KR20240026374A - Cargo unloading automation machine having crawler track - Google Patents

Abstract

An automated cargo unloading machine equipped with a track device is disclosed. An automated cargo unloading machine according to an embodiment disclosed is a cargo unloading automated machine for unloading cargo loaded in a cargo box, including a main body frame, a robot arm device provided on the main body frame and for unloading the loaded cargo, and a main body frame. It is provided at the bottom of and includes a track device that moves the automated cargo unloading machine.

Description

Cargo unloading automation machine with track device {CARGO UNLOADING AUTOMATION MACHINE HAVING CRAWLER TRACK}

Embodiments of the present invention relate to cargo unloading automation technology.

Over the past three years, delivery volume has increased by 10-13% every year, but the average delivery price has been falling by 2-3% every year, making automation in the logistics industry very important to maintain the competitiveness of companies. Currently, a significant portion of the courier process is automated within logistics centers using equipment such as belt sorters, but the unloading process of unloading various courier cargoes from vehicle loading boxes relies on manual labor.

In addition, in order to handle the nationwide daily demand for parcel delivery, mainline cargo trucks at hub terminals usually load about 2,000 pieces of cargo each and require two workers to unload them all within one hour. This is the most intense work among the many tasks at the courier hub terminal, making it a task that workers avoid. Therefore, there is a need for the development of a robot system that can automate the unloading of trunk cargo trucks.

The purpose of the present invention is to provide an automatic cargo unloading machine that can recognize and automatically unload cargo in a loading box.

Meanwhile, the technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly apparent to those skilled in the art from the description below. It will be understandable.

An automated cargo unloading machine according to an embodiment of the present invention is a cargo unloading automated machine for unloading cargo loaded in a loading box, comprising: a main body frame; a robot arm device provided on the main body frame and configured to unload the loaded cargo; and a track device provided at a lower portion of the main body frame and moving the automated cargo unloading machine.

The track device may include a plurality of trackways provided at a lower portion of the main body frame and spaced apart from each other along the longitudinal direction of the automated cargo unloading machine.

The orbital device may further include a plurality of height adjustment units connected to the plurality of crawlers and provided to independently adjust the height of each crawler.

The height adjustment unit includes a support plate provided at an upper portion of the crawler and spaced apart from the crawler; Orbital connection parts provided below on both sides of the support plate and connected to the main body of the crawler track; And it may include a height adjustment unit provided vertically on the support plate and capable of adjusting the height up and down.

The height adjustment unit includes: a first height adjustment unit provided vertically on the support plate and capable of adjusting the height up and down; and is provided vertically on the support plate, spaced apart from the first height adjuster, an end is hinged to an end of the first height adjuster, and the height is adjusted up and down together with the first height adjuster. It may include a second height adjustment unit.

The automated cargo unloading machine may further include a height step sensor that detects a change in height step of the floor surface when moving through the track device.

The automated cargo unloading machine, when a change in the height step of the floor is detected through the height step sensor while approaching the loading box, adjusts the height of the crawler located at the front in the moving direction of the track device to the change in height step. It can be adjusted to correspond, and can move forward through an endless track other than the frontmost tracked track so that the frontmost tracked track enters and settles in the loading box.

The orbital device further includes a moving distance measuring sensor provided to measure the distance traveled by each crawler, and the forward movement of the other crawler is determined by the frontmost crawler and the next infinite orbit. This can be done based on the distance between orbits and the distance measured by the moving distance measurement sensor.

The automatic cargo unloading machine sequentially adjusts the heights of the other endless tracks to correspond to the change in height step, and moves forward through another endless track other than the height-adjusted track to enter the inside of the loading box.

The automated cargo unloading machine further includes a conveyor device mounted on the main body frame and on which loaded cargo unloaded by the robot arm device is placed, and the height step sensor may be provided on a lower surface of the conveyor device. .

When approaching the loading box, the automatic cargo unloading machine can check the change in height level of the floor through the height step sensor while raising the conveyor device horizontally to a certain height.

The automated cargo unloading machine can enter the inside of the loading box while sequentially adjusting the heights of the plurality of crawlers in response to the change in height step when a change in height step of the floor is detected through the height step sensor. there is.

According to an embodiment of the present invention, the automatic cargo unloading machine includes a pair of robot arm devices capable of multi-axis rotation and movement, and the robot arm device includes an unloading conveyor belt, suction means, and clamp means, so that the loaded cargo is Depending on the location, loading pattern, and type of cargo, it operates in various unloading modes such as down sweep mode, side sweep mode, adsorption mode, and clamping mode, making loading cargo easy and quick. You can get off easily.

In addition, by providing a conveyor device between the pair of robot arm devices, cargo unloaded through the pair of robot arm devices can be quickly transported rearward through the conveyor device.

In addition, the automatic cargo unloading machine can easily enter the inside of the loading box through the height-adjusted crawler even if there is a height difference between the dock and the loading box of the cargo vehicle.

Meanwhile, the effects that can be obtained from the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below. You will be able to.

1 and 2 are front and rear perspective views showing an automated cargo unloading machine according to an embodiment of the present invention;
Figure 3 is a diagram showing a state in which an automated cargo unloading machine enters the inside of a loading box and unloads cargo according to an embodiment of the present invention;
Figure 4 is a perspective view showing a robot arm device according to an embodiment of the present invention;
Figure 5 is a diagram showing each axis portion in the arm unit of the robot arm device according to an embodiment of the present invention;
Figures 6 and 7 are perspective views showing one side and the other side of a hand unit according to an embodiment of the present invention;
Figure 8 is a diagram showing a state in which the suction pad part is moved forward in one embodiment of the present invention;
Figure 9 is a diagram showing a state in which the clamping part is moved forward in one embodiment of the present invention;
10 to 16 are diagrams showing the operation of an automated cargo unloading machine to unload loaded cargo from a loading box according to an embodiment of the present invention;
Figure 17 is a diagram showing the state in which the automated cargo unloading machine enters the loading box according to an embodiment of the present invention;
Figure 18 is a diagram showing a height adjustment unit according to an embodiment of the present invention;
Figure 19 is a diagram showing the height-adjusted state of the endless track in the automated cargo unloading machine according to an embodiment of the present invention;
Figure 20 is a diagram schematically showing a state in which an automated cargo unloading machine enters the inside of a cargo vehicle's loading box according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the attached drawings. Embodiments of the present invention may be modified in various forms, and the scope of the present invention should not be construed as being limited to the following embodiments. This example is provided to more completely explain the present invention to those skilled in the art. Therefore, the shapes of elements in the drawings are exaggerated to emphasize clearer explanation.

The configuration of the invention to clarify the solution to the problem to be solved by the present invention will be described in detail with reference to the accompanying drawings based on preferred embodiments of the present invention, and the reference numbers to the components in the drawings will be the same. Components are given the same reference numbers even if they are in different drawings, and it is stated in advance that components of other drawings can be cited when necessary when explaining the relevant drawings.

Meanwhile, directional terms such as upper side, lower side, one side, other side, etc. are used in relation to the orientation of the disclosed drawings. Since the components of embodiments of the present invention can be positioned in various orientations, the term directional is used for illustrative purposes and is not limiting.

1 and 2 are front and rear perspective views showing an automated cargo unloading machine according to an embodiment of the present invention.

1 and 2, the automated cargo unloading machine 100 may include a robotic arm device 102, a conveyor device 104, a track device 106, and a body frame 108.

The automated cargo unloading machine 100 is used to unload or transport cargo (hereinafter referred to as loaded cargo) loaded in the loading box 50. Here, the loading box 50 may be a loading box mounted on a cargo vehicle (for example, a trunk truck, etc.) or a container. The automated cargo unloading machine 100 may unload the loaded cargo in the loading box at the entrance of the loading box 50, or, as shown in FIG. 3, may enter the inside of the loading box 50 and unload the loaded cargo in the loading box. there is.

In addition, the cargo unloading automation machine 100 recognizes the loading pattern of the cargo, the loading location of the cargo, the type of cargo, etc., and various sensor equipment (for example, a vision sensor or a lidar) to determine the unloading mode of the cargo accordingly. (Lidar) or vision and Lidar fusion sensors, scanners, etc.).

The robotic arm device 102 may be provided on both sides of the main body frame 108. That is, the robot arm device 102 may be provided as a pair on both sides of the main body frame 108. The robotic arm device 102 can operate as a pair like a human arm to unload various types of cargo such as boxes, plastic pouches, and gunny bags piled in bulk in a loading box. The robot arm device 102 can unload the loaded cargo in the loading box toward the conveyor device 104.

Conveyor device 104 may be mounted on body frame 108. Conveyor device 104 may be supported by body frame 108 . The conveyor device 104 may be provided along the longitudinal direction of the robot arm device 102 in the main body frame 108. The conveyor device 104 may serve to transport the loaded cargo unloaded by the robot arm device 102 to the rear of the main body frame 108.

The conveyor device 104 may operate in conjunction with the robot arm device 102. The front end of the conveyor device 104 may be provided to adjust one or more of height and inclination according to the operation of the robot arm device 102. At this time, the front end of the conveyor device 104 may have one or more of the height and inclination adjusted according to the height and position of the loaded cargo to be unloaded by the robot arm device 102.

The track device 106 may be provided at the lower part of the main body frame 108. The track device 106 may serve to move the automated cargo unloading machine 100. That is, the track device 106 can move the cargo unloading automation machine 100 to the entrance of the loading box or allow it to enter the inside of the loading box.

The main body frame 108 may serve to support the automated cargo unloading machine 100. The main body frame 108 can be provided in various forms capable of supporting the automated cargo unloading machine 100, and its form is not limited. The body frame 108 may be provided to support the robotic arm device 102. The body frame 108 may be provided to support the conveyor device 104. Additionally, the body frame 108 may be connected to the orbital device 106 at the top of the orbital device 106.

The main body frame 108 may be equipped with an electrical box 108a that provides power to the automated cargo unloading machine 100 and includes circuit devices that control the operation of the automated cargo unloading machine 100. Additionally, the body frame 108 may be equipped with a hydraulic tank 108b for providing hydraulic pressure to one or more of the robotic arm device 102 and the track device 106. Additionally, the main body frame 108 may be equipped with one or more monitors 108c for checking the operation of the automated cargo unloading machine 100.

FIG. 4 is a perspective view showing the robot arm device 102 according to an embodiment of the present invention, and FIG. 5 is a view showing each axis portion of the arm unit of the robot arm device 102 according to an embodiment of the present invention.

Referring to FIGS. 4 and 5 , the robotic arm device 102 may include an arm unit 111 and a hand unit 113.

The robot arm device 102 may be operated in an unloading mode determined based on one or more of the loading pattern of cargo in the cargo bin, the loading location of cargo, and the type of cargo. The unloading mode is an operation mode for unloading cargo in a loading box. For example, the unloading mode may include a down sweep mode, side sweep mode, adsorption mode, and clamping mode.

The arm unit 111 may be mounted on both sides of the main body frame 108. The arm unit 111 may be provided to enable multi-axis rotation. Additionally, the arm unit 111 may be provided to enable forward and backward movement. The arm unit 111 may be provided to simultaneously perform multi-axis rotation and forward or backward movement.

In an exemplary embodiment, the arm unit 111 may be provided to have a six-axis degree of freedom. The arm unit 111 includes a first shaft portion (111-1), a second shaft portion (111-2), a third shaft portion (111-3), a fourth shaft portion (111-4), and a fifth shaft portion (111-5). , and may include a sixth shaft portion 111-6.

The first shaft portion 111-1 may be mounted on the main body frame 108. The first shaft portion 111-1 may be provided to be rotatable in the first direction (①). The second shaft portion 111-2 may be provided connected to the first shaft portion 111-1. The second shaft portion 111-2 may be provided to be rotatable in the second direction (②). The third shaft portion 111-3 may be connected to the second shaft portion 111-2. The third shaft portion 111-3 may be provided to be capable of moving forward and backward along the third direction (③).

The fourth shaft portion 111-4 may be connected to the third shaft portion 111-3. The fourth shaft portion 111-4 may be provided to be rotatable in the fourth direction (④). The fifth shaft portion 111-5 may be connected to the fourth shaft portion 111-4. The fifth shaft portion 111-5 may be provided to be rotatable in the fifth direction (⑤). The sixth shaft portion 111-6 may be connected to the fifth shaft portion 111-5. The sixth shaft portion 111-6 may be provided to be rotatable in the sixth direction (⑥). Here, the first direction (①) to the sixth direction (⑥) may be different directions. In this case, the arm unit 111 can move forward and backward while rotating in five axis directions.

The hand unit 113 may be provided connected to the end of the arm unit 111. The hand unit 113 is a part that comes into contact with the loaded cargo and unloads the loaded cargo toward the conveyor device 104. The hand unit 113 may be provided connected to the sixth shaft portion 111-6. As the hand unit 113 is connected to the arm unit 111, the hand unit 113 moves forward and backward while rotating in five axes directions with the arm unit 111 according to the operation of the arm unit 111. It becomes possible. In this way, the robot arm device 102 is provided with 6-axis degrees of freedom, so that it can cover the entire range within the loading box and unload the loaded cargo.

Figures 6 and 7 are perspective views showing one side and the other side of the hand unit 113 according to an embodiment of the present invention. The hand unit 113 may include a conveyor belt 121, suction means 123, and clamp means 125.

An unloading conveyor belt 121 may be mounted on one side of the hand unit 113. When comparing the robotic arm device 102 to a human arm, one side of the hand unit 113 can be compared to a palm. The unloading conveyor belt 121 may be provided along the longitudinal direction of the arm unit 111. The unloading conveyor belt 121 may be provided to rotate in a certain direction. For example, the unloading conveyor belt 121 may be provided in a loop shape to rotate circularly.

The unloading conveyor belt 121 may be provided to rotate toward the main body frame 108 (i.e., inward). That is, the unloading conveyor belt 121 of each hand unit 113 in the pair of robot arm devices 102 may be provided to rotate toward the main body frame 108.

As the pair of unloading conveyor belts 121 rotate toward the main body frame 108, the loaded cargo in contact with the pair of unloading conveyor belts 121 between the pair of unloading conveyor belts 121 is moved to the main body frame ( As it is swept down in the direction 108), it is unloaded toward the conveyor device 104. That is, the unloading conveyor belt 121 is used in a sweep mode, and can be used when the unloading mode of the robot arm device 102 is a down sweep mode or a side sweep mode.

An uneven pattern portion 121a may be formed on the surface of the unloading conveyor belt 121 to increase friction with the loaded cargo when sweeping the loaded cargo. The uneven pattern portion 121a may be provided in a form that protrudes from the surface of the unloading conveyor belt 121, but is not limited to this. A plurality of uneven pattern portions 121a may be provided at regular intervals along the longitudinal direction of the unloading conveyor belt 121.

Suction means 123 and clamp means 125 may be provided on the other side of the hand unit 113, respectively. When comparing the robotic arm device 102 to a human arm, the other side of the hand unit 113 can be compared to the back of the hand. On the other side of the hand unit 113, the suction means 123 and the clamp means 125 may be arranged up and down, respectively. The suction means 123 and the clamp means 125 may each be provided along the longitudinal direction of the hand unit 113.

In an exemplary embodiment, the suction means 123 and the clamp means 125 may be mounted on the hand unit 113 via a hand bracket 127. Both sides of the hand bracket 127 may be fixed to both sides of the unloading conveyor belt 121. The hand bracket 127 may be provided between the unloading conveyor belt 121 and the suction means 123 and clamp means 125.

The adsorption means 123 may serve to adsorb and unload the loaded cargo in the loading box. That is, the suction means 123 can be used when the dismount mode of the robot arm device 102 is the suction mode. For example, the suction means 123 may be provided to move forward and backward along the longitudinal direction of the hand unit 113. The adsorption means 123 may include an adsorption pad unit 123a and an adsorption driver unit 123b.

The adsorption pad portion 123a is a part that adsorbs the loaded cargo. A plurality of suction pad units 123a may be provided. One end of each of the plurality of suction pad parts 123a may be fixed to the mounting plate 123a-2. The mounting plate 123a-2 may be connected to the adsorption driver 123b. Here, it is shown that a plurality of suction pad units 123a are provided, but the present invention is not limited thereto.

A suction cup 123a-1 for vacuum suction of loaded cargo may be provided at the end of the suction pad portion 123a. The suction cup 123a-1 may be provided in a bellows shape so that it can be bent in various directions, but its shape is not limited to this.

The suction driving unit 123b may be provided to move the suction pad unit 123a forward and backward. Additionally, the adsorption driving unit 123b may include a vacuum generator so that the adsorption pad unit 123a adsorbs the loaded cargo.

Figure 8 is a diagram showing a state in which the suction pad portion 123a is moved forward in one embodiment of the present invention. The adsorption driving unit 123b can adsorb the loaded cargo by moving the adsorption pad unit 123a forward in the adsorption mode. The adsorption driving unit 123b can move the adsorption pad unit 123a, on which the adsorbed cargo is unloaded, backward and return it to its original position.

Here, it has been explained that the suction pad portion 123a moves forward to adsorb the loaded cargo, but this is not limited to this. With the suction pad portion 123a fixed, the hand unit 111 moves toward the loaded cargo, and then the suction pad portion 123a moves forward to adsorb the loaded cargo. Loaded cargo may be adsorbed through the portion 123a.

The clamp means 125 may serve to pick up and unload the loaded cargo in the loading box. That is, the clamp means 125 can be used when the dismount mode of the robot arm device 102 is the clamping mode. For example, the clamp means 125 may be provided to move forward and backward along the longitudinal direction of the hand unit 113. The clamp means 125 may include a clamping part 125a and a clamp driving part 125b.

The clamping part 125a is a part that picks up the loaded cargo. At this time, the type of loaded cargo may be gunny sacks. That is, the clamping part 125a may be provided to pick up a gunny sack among the loaded cargo. For this purpose, the end of the clamping portion 125a may be provided in the shape of a tong. The clamp driving unit 125b may be provided to move the clamping unit 125a forward and backward.

Figure 9 is a diagram showing a state in which the clamping part 125a is moved forward in one embodiment of the present invention. The clamp driving unit 125b can move the clamping unit 125a forward in the clamping mode to pick up the loaded cargo. The clamp driving unit 125b can move the clamping unit 125a, which has unloaded the loaded cargo, backward and return it to its original position.

Here, it has been explained that the clamping part 125a moves forward and picks up the loaded cargo, but it is not limited to this. With the clamping part 125a fixed, the hand unit 111 moves toward the loaded cargo and then clamps the clamping part 125a. It may be arranged to clamp the loaded cargo through.

Figures 10 to 16 are diagrams showing the operation of an automated cargo unloading machine to unload loaded cargo from a loading box according to an embodiment of the present invention.

Referring to FIG. 10, the automated cargo unloading machine 100 can recognize the distance to the cargo, the loading pattern of the cargo, the loading location of the cargo, and the type of cargo through a vision sensor or the like. At this time, the automated cargo unloading machine 100 may move toward the cargo depending on the distance to the cargo. The automated cargo unloading machine 100 can sequentially unload cargo according to the height of the loaded cargo.

Referring to FIG. 11, the automated cargo unloading machine 100 can adjust the height of the front end of the conveyor device 104 according to the loading height of the cargo. The automated cargo unloading machine 100 can adjust the height of the front end of the conveyor device 104 based on the height of the cargo located at the top among the loaded cargo. In other words, the robot arm device 102 unloads the cargo located at the top among the loaded cargo, and the height of the front end of the conveyor device 104 can be adjusted to a height that can safely receive the cargo located at the top among the loaded cargo. You can.

Referring to FIG. 12, the automated cargo unloading machine 100 may position the robot arm device 102 above the loaded cargo to unload the cargo located at the top. In an exemplary embodiment, when the cargo located at the top of the loaded cargo is in the form of a box and an entry space for the robot arm device 102 is secured on top of the cargo located at the top, the robot arm device 102 performs a down sweep (down sweep). By operating in sweep mode, cargo located at the top can be unloaded. At this time, the robot arm device 102 may unload the outermost cargo among the cargo located at the top of the loaded cargo in a down sweep mode, but is not limited to this.

Referring to FIG. 13, a state is shown in which the robot arm device 102 unloads the cargo located at the top among the loaded cargo toward the conveyor device 104 through a down sweep mode. Here, the down sweep mode is performed in a state in which the unloading conveyor belt 121 of the hand unit 113 is placed to face the target cargo at the top of the target cargo (i.e., the cargo to be unloaded) (i.e., the surface of the unloading conveyor belt 121 This may mean an operation mode in which the unloading conveyor belt 121 is rotated toward the main body frame 108 (in a state facing the upper surface of the target cargo) to sweep the target cargo downward. At this time, depending on the number of cargo to be unloaded through the down sweep mode or the location of the cargo, both of the pair of unloading conveyor belts 121 may operate in the down sweep mode, or only one of them may operate in the down sweep mode. .

Referring to FIG. 14, a state in which the robot arm device 102 unloads loaded cargo through a side sweep mode is shown. In an exemplary embodiment, the robot arm device 102 unloads the outermost cargo among the cargo located at the top of the loaded cargo in the down sweep mode, and then unloads the cargo located in the middle portion in the side sweep mode. You can. However, it is not limited to this, and if the cargo located at the top of the loaded cargo is box-shaped and an entry space for the robot arm device 102 is secured on the side of the cargo located at the top, the robot arm device 102 operates in side sweep mode. The cargo can be unloaded by operating .

Here, the side sweep mode positions one or more target cargoes between a pair of unloading conveyor belts 121, and moves the pair of unloading conveyor belts 121 from both sides of the target cargo (i.e., cargo to be unloaded). In a state where the unloading conveyor belt 121 is arranged to face the cargo (i.e., the surface of the unloading conveyor belt 121 faces the side of the target cargo at the side of the target cargo), the pair of unloading conveyor belts 121 are moved in the direction of the main body frame 108. This may mean an operation mode that rotates to the side and sweeps the target cargo downward.

Specifically, the robot arm device 102 can cause the hand unit 113 to enter the side space of the loaded cargo (FIG. 14(a)). Next, the robot arm device 102 can be arranged so that the pair of unloading conveyor belts 121 of the hand unit 113 face the side of the target cargo (FIG. 14(b)). Next, the robot arm device 102 can unload the target cargo downward by rotating the pair of unloading conveyor belts 121 toward the main body frame 108 (FIG. 14(c)). At this time, the automated cargo unloading machine 100 may continue to operate in a side sweep mode while bringing the pair of robot arm devices 102 together inward as the loaded cargo is unloaded.

Referring to FIG. 15, the robot arm device 102 shows a state in which loaded cargo is unloaded through clamping mode. In an exemplary embodiment, the automated cargo unloading machine 100 may operate the robotic arm device 102 in a clamping mode depending on the type of cargo to be unloaded. For example, if the type of cargo to be unloaded is cargo that can be caught through the clamp means 125, such as a gunny sack or pouch, the cargo unloading automation machine 100 operates the robot arm device 102 in clamping mode. You can do it.

Specifically, when the type of cargo is a gunny sack (FIG. 15(a)), the robot arm device 102 moves the hand unit 113 to the target cargo side and then clamps the clamping portion 125a of the clamp means 125. The target cargo can be captured ((b) in Figure 15). At this time, the clamping part 125a may be moved forward depending on the distance to the target cargo. Next, the robot arm device 102 can pull the target cargo downward and unload the target cargo ((c) of FIG. 15).

Referring to FIG. 16, the robot arm device 102 shows a state in which the loaded cargo is unloaded through the adsorption mode. In an exemplary embodiment, the robotic arm device 102 may unload cargo in a suction mode depending on one or more of the loading height of the cargo and the type of cargo. For example, when the target cargo is located at the bottom or top and the cargo is in the shape of a box, the robot arm device 102 can unload the target cargo through the adsorption mode. Figure 16 shows the state of unloading the cargo in adsorption mode when the target cargo is in the form of a box located at the bottom.

Specifically, the robot arm device 102 can adsorb the target cargo through the adsorption pad portion 123a of the adsorption means 123 (FIG. 16(a)). At this time, the suction pad portion 123a may be moved forward depending on the distance to the target cargo. Next, the robot arm device 102 can move the target cargo to the upper part of the conveyor device 104 while adsorbing the target cargo (FIG. 16(b)). Next, the robot arm device 102 can detach the target cargo from the suction pad portion 123a and unload the target cargo onto the conveyor device 104 ((c) in FIG. 16).

According to the disclosed embodiment, the cargo unloading automation machine 100 is provided with a pair of robot arm devices 102 capable of multi-axis rotation and movement, and the robot arm device 102 includes an unloading conveyor belt 121 and an adsorption means. (123), and by providing a clamp means (125), down sweep mode, side sweep mode, adsorption mode, etc. according to the position of the loaded cargo, the loading pattern of the cargo, and the type of cargo, etc. It operates in various unloading modes such as and clamping mode, allowing the loaded cargo to be unloaded easily and quickly.

Figure 17 is a diagram showing a state in which an automated cargo unloading machine enters a loading box according to an embodiment of the present invention.

Referring to FIG. 17, the automated cargo unloading machine 100 can check the change in height step when entering the inside of the loading box 50 through the height step sensor 110 mounted on the lower surface of the conveyor device 104. In addition, the operation of the track device 106 can be controlled according to the change in height level to enter the inside of the loading box 50. A detailed explanation of this will be provided later. The height step sensor 110 may also be mounted on the lower surface of the main body frame 108.

In addition, the automated cargo unloading machine 100 can detect the left and right gaps when entering the loading box 50 through gap detection sensors (not shown) mounted on both sides of the conveyor device 104. That is, a gap detection sensor (not shown) may be provided to detect the gap between both side walls inside the loading box 50 and the automated cargo unloading machine 100.

Here, the automated cargo unloading machine 100 can move through the track device 106 and enter the inside of the loading box. The track device 106 may be provided to support the automated cargo unloading machine 100 at the lower part of the body frame 108. The orbital device 106 may be provided to enable forward and backward movement and direction changes.

In an exemplary embodiment, the orbiter 106 may include a first crawler 141 , a second crawler 143 , and a third crawler 145 . A moving distance measuring sensor 147 may be provided in each of the first crawler 141, the second crawler 143, and the third crawler 145. The moving distance measurement sensor 147 may be provided to measure the distance traveled by the corresponding endless orbit. For example, the moving distance measurement sensor 147 may be comprised of a rotary encoder, but is not limited thereto.

The first crawler 141, the second crawler 143, and the third crawler 145 are sequentially spaced apart from each other along the longitudinal direction of the automated cargo unloading machine 100 at the lower part of the main body frame 108. It can be provided. The first crawler 141, the second crawler 143, and the third crawler 145 may be provided in pairs on both sides of the lower part of the main body frame 108, respectively.

The separation distance between the first crawler 141 and the second crawler 143 and the separation distance between the second crawler 143 and the third crawler 145 may be the same or may be prepared differently. The first crawler 141, the second crawler 143, and the third crawler 145 may each be prepared to withstand a load of 600 kg or more.

Here, for convenience of explanation, the orbital device 106 is described as including three crawler pairs, but it is not limited thereto and may include various numbers of crawler pairs. Since caterpillar is a known technology, detailed description of its structure and operation will be omitted.

The track device 106 may further include a first height adjustment unit 151, a second height adjustment unit 153, and a third height adjustment unit 155. The first height adjustment unit 151 is connected to the first crawler 141 and can independently adjust the height of the first crawler 141. The second height adjustment unit 153 is connected to the second crawler 143 and can independently adjust the height of the second crawler 143. The third height adjustment unit 155 is connected to the third crawler 145 and can independently adjust the height of the third crawler 145.

Figure 18 is a diagram showing a height adjustment unit according to an embodiment of the present invention. Here, for convenience of explanation, the third height adjustment unit 155 connected to the third crawler 145 is shown as an example, and the first height adjustment unit 151 and the second height adjustment unit 153 are also the same or similar to this. It can be arranged.

Referring to FIG. 18, the third height adjustment unit 155 may include a support plate 155a, a track connection portion 155b, a first height adjustment portion 155c, and a second height adjustment portion 155d. .

The support plate 155a may be provided on an upper portion of the third crawler 145 and spaced apart from the third crawler 145 . The track connection portions 155b may be provided below on both sides of the support plate 155a and connected to the main body of the third crawler track 145. The main body of the third crawler 145 may include a power device provided inside the track wheel and a frame for supporting the track wheel.

The first height adjustment part 155c may be provided vertically on the support plate 155a. The first height adjustment unit 155c may be provided to be height-adjustable up and down. For example, the first height adjuster 155c may be provided to adjust its height up and down through a hydraulic cylinder, but is not limited to this.

The second height adjustment part 155d may be provided vertically on the support plate 155a. The end of the second height adjustment part 155d may be hinged to the end of the first height adjustment part 155c. The second height adjustment unit 155d may be provided at a predetermined distance from the first height adjustment unit 155c. The second height adjustment unit 155d may be provided to allow height adjustment up and down.

The second height adjuster 155d can be adjusted up and down together with the first height adjuster 155c. The second height adjustment unit 155d may be intended to assist the first height adjustment unit 155c. The second height adjustment unit 155d may be provided to adjust its height up and down through a hydraulic cylinder, but is not limited to this.

Additionally, the third height adjustment unit 155 may further include a vertical movement measurement sensor 155e. The vertical movement measurement sensor 155e may be a sensor that detects the extent to which the first height adjuster 155c and the second height adjuster 155d have moved up and down. The vertical movement measurement sensor 155e may be made of a wire encoder, but is not limited thereto.

Figure 19 is a diagram showing the height-adjusted state of the endless track in the automated cargo unloading machine according to an embodiment of the present invention. Referring to FIG. 19, the second crawler 143 is positioned higher than the first crawler 141 by the second height adjustment unit 153. And, the third crawler 145 is positioned higher than the second crawler 145 by the third height adjustment unit 155.

That is, the first crawler 141 is located at a first height difference with the bottom of the main body frame 108, and the second crawler 143 is located at a second height difference (first height) with the bottom of the main body frame 108. The third crawler 145 may be positioned with a third height difference (a height difference lower than the second height difference) with the bottom of the main body frame 108. In this way, each crawler (141, 143, 145) can be independently adjusted in height by each height adjustment unit (151, 153, 155).

Figure 20 is a diagram schematically showing a state in which an automated cargo unloading machine enters the inside of a cargo vehicle's loading box according to an embodiment of the present invention.

Referring to (a) of FIG. 20, the automated cargo unloading machine 100 can access the rear of the cargo vehicle's loading box through a dock. The automated cargo unloading machine 100 can approach the rear of the loading box of a cargo vehicle while raising the conveyor device 104 horizontally to a certain height. At this time, the automated cargo unloading machine 100 detects a change in the height step of the floor surface into which the automated cargo unloading machine 100 enters (i.e., the conveyor device 104) through the height step sensor 110 provided on the lower surface of the conveyor device 104. ) and the change in height from the floor) can be confirmed. The height step sensor 110 may be provided on the lower surface of the conveyor device 104, but is not limited thereto and may be provided on the front lower surface of the main body frame 108.

Each track (141, 143, 145) can approach the rear of the cargo vehicle's cargo vehicle with a preset height difference from the main body frame (108). At this time, when the height step sensor 110 detects the height step, the cargo unloading automation machine 100 increases the height of the first crawler 141 by the detected height step through the first height adjustment unit 151. You can do it. Then, it can move forward through the second crawler 143 and the third crawler 145 so that the first crawler 141 enters and settles on the bottom of the loading box. The forward movement of the second crawler 143 and the third crawler 145 depends on the distance measured by the moving distance measurement sensor 147 and the gap between the first crawler 141 and the second crawler 143. It can be done based on

Referring to (b) of FIG. 20, the automated cargo unloading machine 100 adjusts the height of the second crawler 143 to the height of the first crawler 141 through the second height adjustment unit 153 (i.e. , it can be raised (by the detected height difference). Then, it can move forward through the first crawler 141 and the third crawler 145 so that the second crawler 143 enters and settles on the bottom of the loading box.

Referring to (c) of FIG. 20, the automated cargo unloading machine 100 increases the height of the third crawler 145 to the height of the first crawler 141 through the third height adjustment unit 155. You can. Then, it can move forward through the first crawler 141 and the second crawler 143 so that the third crawler 145 enters and settles on the bottom of the loading box.

In this way, the automatic cargo unloading machine 100 can easily enter the inside of the loading box through the height-adjusted crawler tracks 141, 143, and 145 even when there is a height difference between the dock and the loading box of the cargo vehicle.

Here, the case where the cargo vehicle's loading box is higher than the dock is shown as an example, but it is not limited to this. Even when the cargo vehicle's loading container is lower than the dock, the heights of the crawler tracks 141, 143, and 145 are sequentially adjusted according to the height difference change. Of course, it is possible to enter the inside of the cargo vehicle's cargo vehicle by adjusting it.

The above detailed description is illustrative of the present invention. Additionally, the foregoing is intended to illustrate preferred embodiments of the present invention, and the present invention can be used in various other combinations, modifications, and environments. That is, changes or modifications can be made within the scope of the inventive concept disclosed in this specification, a scope equivalent to the written disclosure, and/or within the scope of technology or knowledge in the art. The written examples illustrate the best state for implementing the technical idea of the present invention, and various changes required for specific application fields and uses of the present invention are also possible. Accordingly, the detailed description of the invention above is not intended to limit the invention to the disclosed embodiments. Additionally, the appended claims should be construed to include other embodiments as well.

100: Automated cargo unloading machine
102: Robotic arm device
104: conveyor device
106: Orbital device
108: body frame
108a: Battleship
108b: hydraulic tank
108c: Monitor
110: height step sensor
111: Arm unit
111-1: 1st shaft
111-2: Second shaft
111-3: Third shaft
111-4: Fourth shaft
111-5: Fifth shaft
111-6: 6th shaft
113: hand unit
121: conveyor belt
121a: uneven pattern part
123: adsorption means
123a: Suction pad part
123a-1: Suction cup
123a-2: Mounting plate
123b: Suction driving unit
125: clamp means
125a: Clamping part
125b: Clamp driving unit
141: 1st caterpillar orbit
143: Second caterpillar orbit
145: Third caterpillar orbit
147: moving distance measurement sensor
151: first height adjustment unit
153: second height adjustment unit
155: Third height adjustment unit
155a: support plate
155b: Orbital connection part
155c: first height adjustment unit
155d: second height adjustment unit
155e: vertical movement measurement sensor

Claims (12)

An automatic cargo unloading machine for unloading cargo loaded in a loading box,
body frame;
a robot arm device provided on the main body frame and configured to unload the loaded cargo; and
An automated cargo unloading machine, comprising a track device provided at a lower portion of the main body frame and moving the automated cargo unloading machine.
In claim 1,
The orbital device is,
An automated cargo unloading machine comprising a plurality of endless tracks provided at a lower portion of the main body frame and spaced apart from each other along the longitudinal direction of the automated cargo unloading machine.
In claim 2,
The orbital device is,
An automatic cargo unloading machine further comprising a plurality of height adjustment units connected to the plurality of crawlers and provided to independently adjust the height of each crawler.
In claim 3,
The height adjustment unit is,
a support plate provided at an upper portion of the crawler and spaced apart from the crawler;
Orbital connection parts provided below on both sides of the support plate and connected to the main body of the crawler track; and
An automatic cargo unloading machine comprising a height adjustment unit provided vertically on the support plate and capable of adjusting the height up and down.
In claim 4,
The height adjustment part,
a first height adjuster provided vertically on the support plate and capable of adjusting the height up and down; and
A second device is provided vertically on the support plate, spaced apart from the first height adjuster, an end is hinged to an end of the first height adjuster, and the height is adjusted up and down together with the first height adjuster. 2 Automated cargo unloading machine, including a height adjustment unit.
In claim 3,
The automated cargo unloading machine,
An automatic cargo unloading machine further comprising a height step sensor that detects a change in height step of the floor surface when moving through the track device.
In claim 6,
The automated cargo unloading machine,
When a change in the height step of the floor is detected through the height step sensor while approaching the loading box, the height of the crawler located at the front in the moving direction of the track device is adjusted to correspond to the change in height step, An automatic cargo unloading machine that moves forward through an endless track other than the one located in front, allowing the frontmost track to enter and settle into the loading box.
In claim 7,
The orbital device is,
Further comprising a moving distance measuring sensor provided to measure the distance traveled by each crawler orbit,
The forward movement of the other crawler tracks is based on the distance between the frontmost track and the next track and the distance measured by the moving distance measurement sensor.
In claim 8,
The automated cargo unloading machine,
An automated cargo unloading machine that sequentially adjusts the heights of the other endless tracks to correspond to the change in height step, and moves forward through another endless track other than the height-adjusted endless track to enter the inside of the loading box.
In claim 6,
The automated cargo unloading machine,
It is mounted on the main body frame and further includes a conveyor device on which loaded cargo unloaded by the robot arm device is placed,
The height step sensor is provided on the lower surface of the conveyor device. An automatic cargo unloading machine.
In claim 10,
The automated cargo unloading machine,
An automatic cargo unloading machine that checks the change in height level of the floor through the height level difference sensor while raising the conveyor device horizontally to a certain height when approaching the loading box.
In claim 11,
The automated cargo unloading machine,
An automatic cargo unloading machine that enters the inside of the loading box while sequentially adjusting the heights of the plurality of crawlers in response to the height step change when a change in the height step of the floor is detected through the height step sensor.