KR102671632B1 - Driving System for Robot Transport - Google Patents

Abstract

The present invention relates to a robot transport and travel system. The robot transport and travel system according to an embodiment of the present invention includes a rising rail forming an upward path, a falling rail forming a downward path, and the upper ends of the rising rail and the falling rail. Or a first traverser connecting the lower end, a second traverser connecting between the rising rail and the lowering rail at the opposite end from the placement position of the first traverser, and the rising rail, the lowering rail, the first traverser, and the first traverser. 2 It includes one or more carriers capable of traveling on a circular path formed by traversers together, and when the carrier receives destination information from the control panel, it generates a travel path from the current location to the destination, and travels to the destination according to the generated travel path. . According to the present invention, when a carrier traveling on a circular route receives destination information from the control panel, it directly creates a travel path to the destination and drives it, thereby reducing the amount of data transmitted and received between each carrier and the control panel, thereby reducing data traffic, and the carrier The operation control calculation logic can be simplified and the error rate can be lowered.

Description

Robot transport driving system {Driving System for Robot Transport}

The present invention relates to a robot conveyance travel system. More specifically, when a carrier traveling on a circular path receives destination information from a control panel, it directly generates a travel path to the destination and travels, transmitting and receiving data between each carrier and the control panel. This relates to a robot transport travel system that can reduce the amount and simplify the carrier operation control calculation logic.

Generally, in order to move cargo vertically within a building, a cargo elevator or dumbwaiter is used, which moves the carrier in the vertical direction through a driving method using a rope or chain and a traction machine.

These freight elevators or dumbwaiters are used in a way that one carrier is placed and operated in one hoistway. Since this type of rope-type vertical transport system has a limited cargo volume per hour in each hoistway, in order to increase the cargo volume beyond a certain level, the hoistway must be installed. An increase in numbers is essential. However, due to the structural constraints of the building, there are limits to the method of increasing the volume of goods per hour by increasing the number of elevator shafts.

Accordingly, in Republic of Korea Patent No. 10-2337764, “Circulating Vertical Transport System for Robots” (hereinafter referred to as the ‘conventional patent’), a vertical transport system for robots in which multiple robots move cargo organically through multiple floors is used. In order to construct a conveyance system, we developed a vertical conveyance system with a structure that can greatly improve the volume of goods per unit time by allowing multiple carriers transporting robots to operate in one hoistway.

A conventional patent describes a circular transfer rail by allowing one or more carriers to move circularly by a rack-and-pinion drive method on a circular transfer rail in which two vertical sections and a horizontal section connecting the upper and lower ends of the two vertical sections are formed. Accordingly, multiple carriers can operate.

In this way, the conventional patent significantly increased the volume of cargo by constructing a circular transfer rail to enable multiple carriers to operate. As a result, the amount of data transmitted and received by the control panel to control the operation of multiple carriers increased, raising concerns about data traffic. In addition, as the calculation for controlling the operation of multiple carriers becomes more complex, there may be a problem of error occurrence.

Republic of Korea Patent No. 10-2337764

The present invention is intended to solve the problems of the prior art mentioned above. The purpose of the present invention is to directly create a travel path to the destination when a carrier traveling on a circular route receives destination information from the control panel and drive. , to provide a robot transport and travel system that reduces the amount of data transmitted and received between each carrier and the control panel and simplifies the carrier operation control calculation logic.

Another object of the present invention is to provide a robot transport and travel system that is provided with a separate storage rail capable of storing carriers and can flexibly control the number of carriers running.

Another object of the present invention is to provide a robot transport traveling system that allows the containment rail to form a circular path so that the carrier stored in the containment rail can be separated from the containment rail in a first-in, first-out manner.

A robot transport and travel system according to an embodiment of the present invention includes a rising rail forming an upward path, a falling rail forming a downward path, and a first traverser connecting between the upper or lower ends of the rising rail and the lowering rail. , a second traverser connecting between the rising rail and the falling rail at an end opposite to the arrangement position of the first traverser, and traveling on a circular path formed by the rising rail, the falling rail, the first traverser, and the second traverser together. It includes one or more carriers, and when the carrier receives destination information from the control panel, it creates a travel path from the current location to the destination, and drives to the destination according to the generated travel path.

At this time, the carrier includes a destination receiver that receives destination information from the control panel, a location determination unit that generates current location information when destination information is received from the destination receiver, and a destination that receives the current location information generated by the location determination unit and the destination receiver. It may include a driving path generator that generates a driving path based on the information.

In addition, the carrier includes a section setting unit that sets section numbers individually corresponding to the rising rail, the falling rail, the first traverser, and the second traverser, and each of the rising rail, the falling rail, the first traverser, and the second traverser. It further includes a position setting unit for setting a position number corresponding to a detailed position within the section, the destination information received from the destination receiver includes the destination section and position number, and the current location information generated by the location determination unit includes the current section and position. The driving pass generated by the driving pass generator may include a driving position path from the current section and position number to the destination section and position number.

In addition, the first traverser includes a first horizontal rail disposed to connect the upper or lower side of the rising rail and the lowering rail, a first transport rail that moves along the first horizontal rail and transports the carrier, and a first transport rail. It may include a first approach detection unit that detects the first carrier scheduled to be boarded, and a first transfer control unit that drives and controls the first transfer rail based on the detection information detected by the first approach detection unit.

In addition, the first traverser further includes a first boarding detection unit that detects the first boarding carrier boarded on the first transfer rail, and the first transfer control unit allows the first boarding carrier to board when the first boarding carrier is detected. The first transfer rail can be controlled to drive to one side, and when the first boarding carrier is detected, the first transfer rail can be controlled to drive to the other side.

Additionally, the robot transport traveling system may further include one or more containment rails connected at the top or bottom to the second traverser.

In addition, the section setting unit sets the section number that individually corresponds to the storage rail, the position setting unit sets the position number corresponding to the detailed position within the section of each storage rail, and the carrier provides destination information for the storage rail from the control panel. Once received, a travel position path to the storage rail can be created and it can be stored by traveling to the storage rail.

Additionally, two or more carriers can be stored in the containment rail, and the carriers stored in the containment rail can be separated from the containment rail in a first-in, first-out manner.

In addition, the containment rails are provided in an even number to form pairs between the containment rails arranged adjacent to each other, and the areas where the second traverser is not placed between the upper and lower ends of the paired containment rails are connected by a containment traverser, Paired containment rails, the second traverser, and the containment traverser may form a circular path together so that the stored carrier can be released from the containment rail in a first-in, first-out manner.

In addition, the second traverser connects the upper or lower side of the rising rail and the lowering rail, and includes a second horizontal rail arranged to connect the lower or upper side of the containment rail, and a second horizontal rail that moves along the second horizontal rail and transports the carrier. 2 transfer rails, a second approach detection unit for detecting a second boarding carrier about to board the second transfer rail, a second boarding detection unit for detecting a second boarding carrier boarding the second transfer rail, and a second When a boarding carrier is detected, a route receiver that receives a driving position path from the second boarding carrier, and a second device based on the detection information detected by the second approach detection unit and the second boarding detection unit and the driving position path received by the route receiver. It may include a second transfer control unit that drives and controls the transfer rail.

According to the present invention, when a carrier traveling on a circular route receives destination information from the control panel, it directly creates a travel path to the destination and drives it, thereby reducing the amount of data transmitted and received between each carrier and the control panel, thereby reducing data traffic, and the carrier The operation control calculation logic can be simplified and the error rate can be lowered.

The present invention is provided with a separate storage rail capable of storing carriers, so that the number of operating carriers can be flexibly adjusted, enabling efficient operation of carriers according to cargo volume.

The present invention allows the containment rail to form a circular path so that carriers stored in the containment rail can escape from the containment rail in a first-in, first-out manner, thereby preventing only some carriers from being operated intensively.

1 is a diagram conceptually showing a robot transport traveling system according to an embodiment of the present invention.
Figure 2 is a functional block diagram of a carrier in a robot transport traveling system according to an embodiment of the present invention.
FIG. 3 is a diagram illustrating a travel path generated by a travel path creation unit in a robot transport travel system according to an embodiment of the present invention.
Figure 4 is a diagram conceptually showing a first traverser according to an embodiment of the present invention.
Figure 5 is a functional block diagram of a first traverser according to an embodiment of the present invention.
Figure 6 is a diagram conceptually showing a second traverser and a containment rail according to an embodiment of the present invention.
Figure 7 is a functional block diagram of a second traverser according to an embodiment of the present invention.
Figure 8 is a diagram conceptually showing a robot transport traveling system according to another embodiment of the present invention.
Figure 9 is a diagram showing the traveling direction of a carrier in a robot transport traveling system according to another embodiment of the present invention.

It should be noted that the technical terms used in the present invention are only used to describe specific embodiments and are not intended to limit the present invention. In addition, the technical terms used in the present invention, unless specifically defined in a different sense in the present invention, should be interpreted as meanings generally understood by those skilled in the art in the technical field to which the present invention pertains, and are not overly comprehensive. It should not be interpreted in a literal or excessively reduced sense. Additionally, if the technical term used in the present invention is an incorrect technical term that does not accurately express the idea of the present invention, it should be replaced with a technical term that can be correctly understood by a person skilled in the art.

Additionally, as used in the present invention, singular expressions include plural expressions unless the context clearly dictates otherwise. In the present invention, terms such as “consists of” or “comprises” should not be construed as necessarily including all of the various components or steps described in the invention, and some of the components or steps are included. It may not be possible, or it should be interpreted as including additional components or steps.

In addition, it should be noted that the attached drawings are only intended to facilitate easy understanding of the spirit of the present invention, and should not be construed as limiting the spirit of the present invention by the attached drawings.

Hereinafter, the robot transport travel system according to the present invention will be examined in more detail with reference to the attached drawings.

1 is a diagram conceptually showing a robot transport traveling system according to an embodiment of the present invention.

The robot transport travel system according to an embodiment of the present invention includes an ascending rail 10 forming an upward path, a descending rail 20 forming a downward path, and the upper ends of the rising rail 10 and the descending rail 20. Alternatively, it may include a first traverser 30 and a second traverser 40 connecting the lower ends.

The rising rail 10, the falling rail 20, the first traverser 30, and the second traverser 40 together form a circular path, and a plurality of carriers 50 can travel on this circular path. You can. In this way, the robot transport traveling system according to this embodiment can maximize the volume of goods since a plurality of carriers 50 travel on a circular path.

The rising rail 10 may be configured to allow the carrier 50 to move upward, and the descending rail 20 may be configured to allow the carrier 50 to move downward. For example, the carrier 50 may be configured to travel along the rising rail 10 and the falling rail 20 in a rack-and-pinion drive manner, but is not limited to this.

The first traverser 30 may connect the upper or lower end of the rising rail 10 and the lowering rail 20. When the first traverser 30 is arranged to connect the upper end of the rising rail 10 and the lowering rail 20, the second traverser 40 connects the lower end of the rising rail 10 and the lowering rail 20 It can be arranged to do so. Conversely, when the first traverser 30 is arranged to connect the lower ends of the rising rail 10 and the lowering rail 20, the second traverser 40 connects the upper ends of the rising rail 10 and the lowering rail 20. Can be arranged to connect. Hereinafter, for convenience of explanation, the first traverser 30 connects the upper ends of the rising rail 10 and the lowering rail 20, and the second traverser 40 connects the upper rail 10 and the lowering rail 20. This will be explained using connecting the bottom as an example.

The first traverser 30 can transport the carrier 50 from the top of the rising rail 10 to the top of the descending rail 20. Additionally, the second traverser 40 may transport the carrier 50 from the lower end of the lowering rail 20 to the lower end of the rising rail 10. Accordingly, the carrier 50 can travel circularly on a circular path formed by the rising rail 10, the falling rail 20, the first traverser 30, and the second traverser 40.

Specifically, the carrier 50 travels upward on the rising rail 10, is then transported to the top of the lowering rail 20 by the first traverser 30, and travels downward on the lowering rail 20 before being transferred to the second traverser. It can be transported to the bottom of the rising rail (10) by the stand (40).

In this embodiment, a plurality of carriers 50 may be provided to increase cargo volume. Each carrier 50 travels to a destination on a circular route based on the travel path. Here, the driving path refers to a detailed route from the current location of the carrier 50 to the destination.

At this time, the driving path for each carrier 50 is not provided by the control panel but can be generated directly by each carrier 50. In other words, the control panel provides only destination information to each carrier 50, the driving path from the current location to the destination is directly generated by each carrier 50, and the carrier 50 creates the driving path based on the driving path it creates. You can drive to your destination.

Accordingly, the robot transport and travel system according to this embodiment reduces data traffic by reducing the amount of data transmitted and received between each carrier of the carrier 50 and the control panel, and can simplify the carrier travel control operation logic, thereby lowering the error rate. Here, a detailed description of the driving path generation of the carrier 50 will be described later with reference to FIGS. 2 and 3.

Meanwhile, the robot transport and travel system according to this embodiment can flexibly adjust the number of carriers 50 traveling on the circular path. For example, during a period when a large cargo volume is required, a relatively larger number of carriers 50 are operated on the circular route, and during a period when a small cargo volume is required, a relatively smaller number of carriers 50 are operated on the circular route. can do. The operation of a large number of carriers 50 increases the cargo volume, and the operation of a small number of carriers 50 reduces the cargo volume, but has the effect of reducing operating costs.

To this end, the robot transport travel system according to this embodiment may be provided with one or more containment rails 60 whose upper or lower ends are connected to the second traverser 40. Specifically, as shown in FIG. 1, the second traverser 40 not only connects the lower end of the rising rail 10 and the lowering rail 20, but also connects the lower end of the rising rail 10 and the lowering rail 20. It is formed to extend in the horizontal direction past, and the containment rail 60 is formed in the vertical direction like the rising rail 10 and the falling rail 20, and the upper or lower end may be connected to the second traverser 40. Hereinafter, for convenience of explanation, an example will be given where the lower end of the containment rail 60 is connected to the second traverser 40.

The containment rail 60 can store the carrier 50 transported from the bottom of the lowering rail 20 through the second traverser 40, and the carrier 50 taken out from the containment rail 60 is stored in the second traverser. It can be transported to the bottom of the rising rail (10) through the stand (40). The containment rail 60 may be configured to enable the carrier 50 to move up and down, and like the rising rail 10 and the lowering rail 20, the carrier 50 drives a rack and pinion along the containment rail 60. It may be configured to be able to drive in this way, but is not limited to this.

The robot transfer travel system not only flexibly adjusts the number of carriers 50 on the circulation path through the containment rail 60, but also temporarily stores carriers 50 with abnormalities such as breakdowns to prevent abnormal carriers 50. Even during repairs, operation of the carrier 50 on the circular path can continue.

Figure 2 is a functional block diagram of a carrier in a robot transport travel system according to an embodiment of the present invention, and Figure 3 illustrates a travel path generated by the travel path generator in the robot transport travel system according to an embodiment of the present invention. This is a drawing shown to do this.

Hereinafter, the carrier 50 of the robot transport and travel system according to an embodiment of the present invention will be described in more detail with reference to FIGS. 2 and 3.

As described above, the carrier 50 according to this embodiment can directly generate a travel path from the current location to the destination when destination information is provided from the control panel.

For this purpose, the carrier 50 includes a destination receiver 51 that receives destination information, a travel pass generator 52 that generates a travel pass, a location determination unit 53 that generates current location information, and a section number. It may be configured to include a number setting unit 54 that sets a position number, and a route transmitting unit 55 that transmits the generated driving pass.

The destination receiver 51 can receive destination information from the control panel. For this purpose, the destination receiver 51 may be connected to the control panel via wired or wireless communication. When the destination reception unit 51 receives destination information from the control panel, it can provide the received destination information to the driving pass creation unit 52.

When the driving pass creation unit 52 receives destination information from the destination receiving unit 51, it can generate a driving pass based on the received destination information. Specifically, when the driving pass creation unit 52 receives destination information, it can request and receive information on the current location of the carrier from the location determination unit 53. Additionally, the driving pass generator 52 may generate a driving pass based on the current location information and destination information provided.

The location determination unit 53 may generate and provide current location information of the carrier in response to a request from the driving pass creation unit 52. The location determination unit 53 always generates the current location information of the carrier, and when a request is made to the driving pass creation unit 52, it provides the current location information at the time of the request to the driving pass creation unit 52, or The generation unit 52 can generate and provide current location information only upon request. At this time, the position determination unit 53 receives driving distance information from a separate driving distance detection sensor such as an encoder, and can generate current position information of the carrier based on the input initial position information and the provided driving distance information. .

Preferably, the position determination unit 53 is provided with a position identification sensor, and each rail 10, 20, 60 and the traversers 30, 40 may be provided with a position identifier that can be identified by the position identification sensor. Specifically, the lower end of the rising rail 10, the upper end of the lowering rail 20, the lower end of the containment rail 60, the first transfer rail of the first traverser (32 in FIG. 4), and the first rail of the second traverser. 2 Each position identifier can be placed on the transfer rail (42 in FIG. 6), and the position determination unit 53 can identify the position from each position identifier through a position identification sensor. Additionally, the location determination unit 53 can generate specific current location information of the carrier by adding the traveling distance according to the traveling direction at the identified location.

Meanwhile, the number setting unit 54 sets section numbers individually corresponding to the rising rail 10, the descending rail 20, the first traverser 30, the second traverser 40, and the storage rail 60. A section setting unit 541, a rising rail 10, a falling rail 20, a first traverser 30, and a second traverser 40. A position setting unit 542 may be provided to set a position number corresponding to a detailed position within each section of the storage rail 60.

The section setting unit 541 configures the rising rail 10, the falling rail 20, the first traverser 30, the second traverser 40, and Individually corresponding section numbers can be set on the containment rail 60. For example, with reference to FIG. 3, the rising rail 10 is divided into section 1, the lowering rail 20 is divided into section 2, the first traverser 300 is divided into section 3, and the second traverser 40 is divided into section 3. can be set to section 4, and the four containment rails 60 can be set to section 5, section 6, section 7, and section 8 from the left in the drawing.

The section setting unit 541 configures the rising rail 10, the descending rail 200, the first traverser 30, and the second traverser 40 according to the setting value provided from the control panel or the input value input from the manager. , the position number corresponding to the detailed position within the section of the containment rail 60 can be set. Referring to Figure 3, for example, the lowest position of the section of the rising rail 10 may be set to position 11, numbers may be sequentially set at predetermined distances along the upper direction, and the uppermost position may be set to position 19. Lowering rail 20 ) 0) and the detailed position of the section of each containment rail 60 can also set a unique position number in the same way, and the first traverser 30 and the second traverser 40 are positioned on each transfer rail. Only one unique position number can be assigned.

The section number set in the section setting unit 541 of the number setting unit and the position number set in the position setting unit 542 may be provided to the driving path creation unit 52 and the position determination unit 53. The location determination unit 53 may generate current location information such that the current section and position numbers are included in the current location information determined based on the session number and location number provided by the number setting unit 54. In addition, the destination information received from the destination receiving unit 51 includes a destination section and a position number. The destination section and position numbers included in the destination information are also based on the same criteria as the section and position numbers set in the number setting unit 54. This is a generated number.

The driving pass creation unit 52 generates a driving pass based on the section number and position number provided from the number setting unit 54 when creating a driving pass, and the driving pass generated in this way includes the target section from the current section and position number. And the driving position path up to the position number may be included.

3 as an example, if the current position of the carrier 50 is position 17 (p1) in section 1 and the destination is position 24 (p2) in section 2, the driving pass generator 52 is positioned at position 1 in section 1. A driving position path consisting of positions 17, 18, 19, position 31 in section 3, and positions 29, 28, 27, 26, 25, and 24 in section 2 can be created.

As another example, if the current position of the carrier 50 is position 17 (p1) in section 1 and the destination is position 72 (p3) in section 7, the driving pass generator 52 is positioned at positions 17, 18, and 19 in section 1. , Create a driving position path consisting of position 31 in section 3, positions 29, 28, 27, 26, 25, 24, 23, 22, 21 in section 2, position 41 in section 4, and positions 71 and 72 in section 7. can do. In this case, since the destination is the containment rail 60, the carrier 50 is stored in the containment rail 60 and waits until receiving additional destination information from the control panel. During this waiting, except for the minimum power required to receive additional destination information, Power may be cut off.

In this way, in the robot transport travel system according to this embodiment, when the carrier 50 traveling on a circular path receives destination information from the control panel, it directly creates a travel path to the destination and drives, thereby transmitting and receiving data between each carrier and the control panel. As the volume is reduced, data traffic is reduced, and the carrier operation control operation logic can be simplified, which has the effect of lowering the error rate.

FIG. 4 is a diagram conceptually showing a first traverser according to an embodiment of the present invention, and FIG. 5 is a functional block diagram of the first traverser according to an embodiment of the present invention.

Hereinafter, the first traverser of the robot transport travel system according to an embodiment of the present invention will be described in more detail with reference to FIGS. 4 and 5.

As described above, the first traverser 30 connects the upper part of the rising rail 10 and the lowering rail 20 to transfer the carrier 50 from the upper end of the rising rail 10 to the upper end of the lowering rail 20. You can.

To this end, the first traverser 30 includes a first horizontal rail 31 arranged to connect the upper side of the rising rail 10 and the lowering rail 20, as shown in FIG. 4, and a first horizontal rail It may be configured to include a first transfer rail 32 that moves along (31) and transfers the carrier.

In addition, as shown in FIG. 5, the first traverser 30 includes a first transfer control unit 33 that drives and controls the first transfer rail 32, and a first boarder to board the first transfer rail 32. It may further include a first approach detection unit 34 that detects the scheduled carrier, and a first boarding detection unit 35 that detects the first boarding carrier riding on the first transfer rail 32.

At this time, the first approach detector 34 is disposed at the uppermost position of the rising rail 10 and can detect the carrier located at the uppermost position of the rising rail, and the first boarding detector 35 is disposed at the uppermost position of the rising rail 10. ) and can detect the carrier riding on the first transfer rail 32. Here, the first approach detection unit 34 and the first boarding detection unit 35 may be object detection sensors that detect objects using ultrasonic waves, infrared rays, etc., but are not limited thereto.

When the first carrier scheduled to board is detected, the first transfer control unit 33 may arrange the first transfer rail 32 so that the carrier scheduled to board the first carrier can board. Specifically, when the first carrier scheduled to be boarded is detected, the first transfer control unit 33 controls the first transfer rail 32 to be disposed at a position extending the rising rail 10 from the upper side of the rising rail 10. The rail 32 can be driven and controlled. In this way, when the first transfer rail 32 is arranged to extend upwardly from the rising rail 10, the carrier on the rising rail 10 can ride on the first transfer rail 32.

When the carrier 50 rides on the first transfer rail 32, the first boarding detection unit 35 can detect boarding. The first transfer control unit 33 is configured to arrange the first transfer rail 32 at a position extending the lowering rail 20 from the upper side of the lowering rail 20 when the carrier boarding on the first transfer rail 32 is detected. 1 The transport rail 32 can be driven and controlled. Accordingly, when the first transfer rail is arranged to extend upwardly from the lowering rail 20, the carrier 50 can deviate from the first transfer rail 32 and enter the lowering rail 20.

FIG. 6 is a diagram conceptually showing a second traverser and a containment rail according to an embodiment of the present invention, and FIG. 7 is a functional block diagram of the second traverser according to an embodiment of the present invention.

Hereinafter, the second traverser of the robot transport travel system according to an embodiment of the present invention will be described in more detail with reference to FIGS. 6 and 7.

As described above, the second traverser 40 connects the lower end of the rising rail 10 and the lowering rail 20 to transfer the carrier 50 from the upper end of the rising rail 10 to the upper end of the lowering rail 20. You can.

To this end, the second traverser 40 includes a second horizontal rail 41 arranged to connect the lower side of the lowering rail 20 and the rising rail 10, as shown in FIG. 6, and a second horizontal rail It may be configured to include a second transfer rail 42 that moves along (41) and transfers the carrier.

In addition, as shown in FIG. 7, the second traverser 40 includes a second transfer control unit 43 that drives and controls the second transfer rail 42, and a second transport control unit 43 to drive the second transfer rail 42. It may further include a second approach detection unit 44 that detects a scheduled carrier, and a second boarding detection unit 45 that detects a second boarding carrier riding on the second transfer rail 42.

At this time, the second approach detection unit 44 is disposed at the lowest position of the lowering rail 20 and can detect the carrier located at the lowest position of the lowering rail, and the second boarding detection unit 45 is disposed at the lowest position of the lowering rail 20. ) and can detect the carrier riding on the second transfer rail 42. Here, the second approach detection unit 44 and the second boarding detection unit 45 may be object detection sensors that detect objects using ultrasonic waves, infrared rays, etc., but are not limited thereto.

When the second carrier scheduled to board is detected, the second transfer control unit 43 may arrange the second transfer rail 42 so that the carrier scheduled to board the second carrier can board. Specifically, when the second carrier scheduled to be boarded is detected, the second transfer control unit 43 controls the second transfer rail 42 to be disposed at a position extending the lowering rail 20 from the lower side of the lowering rail 20. The rail 42 can be driven and controlled. In this way, when the second transfer rail 42 is arranged to extend downwardly the lowering rail 20, the carrier on the lowering rail 20 can ride on the second transfer rail 42.

When the carrier 50 rides on the second transfer rail 42, the second boarding detection unit 45 can detect boarding. The second transfer control unit 43 is configured to arrange the second transfer rail 42 at a position extending the rise rail 10 from the lower side of the rise rail 10 when the carrier boarding on the second transfer rail 42 is detected. 2 The transport rail 42 can be driven and controlled. Accordingly, when the second transfer rail is arranged to extend downwardly on the rising rail 10, the carrier 50 can deviate from the second transfer rail 42 and enter the rising rail 10.

However, as described above, the second traverser 40 may be arranged to connect the lower ends of each containment rail 60 as well as the rising rail 10 and the falling rail 20. Accordingly, the second horizontal rail may be formed to extend beyond the lower sides of the rising rail 10 and the lowering rail 20 and connect the lower sides of each containment rail 60, as shown in FIG. 6 .

At this time, the first transfer rail 32 of the first traverser transfers the carrier 50 only to the lowering rail 20, but the second transfer rail 42 of the second traverser transfers the carrier 50 to the rising rail ( 10) In addition, it must be possible to transfer to each containment rail (60).

To this end, the second traverser 40 may include a path receiving unit 46 that receives the driving position path from the second boarding carrier when the second boarding carrier is detected by the second boarding detection unit 45. At this time, the route receiver 46 may receive the driving position route from the route transmitter 55 of the carrier.

The second transfer control unit 43 receives the driving position path received from the path receiving unit 46, determines the transport position of the second boarding carrier based on the provided driving position path, and then drives the second transport rail 42. You can control it.

Figure 8 is a diagram conceptually showing a robot transport and travel system according to another embodiment of the present invention, and Figure 9 is a diagram showing the traveling direction of the carrier in the robot transport and travel system according to another embodiment of the present invention.

In the robot transport and travel system according to an embodiment of the present invention described above, when two or more carriers 50 can be stored in one storage rail 60, both storage and removal of the carriers 50 are performed using the storage rail 60. Since it is done through the bottom, the carrier 50 stored later is taken out first than the carrier 50 stored earlier. Accordingly, depending on the situation, some of the carriers 50 that are stored first are continuously stored in the storage rail 60 and are hardly used, and only the remaining carriers 50 can be continuously used.

In order to solve this problem, in the robot transport and travel system according to another embodiment of the present invention, the carrier 50 stored on the containment rail 60 first leaves the containment rail 60 before the carrier 50 stored later. Carriers can be stored and taken out in a first-in, first-out manner.

To this end, the robot transport and travel system according to another embodiment of the present invention includes a rising rail 10, a lowering rail 20, and a first traverser ( 30), a second traverser 40, a carrier 50, and a containment rail 60, and may further include a containment traverser 70.

Here, the rising rail 10, the falling rail 20, the first traverser 30, and the second traverser 40 of the robot transport travel system according to another embodiment of the present invention are one embodiment of the present invention described above. It is configured in the same way as the robot transport traveling system according to, with the difference being that the carrier 50 generates a traveling path in consideration of the circular storage rail 60. The robot according to an embodiment of the present invention described above It may be configured in the same way as the return travel system. Therefore, description of the rising rail 10, the descending rail 20, the first traverser 30, the second traverser 40, and the carrier 50 according to other embodiments of the present invention will be omitted. .

As shown in FIG. 8, the containment rails 60 are provided in an even number to form pairs between the containment rails arranged adjacent to each other, and a containment traverser ( 70). Here, the storage traverser 70 may be configured in the same way as the first traverser 30, with the only difference being that it connects the storage rails 60.

In this way, the robot transport and travel system according to the present embodiment includes storage rails 60-1 and 60- that are paired with each other so that the stored carrier can be separated from the storage rail 60 in a first-in, first-out manner, as shown in FIG. 9. 2), the second traverser 40 and the containment traverser 70 may together form a circulation path.

Accordingly, the carriers 50 stored in the containment rail 60 may be separated from the containment rail in a first-in, first-out manner, thereby preventing only some carriers from being operated intensively.

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

10: rising rail
20: lowering rail
30: first traverser
31: first horizontal rail
32: first transport rail
33: first transport control unit
34: first approach detection unit
35: first boarding detection unit
40: second traverser
41: second horizontal rail
42: second transport rail
43: second transfer control unit
44: Second approach detection unit
45: Second boarding detection unit
46: route receiver
50: Carrier
51: Destination receiver
52: Driving pass generation unit
53: Position determination unit
54: Number setting unit
541: Section setting unit
542: Position setting unit
55: route transmitter
60: Containment rail
70: Containment traverser

Claims (10)

rising rails forming an upward path;
a lowering rail forming a downward path;
a first traverser connecting the upper or lower end of the rising rail and the lowering rail;
a second traverser connecting the rising rail and the falling rail at an end opposite to the arrangement position of the first traverser;
One or more carriers capable of traveling on a circular path formed by the rising rail, the falling rail, the first traverser, and the second traverser, and traveling to the destination according to a travel path from the current location to the destination; and
It includes one or more storage rails connected at the top or bottom to the second traverser and capable of storing the carrier,
The carrier is
a section setting unit that sets section numbers individually corresponding to the rising rail, the lowering rail, the first traverser, the second traverser, and the storage rail;
a position setting unit that sets position numbers corresponding to detailed positions within each section of the rising rail, falling rail, first traverser, second traverser, and containment rail;
a destination receiving unit that receives destination information including the destination section and position number from the control panel;
a location determination unit that generates current location information including a current section and position number when destination information is received from the destination receiver; and
Based on the current location information generated by the location determination unit and the destination information received by the destination receiver, generating the driving pass including a driving position path from the current section and position number to the destination section and position number. Includes a driving pass generation unit,
The second traverser is
a second horizontal rail arranged to connect the upper or lower side of the rising rail and the lowering rail and to connect the lower or upper side of the containment rail;
a second transport rail that moves along the second horizontal rail and transports the carrier;
a second approach detection unit that detects a second carrier scheduled to board the second transfer rail;
a second boarding detection unit that detects a second boarding carrier riding on the second transfer rail;
a route receiver that receives the driving position route from the second boarding carrier when the second boarding carrier is detected; and
Characterized in that it comprises a second transfer control unit that drives and controls the second transfer rail based on the detection information detected by the second approach detection unit and the second boarding detection unit and the driving position path received by the route receiver. Robotic transfer travel system.
delete delete The method of claim 1, wherein the first traverser
a first horizontal rail arranged to connect the upper or lower side of the rising rail and the lowering rail;
a first transport rail that moves along the first horizontal rail and transports the carrier;
a first approach detection unit that detects a first carrier scheduled to board the first transfer rail; and
A robot transport and travel system comprising a first transfer control unit that drives and controls the first transfer rail based on detection information detected by the first approach detection unit.
The method of claim 4, wherein the first traverser
Further comprising a first boarding detection unit that detects a first boarding carrier riding on the first transfer rail,
The first transport control unit controls the first transport rail to be driven to one side so that the first boarding carrier can board when the first boarding carrier is detected, and when the first boarding carrier is detected, the first transport rail is moved to one side. A robot transport traveling system characterized by driving and controlling to the other side.
delete According to claim 1,
When the carrier receives destination information about the storage rail from the control panel, the carrier generates a travel position path to the storage rail and travels to the storage rail to be stored.
According to claim 1,
A robot transport travel system, wherein two or more carriers can be stored in the storage rail, and the carriers stored in the storage rail can be separated from the storage rail in a first-in, first-out manner.
According to claim 8,
The containment rails are provided in an even number to form pairs between containment rails arranged adjacent to each other,
The area where the second traverser is not placed between the upper and lower ends of the paired containment rails is connected by a containment traverser,
A robot transport travel system, wherein a pair of storage rails, a second traverser, and a storage traverser form a circular path together so that the stored carrier can be separated from the storage rail in a first-in, first-out manner.
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