guide parts 152a and 152b may be disposed between the moving part 120 and the weight 140.

The first guide portion 152a may be disposed on the first inclined surface 122 to move the weight 140 in an inclined direction.

The second guide part 152b is disposed on the second inclined surface 141 and can be coupled to the first guide part 152a to enable sliding movement. For example, the second guide part 152b may be provided with a rail groove 152b1 to which the first guide part 152a is slidably coupled.

Additionally, a first groove 122a recessed to a predetermined depth may be formed in the first inclined surface 122 so that a portion of the first guide portion 152a can be seated. The first groove 122a may be provided with a moving part side fastening part 122a1 for fixing the first guide part 152a. The first guide part 152a may be provided with a first guide part side fastening part 152a1 that is formed to correspond to the moving part side fastening part 122a1 and is coupled to the moving part side fastening part 122a1.

Additionally, a second groove 141a recessed to a predetermined depth may be formed in the second inclined surface 141 so that a portion of the second guide portion 152b can be seated. A weight side fastening portion 141a1 for fixing the second guide portion 152b may be provided in the second groove 141a. In addition, the second guide part 152b may be provided with a second guide part side fastening part 152b2 that is formed to correspond to the weight side fastening part 141a1 and is coupled to the weight side fastening part 141a1. .

According to the structure of the first groove 122a and the second groove 141a, the first guide portion 152a and the second guide portion 152b are formed in the areas of the first and second grooves 122a and 141a, respectively. Since movement within the frame is limited, the fixed positions of the first and second guide parts 152a and 152b can be maintained more firmly.

Meanwhile, the elastic portion 130 may include a drum 131, a static load spring 132, and a shaft hole 133.

The drum 131 forms the body of the elastic portion 130 and is rotatable about a rotation axis while a constant load spring 132, which will be described later, is wound.

The static load spring 132 may be formed in the form of a plate bent at a constant curvature along the circumference of the drum 131.

One end of the static load spring 132 may be provided with a fixing part 132a fixed to one side of the weight 140. The fixing part 132a may be provided with a fastening hole 132a1 through which a fastening member 132a2 for fixing the fixing part 132a to one side of the weight 140 can penetrate.

The shaft hole 133 may be formed through the drum 131 along the rotation axis of the drum 131. A coupling rod 123, which will be described later, may be coupled to the shaft hole 133.

Meanwhile, the moving unit 120 may be provided with a coupling rod 123.

The coupling rod 123 may be formed to extend in one direction on the moving part 120. For example, the coupling rod 123 may extend from the moving part 120 toward the fixed part 110. The coupling rod 123 may be coupled to the shaft hole 133 provided in the elastic portion 130.

Here, the elastic portion 130 may be formed to be movable in a state coupled to the coupling rod 123 so as to move closer to or away from the fixing portion 110 along the direction in which the coupling rod 123 extends. As the elastic portion 130 can move linearly, the weight 140 can also move in an inclined direction.

Additionally, the moving unit 120 may be further provided with a first support part 124a and a second support part 124b.

The first support part 124a and the second support part 124b may be formed to support the coupling rod 123 by being disposed at both ends of the coupling rod 123, respectively. The first and second support parts 124a and 123b may each extend in a direction away from the moving part 120, and both ends of the coupling rod 123 extend from the first and second support parts 124a and 123b. Can be connected to each end.

According to the structure of the first and second support portions 124a and 123b, the elastic portion 130 does not deviate from the coupling rod 123 within a preset range and moves stably along the extension direction of the coupling rod 123. You can.

Hereinafter, a process in which the brake operating unit 150 of the vertical transport robot 100 operates will be described with reference to FIG. 3 .

First, as shown in (a) of FIG. 3 , when the moving unit 120 moves downward at an acceleration smaller than the standard, no change in relative position between the moving unit 120 and the weight 140 occurs. At the same time, the operation of the brake operating unit 150 does not occur. That is, when the moving unit 120 performs a normal movement in the up and down direction rather than free falling, the brake operating unit 150 does not operate.

Here, the acceleration (a) smaller than the above standard is a value obtained by subtracting the product of the mass of the weight 140 and the acceleration of the moving part 120 from the weight of the weight 140, which is greater than the elastic force of the elastic part 130. It may be the acceleration of the moving unit 120 that satisfies the case.

In other words, an acceleration smaller than the above reference means an acceleration of the moving unit 120 that satisfies the following equation (2).

Here, m is the mass of the weight 140, g is the gravitational acceleration, a is the acceleration of the moving part 120, and f is the elastic force of the elastic part 130.

In this way, when the moving part 120 moves downward with an acceleration smaller than the standard, the load on the weight 140 due to gravity and the acceleration of the moving part 120 is greater than the tensile force of the elastic part 130. . Accordingly, the weight 140 is not pulled up by the tensile force of the elastic part 130 and maintains a preset relative position with the moving part 120.

Thereafter, as shown in (b) of FIG. 3, when an abnormality occurs in the part that moves the moving unit 120 up and down and the moving unit 120 falls freely due to the action of gravity, the moving unit 120 It descends with an acceleration greater than the standard, and a relative position change between the moving part 120 and the weight 140 occurs. At this time, the brake operating unit 150 is driven to limit the downward movement of the moving unit 120.

Here, as described above, the acceleration greater than the standard is the weight of the weight 140 minus the product of the mass of the weight 140 and the acceleration of the moving part 120, which is greater than the elastic force of the elastic part 130. It may be the acceleration of the moving unit 120 that satisfies the small case. An acceleration greater than the above reference means an acceleration of the moving unit 120 that satisfies Equation 1 described above.

In this way, when the moving part 120 moves downward with an acceleration greater than the standard, the load on the weight 140 due to the gravitational acceleration and the acceleration of the moving part 120 is smaller than the tensile force of the elastic part 130. is converted to Accordingly, the weight 140 is pulled upward by the tensile force of the elastic portion 130, as shown in (b) of FIG. 3. At this time, the elastic part 130 may move closer to the fixing part 110 along the coupling rod 123.

Then, the weight 140 moves closer to the fixed part 110 along the first inclined surface 122 of the moving part 120, and the pad part 151 formed on one surface of the weight 140 is fixed. As it comes into close contact with the top 110, a braking force is generated that limits the descent of the moving part 120.

According to the configuration of the vertical transfer robot 100 described above, the operation of the brake that prevents the free fall of the moving part 120 can be operated stably even when the part moving up and down is damaged, and the specified speed can be maintained after the free fall occurs. The brake function can be performed only by detecting the acceleration of the moving part 120 without the constraints of the prior art that must be overcome.

In addition, the vertical transfer robot 100 pulls the weight 140 upward by the elastic force of the elastic part 130 depending on whether the operation of the brake operating part 150 causes the moving part 120 to fall freely. It is achieved through pushing up. In this way, the vertical transport robot 100 can implement a braking operation that limits the downward movement of the moving part 120 when the moving part 120 freely falls with a relatively simple configuration. Accordingly, the vertical transport robot 100 can be designed more simply. Additionally, the number of parts constituting the vertical transport robot 100 is reduced, so the time required for manufacturing can be shortened.

Hereinafter, another embodiment of the vertical transfer robot 100 will be described with reference to FIGS. 4 to 7.

Figures 4 and 5 are conceptual diagrams showing the driving system part moving up and down in the vertical transport robot 100 according to another embodiment of the present invention before and after the brake operating unit 150 operates. FIG. 6 is a diagram conceptually showing an example of the drive system shown in FIGS. 4 and 5. FIG. 7 is a conceptual diagram showing the state before and after the brake operating unit 150 shown in FIG. 6 operates.

Referring to FIGS. 4 to 7 , the vertical transport robot 100 includes a fixed part 110, a moving part 120, an elastic part 130, a weight 140, and a brake operation part 150.

The fixing part 110 may extend in the vertical direction.

The moving part 120 is coupled to the fixing part 110 to enable relative movement, and can move in the up and down direction along the fixing part 110. A driving system that moves up and down may be disposed between the fixed part 110 and the moving part 120. The drive system may include an actuator 160 and a power transmission unit 161.

The actuator 160 provides driving force to move the moving part 120 in the vertical direction.

The power transmission unit 161 receives driving force from the actuator 160 to move the moving unit 120 up and down. The power transmission unit 161 may be formed along the vertical longitudinal direction of the fixing unit 110. The power transmission unit 161 is connected to the actuator 160 and can move in the vertical direction by receiving driving force from the actuator 160. A moving part 120 is coupled to one side of the power transmission unit 161 so that it can move in the vertical direction together with the power transmission unit 161.

The elastic part 130 is coupled to the moving part 120 and is formed to have a predetermined amount of elastic force that presses the weight 140 upward by elastic force. For example, the elastic portion 130 may be made of a compression spring. The compression spring refers to a spring that resists compressing force.

Referring to the drawings, the weight 140 may be placed on the elastic portion 130.

The brake operating unit 150 operates as the weight 140 is pressed by the elastic unit 130 and moves upward when the moving unit 120 descends at an acceleration greater than the standard, thereby moving the moving unit 120 downward. This is done to restrict movement to.

Additionally, the brake operation unit 150 may include a ratchet gear 153 and a latch unit 154.

The ratchet gear 153 may be formed to have a plurality of teeth. The plurality of teeth provided on the ratchet gear 153 may be spaced apart at regular intervals along the vertical direction of the fixing part 110.

The latch unit 154 may be provided on the moving unit 120 to be rotatable about the rotation axis 154a. Additionally, the latch portion 154 may be disposed to face the ratchet gear 153. The latch portion 154 may be formed to be caught by the ratchet gear 153 as it is pushed and rotated by the weight 140 moving upward when the moving portion 120 descends at an acceleration greater than the standard.

Hereinafter, a process in which the brake operating unit 150 of the vertical transport robot 100 operates will be described with further reference to FIGS. 4 to 6 along with FIG. 7 .

First, as shown in (a) of FIG. 7, when the moving part 120 descends with an acceleration smaller than the standard, the load of the weight 140 due to gravity and the acceleration of the moving part 120 is applied to the elastic part ( 130), the relative position between the moving part 120 and the weight 140 is maintained without change because it acts greater than the elastic force.

Here, the acceleration smaller than the reference is the weight of the weight 140 minus the product of the mass of the weight 140 and the acceleration of the moving part 120, as shown in FIG. 4, and the elastic part 130 It may be the first acceleration (a1) of the moving unit 120 that satisfies the case where it is greater than the elastic force of ).

In other words, the acceleration smaller than the above reference means the acceleration of the moving unit 120 that satisfies Equation 2 described above.

In this way, in a normal operating state in which free fall does not occur in the moving part 120, the moving part 120 moves along the fixing part 110 without the weight 140 being pushed by the latch part 154 and rotating. Movements that move in the up and down directions can be performed.

Next, as shown in (b) of FIG. 7, when an abnormality occurs in the driving system that moves the moving part 120 up and down, and the moving part 120 falls freely due to gravity, the moving part 120 moves to the standard It descends with greater acceleration. At this time, a relative position change occurs between the moving unit 120 and the weight 140. When a relative position change between the moving unit 120 and the weight 140 occurs in this way, the brake operation unit 150 is driven to limit the downward movement of the moving unit 120.

Here, the acceleration greater than the above reference is, as shown in FIG. 5, the product of the mass of the weight 140 and the acceleration of the moving part 120 minus the weight of the weight 140 is the elastic part 130 It may be the second acceleration (a2) of the moving part 120 that satisfies the case where it is smaller than the elastic force of ).

In other words, the acceleration greater than the above reference means the acceleration of the moving unit 120 that satisfies Equation 1 described above.

In this way, when the moving part 120 moves downward with an acceleration greater than the standard, the load on the weight 140 due to the gravitational acceleration and the acceleration of the moving part 120 is smaller than the elastic force of the elastic part 130. will change to Accordingly, the weight 140 is pushed upward by the elastic force of the elastic part 130, as shown in (b) of FIG. 7.

Thereafter, the latch portion 154 is pushed by the weight 140 pushed upward and rotated clockwise around the rotation axis 154a. Then, the rotated latch part 154 is caught by the ratchet gear 153, thereby generating a braking force that limits the downward movement of the moving part 120.

The foregoing content is merely illustrative, and various modifications may be made by those skilled in the art without departing from the scope and technical spirit of the described embodiments. The above-described embodiments can be implemented individually or in any combination.

100: Vertical transfer robot
110: fixing part
120: moving part
121a: Slide connection part
121b: connection link
122: first slope
122a: first groove
122a1: Fastening part on the moving part side
123: combined rod
124a: first support portion
124b: second support portion
130: elastic part
131: drum
132: static load spring
132a: fixing part
132a1: fastening hole
132a2: fastening member
133: shaft hole
140: weight
141: second slope
141a: second groove
141a1: Weight side fastening part
142: fastening groove
150: brake operation unit
151: Pad part
152a: first guide part
152a1: First guide part side fastening part
152b: second guide part
152b1: Rail groove
152b2: Fastening part on the second guide part
153: ratchet gear
154: latch part
154a: rotation axis
160: actuator
161: Power transmission unit

Claims (10)

A fixing portion extending in the vertical direction;
a moving part coupled to the fixing part to be relatively movable and moving in a vertical direction along the fixing part;
An elastic part coupled to the moving part and providing a pushing or pulling force in the up and down directions by elastic force;
A weight placed on or suspended from the elastic portion; and
A brake operating unit driven based on a change in relative position between the moving unit and the weight that occurs as the moving unit descends at an acceleration greater than the standard,
The weight is disposed to hang from the lower side of the elastic portion,
The elastic portion is formed to have a tensile force of a predetermined magnitude to pull the weight upward,
The brake operating unit has a pad portion formed on one surface of the weight facing the fixed portion, and as the moving portion descends at an acceleration greater than the standard, the weight moves relative to the fixed portion so that the pad portion is In close contact with the fixing part,
Vertical transfer robot. According to paragraph 1,
The acceleration greater than the reference is the acceleration of the moving part that satisfies the case where the product of the mass of the weight and the acceleration of the moving part is subtracted from the weight of the weight and is smaller than the elastic force of the elastic part.
Vertical transfer robot. delete According to paragraph 1,
The moving part and the weight each have a first inclined surface and a second inclined surface formed to correspond to each other,
The weight moves closer to the fixed part along the first inclined surface when the moving part descends at an acceleration greater than the standard.
Vertical transfer robot. According to clause 4,
The brake operating unit,
a first guide unit disposed on the first inclined surface to move the weight in an inclined direction; and
Further comprising a second guide portion disposed on the second inclined surface and slidably coupled to the first guide portion,
Vertical transfer robot. According to clause 5,
A first groove recessed to a predetermined depth is formed on the first inclined surface so that a portion of the first guide portion is seated,
A second groove recessed to a predetermined depth is formed on the second inclined surface so that a portion of the second guide portion is seated,
Vertical transfer robot. According to paragraph 4,
The moving part is provided with a coupling rod extending in one direction,
The elastic portion is formed to be movable toward or away from the fixing portion along the extension direction of the coupling rod while coupled to the coupling rod.
Vertical transfer robot. In clause 7,
The moving part is further provided with a first support part and a second support part disposed at both ends of the coupling rod to support the coupling rod and limit movement of the elastic part,
Vertical transfer robot. delete delete

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