KR20170134840A - Distribution transport robot and charging system for the same - Google Patents

Abstract

The present invention relates to a charging system for a logistics transportation robot and, more specifically, to a logistics transportation robot capable of minimizing a space occupied by a charging facility within a logistics center, and a charging system for the same. According to the present invention, the logistics transportation robot comprises: a moving member for movement; a driving unit having a driving motor driving the moving member; a lifting unit provided on both sides of the upper surface of a robot main body, having a pallet seated on the upper surface thereof, and lifting or lowering the seated pallet; a conveyor unit installed in a space between the lifting units, and receiving the pallet from the lifting unit and moving the same; a robot control unit controlling the driving of the driving unit, lifting or lowering the pallet by operating the lifting unit, and operating the conveyor unit to move the pallet; and a battery unit supplying power to the driving unit, the lifting unit, the conveyor unit, and the robot control unit.

Description

[0001] The present invention relates to a transportation robot and a charging system for the same,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a charging system for a logistics transportation robot, and more particularly, to a logistics transportation robot and a charging system for the same that can minimize a space occupied by a charging facility in a distribution center.

The physical distribution center refers to a logistics facility that is installed between the supplier and the consumer in the process of distribution of the products in which there are a plurality of suppliers and consumers, thereby promoting the efficiency of delivery.

Logistics centers are set up to integrate, plan, and streamline the distribution process. For example, in the past, a factory sent a product directly to a delivery center. However, in order to streamline the transportation in accordance with the efficiency of transportation, realization of economies of scale, and globalization of the delivery area, a logistics center is installed in a strategic logistics area and a distribution type is provided .

The duties to be performed in the logistics center should be various tasks such as goods receipt and delivery, movement or storage in the logistics center, processing for sending the goods, and transportation between the logistics centers. Therefore, there was a problem that a large number of personnel needed to operate the logistics center.

Recently, systems for automating the storage and supply of logistics in the logistics center have been developed.

On the other hand, the space occupied by the facilities to automate the storage and supply of logistics within the logistics center is directly related to the costs. However, in order to realize the automation of the logistics center, a large number of facilities must be installed.

Korean Utility Model Publication No. 20-2010-0008158 (Aug. 16, 2010)

Accordingly, an object of the present invention is to provide a logistics transportation robot and a charging system therefor, which can minimize the space occupied by a charging facility in a logistics center.

The present invention provides a logistics transportation robot comprising: a traveling member having a moving member for moving; a traveling unit having a driving motor for driving the traveling member; a pallet mounted on both sides of an upper surface of the robot body, A lifting unit for lifting or lowering the pallet, a conveyor unit provided in the space between the lifting unit for receiving and moving the pallet from the lifting unit, a traveling control unit for controlling the running of the traveling unit and operating the lifting unit to move the pallet up or down And a battery unit for supplying power to the traveling unit, the lifting unit, the conveyor unit, and the robot control unit.

In the logistics transportation robot according to the present invention, the lifting unit may include a pair of lifting frames provided on the upper surface of the robot body, at least one of the lifting frames being formed on the upper surface of the pair of lifting frames, And a seat portion for receiving the seat portion.

The logistics transportation robot according to the present invention may further comprise a guide roller formed on an outer surface of the robot body and guiding movement of the robot body.

In the logistics transportation robot according to the present invention, the battery unit includes a traveling battery for supplying power to the upper running unit, a lifting unit, a hardware battery for supplying power to the conveyor unit and the robot control unit, And a first charging terminal connected to the traveling battery and the hardware battery and supplied with power from the charging device.

In the logistics transportation robot according to the present invention, the first charging terminal may include: a first docking terminal for checking whether or not the docking with the charging device is checked; and a docking terminal for checking whether the docking with the charging device is confirmed by the first docking terminal, A first driving power source terminal for receiving power from the charging device and supplying power to the traveling battery; and a second driving power source terminal for receiving power from the charging device when the docking with the charging device is confirmed by the first docking terminal, And a first hardware power supply terminal for supplying power.

A charging system for a goods transportation robot according to the present invention comprises a moving member for movement, a traveling unit having a driving motor for driving the moving member, a pallet mounted on both sides of an upper surface of the robot body, A lifting unit for lifting or lowering the pallet; a conveyor unit provided in the space between the lifting units to transfer the pallet from the lifting unit to the lifting unit; a driving unit for controlling the traveling of the driving unit; A robot control unit for moving the pallet by moving the pallet and raising or lowering the pallet, and moving the pallet by operating the conveyor unit, a logistics transportation robot including a battery unit for supplying power to the traveling unit, the lifting unit, And a power supply unit for supplying power to the battery unit of the above- It characterized in that it comprises a filling apparatus.

In the charging system of the logistics transportation robot according to the present invention, the charging device may include a charging main body having one side opened and a space for accommodating the goods transportation robot therein, And a power supply unit that is connected to the first charging terminal of the first charging terminal and supplies power to the goods transportation robot.

In the charging system of the logistics transportation robot according to the present invention, the charging body may include a charging guide portion extending from the opened one side surface to both inner side surfaces and guiding movement of the transportation robot, And a charging stopper for stopping the transporting robot moving.

The charging system of the logistics transportation robot according to the present invention comprises a charging main body having one side opened and a space for accommodating the logistics transportation robot therein, and a second charging terminal provided on the lower surface of the charging main body, And a power supply unit for supplying power to the logistics transportation robot. By optimizing the size of the charging device according to the logistics transportation robot, the space occupied by the charging facility in the logistics center can be minimized.

In addition, the charging system of the logistics transportation robot according to the present invention can implement the charging system using the traveling unit and the sensor mounted on the goods transportation robot without adding a separate mechanism and sensor.

1 is a block diagram showing a configuration of a logistics automation system according to an embodiment of the present invention.
FIG. 2 is a schematic view showing a process of storing a pallet of a logistics automation system according to an embodiment of the present invention from an article sorting table to a pallet supplying apparatus.
FIG. 3 is a schematic diagram illustrating a process of supplying pallets of a palletizing automation system according to an embodiment of the present invention from a pallet supply device to a logistics transportation robot.
4 is a perspective view illustrating a pallet supply apparatus according to an embodiment of the present invention.
5 is a front view showing a pallet supply apparatus according to an embodiment of the present invention.
6 is an enlarged view of a portion A in Fig.
7 is a view illustrating a state in which the gripper grips the pallet in the pallet supplying apparatus according to the embodiment of the present invention.
8 is a view showing a vertical movement unit of the pallet supply apparatus according to the embodiment of the present invention.
FIG. 9 is a perspective view illustrating a state in which the pallet supplying apparatus is docked in the pallet transporting robot according to the embodiment of the present invention.
10 is a perspective view of a logistics transportation robot according to an embodiment of the present invention.
11 is a bottom view of the logistics transportation robot according to the embodiment of the present invention.
12 is a flowchart showing a pallet supplying method using the pallet supplying apparatus according to the embodiment of the present invention.
13 is a view showing a charging system of the logistics transportation robot according to the embodiment of the present invention.
FIG. 14 is a schematic view showing a charging mechanism of the logistics transportation robot and the charging apparatus according to the embodiment of the present invention.
15 is a perspective view showing a charging apparatus according to an embodiment of the present invention.
16 is an enlarged view of a power supply unit of the charging apparatus according to the embodiment of the present invention.

In the following description, only parts necessary for understanding the embodiments of the present invention will be described, and the description of other parts will be omitted so as not to obscure the gist of the present invention.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary meanings and the inventor is not limited to the meaning of the terms in order to describe his invention in the best way. It should be interpreted as meaning and concept consistent with the technical idea of the present invention. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely preferred embodiments of the present invention, and are not intended to represent all of the technical ideas of the present invention, so that various equivalents And variations are possible.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing a configuration of a logistics automation system according to an embodiment of the present invention.

The article sorting table 200 is configured to sort the articles placed on the pallet, and sort the articles on the pallets on which the articles are loaded, and move the pallets on which the articles are not stacked to both ends.

The pallet is a flat pedestal used to unload, store and transport cargo in a certain quantity unit. Such a pallet is formed in such a form that a space is formed between the upper plate and the lower plate so that the fork formed in the forklift can be pushed in.

The article sorting table 200 is configured to sort the articles placed on the pallet, and sort the articles on the pallets on which the articles are loaded, and move the pallets on which the articles are not stacked to both ends.

Here, the article sorting table 200 can supply the pallets moved to both ends to the pallet supplying device 300 or the goods transporting robot 400.

Such an article sorting table 200 may include a plurality of supports 210 and a sorting table. Here, the floats may be formed on the upper part of the support 210 in the longitudinal direction, and may include a plurality of swiveling rods arranged perpendicular to the longitudinal direction so that the pallets can move in the longitudinal direction.

In addition, the article sorting table 200 may include a sorting conveyor belt 220 for receiving or supplying the pallets to the pallet supply device 200 or the goods transport robot 400 on both sides thereof.

The pallet supply device 300 can receive the pallet from the goods sorting belt 200 via the sorting conveyor belt 220. [

When the pallet is moved from the sorting conveyor belt 220, the pallet supplying device 300 receives the pallet through the conveyor belt 15 provided adjacent to the sorting conveyor belt 220.

The conveyor belt (15) receiving the pallet transports the pallet into the pallet supply device (300).

The pallet supply device 300 can store the pallet in a state in which the pallet is gripped and lifted when the pallet delivered from the goods sorting belt 200 is located inside.

When the pallet supplying apparatus 300 receives another pallet from the log sorting bed 200 in a state where the pallet is stored, the pallet holding apparatus 300 descends the pallet and stacks the pallet on another pallet.

The pallet supply device 300 is configured to release gripping of the pallet that has been gripped, and to descend to grip another pallet, thereby holding a plurality of pallets.

Further, the pallet supply device 300 can supply the pallet that is stored to the goods transportation robot 400.

That is, when the pallet supplying device 300 enters the space formed in the lower part of the pallet storing the pallet and the docking is completed, the pallet being held is lowered and placed on the upper part of the pallet transporting robot 400 .

At this time, the pallet supply device 300 receives a request for the number of pallets to be supplied to the goods transportation robot 400 before descending.

Then, the pallet supply device 300 releases the pallet gripped by the lowering and releases the pallet, and then raises the pallet holding the pallet located at the lowermost position of the remaining pallets except for the requested number of pallets.

When the pallet transporting robot 400 receives the pallet from the pallet supplying device 300, it can release the docking and move to a predetermined place.

Further, the logistics transportation robot 400 can transport the pallet on which the articles are loaded to the article sorting table 200 and supply the pallets.

Hereinafter, the process of storing or supplying the pallet in the logistics automation system according to the embodiment of the present invention will be described in more detail.

FIG. 2 is a schematic view showing a process of storing a pallet of a logistics automation system according to an embodiment of the present invention from an article sorting table to a pallet supplying apparatus, FIG. 3 is a view showing a pallet of a pallet supplying system of a logistics automation system according to an embodiment of the present invention Fig. 2 is a schematic diagram showing a process of supplying the robot from the apparatus to the logistics transportation robot.

Referring to FIGS. 2 and 3, the process of storing the pallets in the logistics automation system 100 will now be described. When the pallet is delivered from the pallet supply device 300, And lifts the pallet in the gripped state. Here, the pallet that is transmitted from the article sorting table 200 is positioned below the pallet that is raised by the conveyor belt 15 while being held by the pallet supplying apparatus 300.

When the pallet supply device 300 is positioned below the pallet held by the pallet 200, the pallet 300 is lifted and placed on the upper part of the pallet conveyed from the pallet 200 .

At this time, the pallet supply device 300 may store the pallet in a state of being positioned on the upper part of the conveyor belt 15, or may hold the pallet in a state of holding the pallet at the lowermost position.

The pallet supplying apparatus 300 descends the pallet held by the pallet supplying robot 300 when the pallet supplying apparatus 300 enters the inside of the pallet supplying robot 300 and docks the pallet supplying robot 300, ).

Next, the pallet supplying apparatus 300 raises the pallet, which is located at the lowermost part of the remaining pallets except for the number of pallets requested by the goods transportation robot 400, in a state of holding the pallet again.

Then, the logistics transportation robot 400 releases the docking and moves to a desired position.

Hereinafter, a pallet supplying apparatus according to an embodiment of the present invention will be described in more detail.

FIG. 4 is a perspective view showing a pallet supplying apparatus according to an embodiment of the present invention, FIG. 5 is a front view showing a pallet supplying apparatus according to an embodiment of the present invention, FIG. 6 is an enlarged view FIG. 7 is a view showing a state in which the gripper grips the pallet in the pallet supplying apparatus according to the embodiment of the present invention, and FIG. 8 is a view showing the up and down moving unit of the pallet supplying apparatus according to the embodiment of the present invention.

4 to 8, the pallet supplying apparatus 300 according to the embodiment of the present invention includes a moving rail part 10, a gripper 20, a vertical moving part 30, and a supply control part 40 .

The movable rail part 10 can receive the pallet from the goods classification. The moving rail part 10 may include a pair of the first frame 11, the second frame 17, the conveyor belt 15 and the sensor part 16.

The pair of first frames 11 may be formed as a pair of frames facing each other. Accordingly, a space for accommodating the logistics transportation robot can be formed between the pair of first frames 11.

The second frame 17 may form one side by connecting the first frames 11 with each other.

That is, a pair of the first frame 11 and the second frame 17 may be formed in a 'C' shape, and one opened side may serve as a passage for the goods transportation robot.

On the other hand, a plurality of moving members 12 may be included in the lower surface of each of the pair of first frames 11 so as to be movable. Here, the pair of first frames 11 may include a support member 13 formed to be able to move up and down on the lower surface. The supporting member 13 is moved upward from the moving member 12 to make the pair of first frames 11 and the second frame 17 movable by the moving member 12, And can be supported in a state in which it is not movable.

The moving rail part 10 may further include a guide part 14 formed to face the inner side surfaces of the pair of first frames 11 so as to guide movement of the transportation robot 400. The guide portion 14 includes a plurality of guide pawls 14a protruding from the inner surface of the pair of first frames 11 and a guide bar 14b formed on the plurality of guide pawls 14a . A spring 14c may be formed between the guide bar 14b and the inner surface of the pair of first frames 11. In this case, the guide pawl 14a may be configured to be inserted into the side surfaces of the pair of first frames 11 when external pressure is applied thereto. That is, the guide portion 14 can guide the goods transport robot 400 to enter the inside of the pair of first frames 11 for docking.

The moving rail part 10 may further include a stopper 18 formed on the inner surface of the second frame 17 and restricting movement of the transportation robot moving along the guide part 14. [ The stopper 18 is disposed on the inner side of the second frame 17 at a position opposite to the direction in which the goods transportation robot 400 comes in the front of the goods transportation robot 400 entering the pair of first frames 11 As shown in Fig. Here, the stopper 18 may be formed in the same configuration as the guide portion 14.

The conveyor belt 15 is formed between the pair of first frames 11 and is supported by the pair of first frames 11 to move the pallet transferred from the article classification. That is, when the pallet is received from the conveyor belt 15, the pallet can be moved to the gripper 20.

The sensor unit 16 may sense the position of the pallet transmitted by the conveyor belt 15. [ Here, the sensor unit 16 may include a PSD sensor.

The sensor unit 16 may include a first sensor unit 16a and a second sensor unit 16b. Here, the first sensor portion 16a is formed at the forefront of the conveyor belt 15 in the direction of the article sorting belt, and can detect the supply / non-delivery of the pallet from the article sorting. That is, when the pallet is supplied from the article classification unit, the first sensor unit 16a can sense the pallet supply status first. The second sensor portion 16b is formed on the rear side of the first sensor portion 16a of the conveyor belt 15 so that the second sensor portion 16b can be detected by the first sensor portion 16a, Can be detected at the point where the gripper 20 is located. Here, the second sensor portion 16b may be attached to the gripper 20.

The gripper 20 can grip and store a pallet that is seated on the movable rail part 20. [ The gripper 20 includes a first gripper 21 and a second gripper 22.

Here, the first and second grippers 21 and 22 may be formed on the upper surface of the pair of first frames 11, respectively. The first and second grippers 21 and 22 can grip the pallet located at the top of the conveyor belt 15. [

The first and second grippers 21 and 22 may include a support pawl 28, a gripper body 24, a connecting portion 25, a grip portion 26, and a photosensor 27, respectively.

The support pawls 28 may be formed to be perpendicular to the upper surface of the movable rail portion 10. Here, a plurality of support pawls 28 may be coupled to the gripper body 24 so as to move up and down with the gripper body 24 interposed therebetween.

The gripper body 24 may be coupled to the support pawl 28 so as to be raised and lowered and may have a horizontal axis formed in a direction perpendicular to the support pawls 28.

The gripper body 24 is configured to be raised or lowered about the support pawl 28 by the up-and-down moving part 30.

Further, the gripper body 24 can horizontally move the connection portion 25 coupled to the horizontal axis. Here, the gripper body 24 can horizontally move the connecting portion 25 through the linear actuator.

The connection portion 25 is coupled to the horizontal axis of the gripper body 24 and can horizontally move along the horizontal axis of the gripper body 24. [ The connecting portion 25 connects the grip portion 26 with the gripper body 24 and horizontally moves the grip portion 26 forward or backward in the pallet direction.

The grip portion 26 is engaged with the connection portion 25 and can move forward or backward in the pellet direction in accordance with the horizontal movement of the connection portion 25 to grasp the palette or release the grip.

Here, the grip portion 26 may include a guide hole 26a. That is, the guide hole 26a may be formed to have a curvature perpendicular to the horizontal axis of the gripper body 24. At this time, as the connection portion 25 moves along the horizontal axis and moves along the guide hole 26a, the horizontal movement of the connection portion 25 is switched to the vertical movement, so that the grip portion 26 advances Or can be reversed as shown in FIG. 8 (b).

That is, the gripper 20 may have a cam structure through the gripper body 24, the connecting portion 25, and the grip portion 26.

The gripper 20 may also include a photosensor 27 to recognize the position of the gripper 26. In other words, the photosensor 27 can detect the forward or backward state of the gripper 26.

The gripper 20 may also include a moving pole 23 that engages the gripper body 24. The moving pawl 23 is connected to the wire 33a of the up and down moving part 30 so that the gripper 20 can be moved up or down by the up and down moving part 30. [

The up-and-down moving part 30 can raise or lower the gripper 20. The up and down moving part 30 may include a pair of holding support pawls 31, a connecting bar 32 and an inch worm 33.

The pair of storage support pawls 31 may be formed on the upper portions of the first and second grippers 21 and 22 in parallel with the support pawls 31 and may form a space for storing the pallets.

Here, the pair of holding support pawls 31 may each have a space for accommodating the wire 33a at the center thereof.

The connecting bar 32 is formed by connecting the upper portions of the pair of holding support pawls 31. That is, the connecting bar 32 may form a space for disposing the inch worm 33.

Inch worm 33 may be provided at the center of the connecting bar 32 and connected to the moving pawls 28 provided on the gripper body 24 of the first and second grippers 21 and 22, A wire 33a for raising or lowering the wire 24, and a motor 33b for winding or unwinding the wire 33a.

The motor 33b and the wire 33a are formed in the same number as the first and second grippers 21 and 22 so as to move the first and second grippers 21 and 22, And the pair of motors 33b and 33a can operate at the same speed.

In addition, although not shown, the inch worm 33 may include an ultrasonic sensor provided at the uppermost portion to measure the distance from the pallet. Here, the ultrasonic sensor is configured to determine the position and the position of the gripper 20 together with the position of the gripper 20 recognized through the PSD sensor provided at the lower end of the gripper 26 of each of the first and second grippers 21 and 22 .

The supply control unit 40 operates the moving rail part 10, the gripper 20 and the up and down moving part 30 to stack and store the pallets transferred from the article sorting part or supply the stacked pallets to the goods transportation robot Can be controlled.

That is, the supply control unit 40 receives the pallet from the sorting unit through the moving rail part 10 and receives the pallet received through the moving rail part 10 through the gripper 20, 30, or is released from gripping of the gripper in a state of being lowered and supplied to the logistics transportation robot.

FIG. 10 is a perspective view of a logistics transportation robot according to an embodiment of the present invention, and FIG. 11 is a bottom view of the logistics transportation robot according to an embodiment of the present invention.

10 and 11, the logistics transportation robot 400 according to the embodiment of the present invention includes a traveling unit 410, a lifting unit 420, a conveyor unit 430, a robot controller, and a battery unit.

The running unit 410 may include a moving member 411 for moving and a driving motor for driving the moving member 411. [

The driving unit 410 may include a driving motor for driving the moving member 411 and the moving member 411, a driving motor, a lifting unit 420, And a robot control unit for controlling the conveyor unit 430. The running unit 410 according to the embodiment of the present invention is formed in the form of a rectangular parallelepiped, but is not limited thereto.

The lifting unit 420 includes a pair of lifting and lowering frames 421 provided on at least one side of the upper surface of the traveling unit 410 and a pair of lifting and lowering frames 421 and 422 formed on upper surfaces of the pair of lifting and lowering frames 421, As shown in Fig.

The pair of lifting frames 421 may be configured to be lifted or lowered by a plurality of frames cross-coupled with a plurality of axes. The elevating frame 421 according to the present invention is configured such that a plurality of frames are arranged in a rectangular shape and are raised or lowered. However, the elevating frame 421 is formed in various shapes such as being arranged in an 'X' .

The seat portion 422 may be formed on the upper surface of the pair of the lift frames 421 and may be raised or lowered by the lift frame 421 and the pallet may be seated on the upper surface. Here, the distance between the seating portions 422 formed in the pair of lifting frames 421 is formed to be smaller than the size of the pallet, so that the pallet can be seated.

The conveyor part 430 is provided in the space between the lifting parts 420 and can receive and move the pallet from the lifting part. That is, the conveyor part 430 may be provided between the pair of lifting frames 421.

The conveyor portion 430 may be positioned below the lifting portion 420 with the pallet on the upper surface of the lifting portion 420. At this time, when the lifting unit 420 descends while the pallet is seated, the pallet is seated on the conveyor unit 430. When the pallet is received from the lifting unit 420, the conveyor unit 430 can move the pallet and transfer the pallet to the sorting table or the pallet supplying apparatus.

Further, the logistics transportation robot 400 may further include a guide roller 440 corresponding to the guide portion (14 of FIG. 4) of the above-described pallet supply device.

The guide roller 440 may contact the guide portion to guide the goods transport robot 400 into the pallet supply device.

In addition, the logistics transportation robot 400 may further include a sensing unit 450 for sensing completion of docking with the pallet supplying device. The sensing unit 450 can sense the completion of the talking by measuring the distance to the pallet supplying device.

The battery unit may be provided in the internal space of the travel unit 410. The battery unit supplies power for driving the traveling unit 410, the lifting unit 420, the conveyor unit 430, and the robot control unit.

The battery unit can be divided into a traveling battery for supplying power to the traveling unit 410, a lifting unit 420, a conveyor unit 430, and a hardware battery for supplying power to the robot control unit. The battery unit may include a first charging terminal 414 formed on a lower surface of the running unit 410 and connected to a traveling battery and a hardware battery to receive power from a charging apparatus to be described later.

When the first docking terminal 412 and the first docking terminal 412 check whether the docking with the charging device is checked, the first charging terminal 414 supplies power from the charging device When a docking with the charging device is confirmed by the docking terminal of Figure 1, the first driving power terminal 413 for supplying power to the driving battery receives the power from the charging device, Terminal 413 as shown in FIG.

That is, when the first docking terminal 412 comes into contact with the terminal of the charging device, power is supplied from the charging device through the first driving power terminal and the first hardware power terminal 413 to charge the traveling battery and the hardware battery have.

12 is a flowchart showing a pallet supplying method using the pallet supplying apparatus according to the embodiment of the present invention.

Referring to FIG. 12, in step S10, the pallet supply device may request the number of pallets to be supplied to the goods transportation robot.

Next, in step S20, when the number of pallets is requested, the pallet supply device can detect the quantity of the pallets.

Next, in step S30, when the pallet supplying apparatus holds pallets more than the requested number of pallets, the pallet supplying apparatus requests whether the pallet can be supplied to the goods transporting robot (S50).

In step S30, if the pallet supply device does not hold the pallets as many as the requested number of pallets, the pallet supply device requests the pallets to be returned to the goods sorting table or the goods transportation robot (S40) (S50).

In step S50, the pallet supplying apparatus supplies the pallet to the goods transporting robot in a state where the pallet can be supplied by the goods transporting robot (S70). If the pallet supply is not possible by the goods transporting robot, The pallet can be supplied (S70).

FIG. 13 is a view showing a charging system of the logistics transportation robot according to the embodiment of the present invention, FIG. 14 is a schematic view showing a charging mechanism of the logistics transportation robot and the charging apparatus according to the embodiment of the present invention, FIG. 16 is an enlarged view of a power supply unit of a charging apparatus according to an embodiment of the present invention. FIG.

13 to 16, a charging system 600 for a transportation robot according to an embodiment of the present invention includes a logistics transportation robot 400 and a charging device 500. Here, since the logistics transportation robot 400 is as described above, the same description will be omitted.

The logistics transportation robot 400 can be supplied with power for charging the battery from the charging device 500 while being accommodated in the charging device 500.

Here, the logistics transportation robot 400 moves along the charging guide unit 511 of the charging apparatus 500 and enters the inside of the charging apparatus 500. At this time, the logistics transportation robot 400 comes into contact with the charging guide unit 511 through the guide roller 440 formed at the outer side, and can stably enter the charging apparatus 500.

In addition, a laser sensor 450 may be formed on a side surface of the logistics transportation robot 400 in the direction of entering the inside of the charging apparatus 500. Here, the laser sensor 450 can recognize the docking detection obstacle 513 provided in the charging device 500 and control the docking with the charging device 500.

Meanwhile, the charging apparatus 500 includes a charging main body 510 and a power supply unit 540.

The charging main body 510 is opened at one side and a space for accommodating the goods transportation robot 400 can be formed therein. Here, the filling body 510 may be formed in an open top surface so as to minimize the volume. That is, the charging main body 510 can be opened with its top surface opened to accommodate the high-height transportation robot 400 in a minimum volume.

The charging main body 510 may further include a charging guide portion 511 and a charging stopper 512.

The charging guide portion 512 includes a plurality of guide pawls 511a protruding from the inner surface of the charging main body 510 and a guide bar 511c formed on the plurality of guide pawls 511a. A spring 511b may be formed between the guide bar 511c and the inner surface of the filling body 510. [ In this case, the guide pawl 511a may be configured to be inserted into the side surface of the filling body 510 when external pressure is applied thereto. That is, when the logistics transportation robot 400 enters the charging main body 510 for docking, the charging guide unit 512 can guide the logistics transportation robot 400 to be docked stably by performing the buffering action.

The charging stopper 512 protrudes from the inner surface of the charging main body 510 at a position opposite to the direction in which the goods transportation robot 400 comes in the front of the logistics transportation robot 400 entering the charging main body 510 . Here, the charging stopper 512 may be formed in the same configuration as the charging guide portion 511.

The power supply unit 540 is provided on the lower surface of the charging main body 510 and contacts the first charging terminal 414 formed on the lower surface of the logistics transportation robot 400 to supply power to the transportation robot 400.

The power supply unit 540 may include a charging module 530 and a terminal module 520.

The charging module 530 may be provided inside the charging main body 510 to generate power to be supplied to the goods transportation robot 400. The charging module 530 includes a traveling power supply unit 531 for supplying power to the traveling battery 461 of the transportation robot 400 and a hardware power supply unit 532 for supplying power to the hardware of the transportation robot 400 ).

The terminal module 520 is connected to the charging module 530 and can be exposed to the outside from the lower portion of the charging main body 410 to make contact with the first charging terminal 414 of the transportation robot 400.

Here, the terminal module 520 may include a terminal body 521, a second charging terminal 522, and a charging switch 523.

Although not shown as a passage for connecting the charging module 530 and the second charging terminal 522, the terminal main body 521 may be formed of a wire for electrically connecting the second charging terminal 522 and the charging module 530, . ≪ / RTI >

The second charging terminal 522 is formed on the upper surface of the terminal main body 521 and can supply power to the goods transportation robot 400 by abutting against the first charging terminal 414 of the goods transportation robot.

The second charging terminal 522 includes a second docking terminal 522a for checking whether or not the docking with the goods transportation robot 400 is checked and a second docking terminal 522b for checking the docking of the goods transportation robot 400 by the second docking terminal 522a A first driving power source terminal and a second hardware power source terminal 522b that receive power from the driving power supply unit 531 and the hardware power supply unit 532 and supply power to the traveling battery 461 and the hardware battery 462, ).

The charging switch 523 is operated such that when the goods transportation robot 400 is fully inserted into the charging main body 510 and the docking is completed, the second charging terminal 522 is raised to come into contact with the first charging terminal 414 .

Here, the charging switch 523 is formed of a spring and a damper, and is configured to press the upper portion of the damper while the distribution robot 400 is docked. The second charging terminal 522 connected to the damper rises and comes into contact with the first charging terminal 414 when the docking operation is completed and the upper portion of the damper is pressed.

As described above, the charging system 600 of the logistics transportation robot 400 according to the embodiment of the present invention includes a charging main body 510 having one side opened and a space for accommodating the goods transportation robot 400 therein, And a power supply unit 540 provided on the lower surface of the charging main body 510 to contact the first charging terminal 414 of the logistics transportation robot 400 to supply power to the logistics transportation robot 400, By optimizing the size of the charging device 500 according to the robot 400, the space occupied by the charging facility in the distribution center can be minimized.

The charging system 600 of the logistics transportation robot 400 according to the present invention may be configured such that the traveling unit 200 mounted on the goods transportation robot 400 and the charging System 600 may be implemented.

It should be noted that the embodiments disclosed in the drawings are merely examples of specific examples for the purpose of understanding, and are not intended to limit the scope of the present invention. It will be apparent to those skilled in the art that other modifications based on the technical idea of the present invention are possible in addition to the embodiments disclosed herein.

10: moving rail part 11: body part
12, 411: Movable member 13: Support member
14: guide portion 14a: guide pole
14b: guide bar 14a: spring
15: Conveyor belt 16: Sensor part
16a: first sensor unit 16b: second sensor unit
20: gripper 21: first gripper
22: second gripper 23: support pole
24: gripper body 25:
26: grip portion 26a: guide hole
27: photo sensor 28: moving pole
30: Up and down moving part 31: Holding support pole
32: Connection bar 33: inch worm
33a: wire 33b: drive motor
100: Logistics automation system 200:
210: support frame 220: sorting conveyor belt
300: Pallet supply device 400: Logistics transportation robot
410: robot body 420: lifting part
421: lifting frame 422:
430: Conveyor part 500: Charging device
510: Charging body 511: Charging guide part
512: Charging stopper 513: Docking detection obstacle
520: terminal module 521: terminal body
522: second charging terminal 530: charging module
531: Running power supply unit 532: Hardware power supply unit
600: Charging system

Claims (8)

A moving unit having a moving member for moving and a driving motor for driving the moving member;
A lifting unit provided on both sides of an upper surface of the robot main body and having a pallet mounted on an upper surface thereof and lifting or lowering the mounted pallet;
A conveyor part provided in the space between the lifting parts to receive and move the pallet from the lifting part;
A robot controller for controlling running of the traveling part, raising or lowering the pallet by operating the lifting part, and operating the conveyor part to move the pallet;
A battery unit for supplying power to the traveling unit, the lifting unit, the conveyor unit, and the robot control unit;
And a control unit for controlling the operation of the robot. The method according to claim 1,
The lifting unit includes:
A pair of lifting and lowering frames provided on at least one side of the upper surface of the robot body;
A seating part formed on an upper surface of the pair of lifting frames, respectively, for seating the pallet;
And a control unit for controlling the operation of the robot. The method according to claim 1,
A guide roller formed on an outer surface of the robot body and guiding movement of the robot body;
Further comprising: a control unit for controlling the operation of the robot. The method according to claim 1,
The battery unit includes:
A running battery for supplying power to the upper run;
A hardware battery for supplying power to the lifting unit, the conveyor unit, and the robot control unit;
A first charging terminal formed on a lower surface of the traveling unit and connected to the traveling battery and the hardware battery to receive power from the charging device;
And a control unit for controlling the operation of the robot. 5. The method of claim 4,
Wherein the first charging terminal comprises:
A first docking terminal for checking the docking with the charging device;
A first driving power terminal for receiving power from the charging device and supplying power to the traveling battery when docking with the charging device is confirmed by the first docking terminal;
A first hardware power supply terminal receiving power from the charging device and supplying power to the hardware battery when docking with the charging device is confirmed by the first docking terminal;
Further comprising: a control unit for controlling the operation of the robot. A moving part having a moving member for moving the moving member and a driving motor for driving the moving member; a pallet provided on both sides of the upper surface of the robot body to mount the pallet on the upper surface, A conveyor part provided in the space between the lifting parts to transfer the pallet from the lifting part to move the pallet, a traveling part of the traveling part is controlled, the lifting part is operated to raise or lower the pallet, A robot control unit for moving the pallet, a transportation robot including a battery unit for supplying power to the traveling unit, the lifting unit, the conveyer unit, and the robot control unit;
A charging device for receiving the transportation robot and supplying power to the battery of the transportation robot;
And a charging system for the transportation robot. The method according to claim 6,
Wherein the charging device comprises:
A filling body having one side opened and a space for accommodating the goods transportation robot inside;
A power supply unit provided on a lower surface of the charging main body and contacting the first charging terminal of the transportation robot to supply power to the transportation robot;
And a charging system for the transportation robot. 8. The method of claim 7,
The charging body includes:
A charging guide unit extending from the opened one side surface to both inner side surfaces and guiding movement of the transportation robot;
A charging stopper for stopping the transportation robot moving along the charging guide portion;
Further comprising a controller for controlling the charging system.

Images