KR20200044590A - AGV with lifting apparatus and AGV operating system - Google Patents

Abstract

The present invention provides, in order to solve a problem in a conventional AGV, an AGV equipped with unloading devices at both sides thereof so that an object or a pallet can be balanced during unloading of the object or the pallet. An embodiment of the present invention provides a pallet lifting AGV, having the overall height lower than the height of the lower frame of the pallet, having the overall length greater than the overall width, and equipped with a pair of lifting means, wherein the lifting means includes: a driving motor; a shaft member connected to the driving motor to perform axial rotation; a coupling connected to the shaft member; an up and down guide coupled to the coupling; a cam connected to the up and down guide; a lifting bar coupled to the cam and horizontally provided at the overall height; a front and rear guide coupled to one side of the up and down guide; and a guide rail connected to the front and rear guide to form a front and rear moving path of the front and rear guide, and having a shaft in parallel with the shaft member.

Description

Pallet lift AGV and AGV operating system

The present invention relates to a pallet lift AGV and an AGV operating system, and more specifically, to an AGV mainly used in a factory line, etc., equipped with a lifting device on both sides as a transfer means, including an AGV capable of stably transferring goods and the same It relates to the AGV operating system.

In general, an automated guided vehicle (AGV) is driven unmanned by loading processed goods or cargo between processes in a factory by an induction method such as an electromagnetic induction type, an optical tape method, or a magnetic tape method. It is a transport vehicle that transports to a place.

However, when considering that the above unmanned transfer truck may move in a position unrecognizable by the operator depending on the size of the space in the factory or may remain stationary, the operator may check the current status of the unmanned transfer truck. There is a problem in that it was difficult to actively respond.

In addition, due to the instability of the transfer device, when a product having a heavy object and an eccentric load is transferred, the AGV or bogie (pallet) is often overturned and the product is often damaged. Even if it is not overturned, it is damaged by impact such as shaking. It is happening. This problem occurs more severely when handling products with low impact strength, such as glass products.

In order to solve this problem, Korean Patent Publication No. 10-2015-0115345 proposes an unmanned transport vehicle including a forklift, but due to the nature of the forklift, the weight of the object (pallet) is heavy or has an eccentric load. In the case of lifting, there is a possibility of overturning the unmanned transport vehicle itself, and there is room for improvement that the pallet that can be lifted is limited depending on the length of the fork. In addition, since the fork is configured in one piece, there is a limitation that separate control of the eccentric load is impossible.

In addition, in order to prevent the forklift from tipping over, it is necessary to make the weight of the unmanned carrier itself heavy, and it is difficult to use it when the space inside the factory is narrow because the volume of the unmanned carrier itself is large. In case of loading / unloading by rotating, a radius of rotation considering the area of the pallet + the area of the unmanned transport vehicle is necessary)

The problem to be solved by the present invention is to provide a AGV having a transfer device on both sides so as to maintain the balance of the product or pallet when transferring the product or pallet, in order to solve the problems of the conventional AGV as described above.

The present invention is to solve the problems of the prior art as described above, in AGV, the front height is formed smaller than the height of the pallet lower frame, the overall length is formed longer than the full width, a pair of lifting means is provided, The lifting means includes a driving motor; A ball screw connected to the drive motor and rotating in an axis; A coupling connected to the ball screw; An upper and lower guide combined with the coupling; A cam connected to the upper and lower guides; A lifting bar coupled to the cam and provided horizontally with the height of the front; A front and rear guide coupled to one side of the upper and lower guides; The front and rear guides are connected to form a movement path in the front and rear directions of the front and rear guides, and a guide rail having an axis parallel to the ball screw.

In addition, the lifting bar is coupled to one or more, it may include an auxiliary lifting device for applying a force to the lifting bar in the vertical direction.

In addition, the AGV includes at least two driving wheels; At least one auxiliary wheel; Each of the driving wheels may be connected to a driving wheel motor which is driven independently of each other and is provided with the number of driving wheels.

On the other hand, the upper and lower guides are configured in a hexahedral shape with an empty interior, but some surfaces are formed in an open shape, and the upper and lower guides are coupled with a coupling on one surface, and guide when the coupling moves in the front-rear direction along the ball screw. The guide hole is formed to have a predetermined angle and length from the front-rear direction to the front-rear direction along the rail direction, and to the other surface of the upper and lower guides and the other side symmetrical thereto, the both ends of the guide hole It extends in the horizontal direction, and when the camshaft is located at one end of the guide hole, the lifting bar may be located at the bottom, and when the camshaft is located at the other end of the guide hole, the lifting bar may be located at the top.

In the present invention, the AGV operating system including the above-described pallet lift AGV, the robot carriage; A robot arm capable of being moved along the longitudinal direction of the robot carriage; An article transport conveyor provided on two or more sides of the robot carriage; A pallet centering device provided at a predetermined interval on the other side of the robot carriage; A robot arm, an article conveying conveyor, and a control system for controlling the robot arm, article conveying conveyor, and AGV connected to wired or wirelessly with the AGV; The AGV moves along a predetermined path and can be seated on a pallet centering device, and when a pallet is seated on the pallet centering device, the robot arm transfers the goods loaded on the pallet to the goods transport conveyor, AGV operation Provide a system.

In addition, the centering device includes a plurality of first position detection sensors provided in the movement path of the AGV, a second position detection sensor is included at least two points of the pallet frame, and the first position detection sensor and the second Detects whether the position and direction of the pallet is normal through the position measurement value of the position sensor, and if the position and direction of the pallet are outside the normal range, control the AGV's driving wheel motor that loads the cart and position the pallet. You can adjust the direction.

On the other hand, the AGV is equipped with an input unit, a scanner or an information transmission device, and when a pallet is loaded on the AGV, a user inputs information on the goods loaded on the pallet into the AGV, recognizes it as a scanner, or receives it from the information transmission device, You can check the information of the goods loaded for each AGV.

In addition, the control system can check the information of the articles loaded on the pallets mounted on the pallet centering device from AGV, and the robot arm can transfer the articles corresponding to each article transport conveyor based on the information of the articles. have.

According to an embodiment of the present invention, the bottom frame of the pallet (carrier) is configured to be ultra-low so that it can pass through, thereby increasing the utilization of the space inside the factory and minimizing the risk of overturning AGV.

In addition, there is an effect that can be stably positioned the goods or pallets loaded through the lifting means provided on both sides.

In addition, a large lifting force can be applied by converting the rotational motion of the motor to up and down reciprocating motion through a ball screw, coupling, front and rear guides, and up and down guides, and finer control is possible.

1 is a perspective view of a pallet lift AGV and pallet according to an embodiment of the present invention.
Figure 2 is an exploded perspective view of the lifting means of the pallet lift AGV according to an embodiment of the present invention.
3 is an exploded perspective view of another angle separating the lifting means of the pallet lift AGV according to an embodiment of the present invention.
4 is a bottom view of the lifting means of the pallet lift AGV according to the embodiment of the present invention.
5 is a perspective view of a lifting means of the pallet lift AGV according to an embodiment of the present invention.
6 is a front view before and after the operation of the lifting means of the pallet lift AGV according to an embodiment of the present invention.
7 is a schematic diagram of an AGV operating system according to an embodiment of the present invention.
8 is a view showing a pallet centering device of the AGV operating system according to an embodiment of the present invention.
9 is a perspective view of a guide among the components of the pallet lift AGV according to an embodiment of the present invention.
10 is a front view before and after the operation of the lifting means of the pallet lift AGV according to another embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the spirit of the present invention is not limited to the presented embodiments, and those skilled in the art to understand the spirit of the present invention may easily propose other embodiments within the scope of the same spirit.

According to an embodiment of the present invention, in the AGV, the front height is formed smaller than the height of the pallet lower frame, the overall length is formed longer than the full width, a pair of lifting means is provided, the lifting means, the driving motor and ; A shaft member connected to the drive motor to rotate axially; A coupling connected to the shaft member; An upper and lower guide combined with the coupling; A cam connected to the upper and lower guides; A lifting bar coupled to the cam and provided horizontally with the height of the front; A front and rear guide coupled to one side of the upper and lower guides; The front and rear guides are connected to form a movement path in the front and rear direction of the front and rear guides, and a guide rail having an axis parallel to the shaft member.

The height, length, and width are terms that are commonly used to indicate the dimensions of a vehicle, so descriptions of the terms are omitted.

In the base material, the shaft member means a member in which a thread or a groove is formed at a constant pitch on an axis having a circular cross section, and includes mechanical elements such as ball screws and roller screws. Hereinafter, it is described as an example using a ball screw, and the present invention is not limited to the ball screw.

Assembly (or coupling) to be coupled to the bullscrew, SH, SX, SN, TN, PN, TND, PND, SL, TL, etc. can be used, and the ball circulation method is an integral tube external circulation method, internal by an insert A circulation method, an internal circulation method by an insert, and an end cap method may be used. The present invention is not limited to this, and is described as an example.

The length of the lifting bar may be configured within a dimensional range of 50% to 150% of the total length. When the length of the lifting bar falls below 50% of the total length, the AGV takes up an unnecessarily large volume, so that the effect as an ultra-low profile AGV having a small size / radius is significantly reduced. Conversely, even if the length of the lifting bar exceeds 150% of the total length, the volume / rotation radius occupied by the entire apparatus increases, and the risk of the AGV and pallets to overturn increases because the pallet can be loaded at a position away from the center of gravity of the AGV.

The term "a pair of lifting means" in the above description means that lifting means may be provided on both sides based on the center of the AGV, and may include a configuration including two lifting means on each side. It is also possible to configure two or more lifting means on each side so that they can be transferred by balancing the irregular pallet.

The height of the pallet lower frame may be referred to as the height of the second position sensor 3 shown in FIG. 1. Various types of pallets can be applied, but it is possible to use a pallet (carriage) as shown in FIG. 1 so that the AGV can pass through the lower part of the pallet in any direction of the pallet and move the bogie by manpower without AGV. Is recommended

The lower frame of the pallet may be formed in a lattice shape (# form), so that the pallet can be transferred by lifting means regardless of which direction the AGV enters. In the embodiment of the present invention, for various types of products, the standard of the balance is matched to facilitate management. For example, pallets of the same standard are used for products A, B, and C, but can be managed by allowing AGV to recognize whether the product is A, B, or C at the time of transfer.

Since the rotational motion of the drive motor is converted to linear motion through a ball screw, precise control is possible. If necessary, the maximum height of the pallet can be adjusted by operating a part of the lifting means, and this is applicable when there is a space where the height is limited inside the factory.

The driving motor may use various performances, but in general, when handling heavy objects, a motor output may be insufficient. In the case of using a large output of the motor for handling heavy objects, the size of the AGV increases due to the volume of the motor, and thus, problems as described above may occur. Even in the prior art, it can be seen that the volume (especially the height) of the AGV is significantly larger than that of the present invention as it includes the forklift.

In the present invention, by converting the rotational motion of the drive motor to up and down motion through a mechanical element such as a ball screw, it is possible to generate a greater up and down motion force by increasing the rotation of the drive motor (at W = Fs, less force) With a lot of rotation, it moves up and down by a relatively shorter length than the rotated length to exert a great force), and through this structure, it is possible to construct an ultra-low profile AGV.

Among the above descriptions, the meaning of the lifting bar provided horizontally with the height of the front is not that the height of the lifting bar is fixed at the height, but is provided horizontally with the plane (or with respect to the ground) made when the height of the height of the AGV is connected. This means that the height of the lowest point of the lifting bar may be a point accommodated inside the AGV or a point protruding upward of the AGV.

In an embodiment of the present invention, an LM guide is adopted as a front-rear guide, and since other mechanical elements (coupling, ball screw, cam, etc.) are terms that are commonly used, description of the terms will be omitted. The front and rear guides of the present invention are not limited to the LM guides, but when the LM guides are employed in the present invention, the permissible load increases, has high rigidity in all directions, and has an effect of averaging the degree of absorbing mounting surface errors, The friction coefficient is small, and various options can be applied, so it is easy to manage, improves the productivity of AGV (or lifting means), has an energy saving effect, reduces total cost, and improves the precision of the device.

2, 3, 5, and 6, the driving motor is provided on one side of the lifting device and a ball screw is connected to one side of the driving motor, and as shown in FIG. 10, the driving motor The volume of the lifting device can be minimized by being provided inside the lifting device and configured to connect ball screws to both sides of the driving motor.

In the case of Fig. 10, the driving motor is fixed to one side inside the lifting device, and both ballscrews rotate to move the coupling or the like by the operation of the fixed driving motor. To prevent interference between the driving motor and the front and rear guides, components such as couplings and front and rear guides and the driving motors are spaced apart by a predetermined distance from the top and bottom dead centers of the lifting bar. The top dead center and the bottom dead center mean the highest position and the lowest position where the lifting bar can be located, respectively.

Lifting means according to an embodiment of the present invention, the height difference between the top dead center and the bottom dead center may be formed within the range of the height of the lower frame of the pallet from the ground. The present invention is not limited to such an operating range, but in the above operating range, the power consumption of AGV, the time required to move, and the height from the ground of the pallet when moving are in an appropriate range, so energy is not excessively used. Without it, you can get the proper effect. In addition, since the risk of an accident increases when the pallet is excessively high when the heavy load is loaded on the pallet, the operating range of the lifting means as described above has effects and technical significance in various aspects.

The guide rail can be fixed to the AGV body for smooth operation of the device.

In addition, the lifting bar is coupled to one or more, it may include an auxiliary lifting device for applying a force to the lifting bar in the vertical direction.

As the auxiliary lifting device, a mechanical element such as a hydraulic device or a motor may be used, and when using a device generating power such as a hydraulic device or a motor, it is effective when handling a heavy object having an eccentric load. For example, when there is an eccentric load on the front side of the pallet, the auxiliary lifting device located on the front side of the AGV can be operated in parallel with the driving motor to maintain the level of the pallet and reduce the load applied to the driving motor. will be.

An elastic body (such as a spring) may be used as the auxiliary lifting device. In this case, the impact force applied to the pallet and the article can be reduced by acting as a damper when an impact is applied to the pallet or AGV, rather than directly transmitting power to the auxiliary lifting device.

In addition, the AGV includes at least two driving wheels; At least one auxiliary wheel; Each of the driving wheels may be connected to a driving wheel motor which is driven independently of each other and is provided with the number of driving wheels.

The auxiliary wheel distributes the pressure applied to the AGV so that excessive shear stress is not applied to the drive wheel motor shaft, and assists the movement of the AGV. The auxiliary wheel is provided at a position spaced a predetermined distance from the driving wheel, and it is recommended to be provided in the same number as the driving wheel.

As illustrated in FIG. 3, the lowermost height of the auxiliary wheel may be formed at a position lower than the lowermost height of the driving wheel. When the AGV is settled on the ground, the auxiliary wheel is grounded to the ground, and the driving wheel is designed to ground to the ground by the weight of the AGV, thereby reducing the shear force transmitted to the rotating shaft of the driving wheel, thereby improving the durability of the AGV. It is possible to absorb the shock transmitted to the driving wheel when the shock is applied from the top of the AGV. The larger the weight of the object to be loaded, the greater the protective effect can be.

In an embodiment of the present invention, four driving wheels and two auxiliary wheels are respectively provided, and the four driving wheels are independently controllable. By connecting the drive wheel motors to each of the four drive wheels, even if the output of one motor is small, sufficient driving force can be generated to move the AGV, and the AGV can be rotated and turned through individual control of the motor. For example, the left driving wheel motor is driven at 60 RPM, and the right driving wheel motor is driven at 30 RPM, so that it can be operated in a right-turning manner.

Although not shown in the drawing, a direction changing wheel and a direction control motor serving as a key may be provided to smooth the direction change. The direction control motor may be provided at the center line position of the full width of the AGV.

On the other hand, the upper and lower guides are configured in a hexahedral shape with an empty interior, but some surfaces are formed in an open shape, and the upper and lower guides are coupled with a coupling on one surface, and guide when the coupling moves in the front-rear direction along the ball screw. Moving in the front-rear direction along the rail direction, the other side of the upper and lower guides and the other side symmetrical thereto are provided with guide holes formed to have a predetermined angle and length in the vertical direction from the front-rear direction, and both ends of the guide holes It extends in the horizontal direction, and when the camshaft is located at one end of the guide hole, the lifting bar may be located at the bottom, and when the camshaft is located at the other end of the guide hole, the lifting bar may be located at the top.

The description that the shape of the upper and lower guides is a hexahedral shape does not mean that an exact hexahedral shape having 12 corners should be provided, and it is sufficient if it has an approximately hexahedral shape, and may be implemented with reference to the drawings. When it is largely divided, it means that it has six faces, one side is combined with a coupling, two sides are cam-coupled, and one side of the front and rear guides are combined (or formed integrally with the upper and lower guides), and the central part is a ball. It is constructed in an empty form so that the screw can penetrate. The substrate is not limited to the same shape as in FIG. 9.

Both ends of the guide hole are extended in the horizontal direction, reducing the load applied to the drive motor, and can prevent the cam from slipping due to shock, movement, and vibration. In the present invention, the durability and AGV of the AGV are improved through the combination and configuration of the above-described components, and the AGV is operated with a large force while reducing the output of the motor (using a small motor).

The horizontal extension portion of the guide hole may have a predetermined length ratio with an inclined portion of the guide hole. Although the present invention is not limited to such a length ratio, it is possible to reduce the load applied to the driving motor through such a length ratio, and design it to an optimal value when considering effects such as shock, movement, and vibration. More specifically, when the length of one horizontal extension is a, the length of the inclined portion may be comprised between 4a and 7a. For example, when the length of the horizontally extending portion is 30 mm, it is possible to configure the length of the inclined portion to be about 120 mm to 210 mm. The angle of the inclined portion can be adjusted when designing the difference between the top dead center and the bottom dead center of the lifting means, and in the embodiment of the present invention, the base length is 11.6 cm, the height is 3 cm, and the hypotenuse length is about 12 cm. When the horizontal extension is excessively long outside the above range, the area of the guide hole is large, so that the probability of foreign matters entering may increase rapidly, and adverse effects such as an increase in manufacturing cost and a decrease in strength of the upper and lower guides may occur. . Conversely, if the horizontal extension is shortly formed below the above range, it will not be able to exert its function as a horizontal extension.

6 is a front view before and after the operation of the lifting means of the pallet lift AGV according to an embodiment of the present invention.

Fig. 6 (a) is a state in which the lifting bar is not raised, and in this state, the AGV enters the bottom of the pallet. 6 (b), the lifting bar is raised, and the lifting bar is raised at the bottom of the pallet to lift the pallet.

In an embodiment of the present invention, a method of operating the lifting means will be described with reference to FIG. 6. As the drive motor is operated, the ball screw rotates, and the coupling connected to the ball screw moves in the left direction (as shown in FIG. 6) along the thread of the ball screw, and the vertical guide fixed to the coupling moves to the left. While, the front and rear guides and guide rails assist the upper and lower guides to move in a direction parallel to the ball screw. At this time, the lifting bar in which the front-rear position is fixed by the auxiliary lifting device or the like is raised as the cam moves along the guide hole of the vertical guide.

In the present invention, the AGV operating system including the above-described pallet lift AGV, the robot carriage; A robot arm capable of being moved along the longitudinal direction of the robot carriage; An article transport conveyor provided on two or more sides of the robot carriage; A pallet centering device provided at a predetermined interval on the other side of the robot carriage; A robot arm, an article conveying conveyor, and a control system for controlling the robot arm, article conveying conveyor, and AGV connected to wired or wirelessly with the AGV; The AGV moves along a predetermined path and can be seated on a pallet centering device, and when a pallet is seated on the pallet centering device, the robot arm transfers the goods loaded on the pallet to the goods transport conveyor, AGV operation Provide a system.

In the conventional factory, the robot arm is positioning the pallet directly so that the robot arm can displace the items loaded on the pallet, and despite the tendency to automate the factory, there was a disadvantage that the operator must always check for the operation of aligning the pallet. , In the present invention, the above components are included to automatically adjust the correct position of the pallet.

In addition, the centering device includes a plurality of first position detection sensors provided in the movement path of the AGV, a second position detection sensor is included at least two points of the pallet frame, and the first position detection sensor and the second Detects whether the position and direction of the pallet is normal through the position measurement value of the position sensor, and if the position and direction of the pallet are outside the normal range, control the AGV's driving wheel motor that loads the cart and position the pallet. You can adjust the direction.

The AGV moving path may use a line of a line tracer that is commonly used, and in the embodiment of the present invention, a first position sensor is provided at two points along the direction of the line as shown in FIG. 8.

The second position detection sensor may be provided on the AGV or the pallet, and when provided on the AGV, a separate centering device may also be provided on the AGV so that the pallet can be loaded on the AGV in place. The AGV is equipped with a pallet recognition sensor, so that the lifting means can be operated when the pallet is in position on the AGV. If the AGV enters the bottom of the pallet but the correct position does not match, the drive wheel motor can be individually controlled to allow the AGV to automatically adjust the correct position of the pallet. In this case, the AGV can be separated from the line of the line tracer, so the control system returns the AGV back to the line.

When the second position sensor is provided on the pallet, the exact position of the pallet can be adjusted through the difference in the xy coordinate values with respect to the ground plane, and in this case, the driving wheel motor can be individually controlled.

On the other hand, the AGV is equipped with an input unit, a scanner or an information transmission device, and when loading the pallet on the AGV, the user inputs the information of the goods loaded on the pallet into the AGV, recognizes it as a scanner, or receives it from the information transmission device, You can check the information of the goods loaded for each AGV.

The input unit is a method in which an operator directly inputs information of a product through components such as a display and an operation unit, and the scanner automatically displays information when the operator takes a scanner (bar code scanner, QR code scanner, etc.) separately provided in the AGV on the product. It is an input method, and the information transmission device recognizes RFID attached to an article and automatically recognizes it. The information of the product may include information such as a product name, product code, product LOT number, product quantity, manufacturing date, and product serial number.

In addition, the control system can check the information of the articles loaded on the pallets mounted on the pallet centering device from AGV, and the robot arm can transfer the articles corresponding to each article transport conveyor based on the information of the articles. have.

As described above, by allowing the AGV to recognize the information of the goods loaded on the pallet, the robotic arm can transfer the goods to a suitable goods transport conveyor.

In the example of FIG. 7, when the product A is loaded on the pallets 1, 2, and 3, and the product B is loaded on the pallet 4, the information of the product is checked from each AGV, and the product loaded on the pallet 1, 2, and 3 Can be transferred to the left goods transport conveyor, and the goods loaded on the pallet 4 can be transported to the right goods transport conveyor.

P: pallet
A: AGV (unmanned transport vehicle)
L: AGV travel route
C: 1st position sensor
1: lifting means
10: drive motor
11: Ball screw
12: coupling
13: up and down guide
14: cam
15: front and rear guide
16: Guide rail
17: lifting bar
18: auxiliary lifting device
21: motor cover
22: driving wheel
23: auxiliary wheel
3: 2nd position sensor

Claims (8)

In AGV,
The height is formed smaller than the height of the lower frame of the pallet, and the overall length is longer than the width.
A pair of lifting means is provided,
The lifting means,
A driving motor;
A shaft member connected to the drive motor to rotate axially;
A coupling connected to the shaft member;
An upper and lower guide combined with the coupling;
A cam connected to the upper and lower guides;
A lifting bar coupled to the cam and provided horizontally with the height of the front;
A front and rear guide coupled to one side of the upper and lower guides;
The front and rear guides are connected to form a movement path in the front and rear direction of the front and rear guides, and a guide rail having an axis parallel to the shaft member; The method according to claim 1,
Pallet lift AGV, characterized in that it comprises at least one auxiliary lifting device coupled to the lifting bar to apply a force to the lifting bar in the vertical direction. The method according to claim 1,
The AGV includes at least two driving wheels;
At least one auxiliary wheel;
Each of the driving wheels is driven independently of each other, and a driving wheel motor provided with the number of driving wheels is connected to the pallet lift AGV. The method according to claim 1,
The upper and lower guides are configured in a hexahedral shape with an empty interior, but some of the surfaces are open,
The upper and lower guides are coupled to the coupling on one side, and when the coupling moves in the front-rear direction along the shaft member, it moves in the front-rear direction along the guide rail direction,
The other side of the upper and lower guides and the other side symmetrical thereto are provided with guide holes formed to have a predetermined angle and length from the front-rear direction to the vertical direction,
Both ends of the guide hole extend in the horizontal direction,
When the camshaft is located at one end of the guide hole, the lifting bar is located at the bottom,
When the camshaft is located at the other end of the guide hole, the lifting bar is located at the top end, the pallet lift AGV An AGV operating system comprising the pallet lift AGV of claim 1,
A robot carriage;
A robot arm capable of being moved along the longitudinal direction of the robot carriage;
An article transport conveyor provided on two or more sides of the robot carriage;
A pallet centering device provided at a predetermined interval on the other side of the robot carriage;
A robot arm, an article transport conveyor, and a control system that is connected to the AGV wired or wirelessly to control the robot arm, article transport conveyor, and AGV;
The AGV moves along a predetermined path and is seated on a pallet centering device.
When the pallet is mounted on the pallet centering device, the robot arm transfers the goods loaded on the pallet to the goods transport conveyor, AGV operating system The method according to claim 5,
The centering device includes a plurality of first position detection sensors provided in the movement path of the AGV,
A second position sensor is included in at least two points of the pallet frame,
Detects whether the position and direction of the pallet is normal through the position measurement values of the first position sensor and the second position sensor,
AGV operating system characterized by adjusting the position and direction of the pallet by controlling the driving wheel motor of the AGV carrying the truck when the position and direction of the pallet are out of the normal range. The method according to claim 6,
In the AGV,
Input unit, scanner or information transmission device is provided,
When loading pallets in AGV,
The user inputs the information of the goods loaded on the pallet to the AGV, recognizes it with a scanner, or receives it from the information transmission device,
AGV operating system, characterized in that it is possible to check the information of the loaded goods for each AGV The method according to claim 7,
The control system,
Check the information of the goods loaded on the pallet seated on the pallet centering device from AGV,
AGV operating system, characterized in that the robot arm transfers an article corresponding to each article transport conveyor based on the information of the article.

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